From a4c7d19c3980a1d84ac99314ecb1708f9639fb44 Mon Sep 17 00:00:00 2001
From: dansl <dansl@LAPTOP-SIKRVJU7.ern.nps.edu>
Date: Wed, 24 May 2023 10:43:12 -0700
Subject: [PATCH] Commit initial Simple Mover corrections
---
MV3302ClassCode/src/mv3302/SimpleMover.java | 234 ++++++++++++------
.../src/mv3302/SimplePathMoverManager.java | 134 ++++++----
.../src/mv3302/SimplePatrolMoverManager.java | 59 ++---
.../src/mv3302/SimpleRandomMoverManager.java | 123 ++++-----
MV3302ClassCode/src/mv3302/SimplestMover.java | 170 +++++++++++++
.../src/mv3302/run/Assignment7.java | 73 ++++++
.../mv3302/sensor/AbstractSimpleSensor.java | 109 ++++++++
MV3302ClassCode/src/mv3302/sensor/Sensor.java | 22 ++
.../sensor/SimpleConstantRateSensor.java | 36 +++
.../sensor/SimpleConstantTimeSensor.java | 36 +++
.../sensor/SimpleCookieCutterSensor.java | 23 ++
11 files changed, 812 insertions(+), 207 deletions(-)
create mode 100644 MV3302ClassCode/src/mv3302/SimplestMover.java
create mode 100644 MV3302ClassCode/src/mv3302/run/Assignment7.java
create mode 100644 MV3302ClassCode/src/mv3302/sensor/AbstractSimpleSensor.java
create mode 100644 MV3302ClassCode/src/mv3302/sensor/Sensor.java
create mode 100644 MV3302ClassCode/src/mv3302/sensor/SimpleConstantRateSensor.java
create mode 100644 MV3302ClassCode/src/mv3302/sensor/SimpleConstantTimeSensor.java
create mode 100644 MV3302ClassCode/src/mv3302/sensor/SimpleCookieCutterSensor.java
diff --git a/MV3302ClassCode/src/mv3302/SimpleMover.java b/MV3302ClassCode/src/mv3302/SimpleMover.java
index b631b6cc55..a28e919049 100644
--- a/MV3302ClassCode/src/mv3302/SimpleMover.java
+++ b/MV3302ClassCode/src/mv3302/SimpleMover.java
@@ -1,66 +1,106 @@
-/*
- * Click nbfs://nbhost/SystemFileSystem/Templates/Licenses/license-default.txt to change this license
- * Click nbfs://nbhost/SystemFileSystem/Templates/Classes/Class.java to edit this template
- */
package mv3302;
import java.awt.geom.Point2D;
-import static java.lang.Double.NaN;
+import static mv3302.SimplestMover.NaP;
import simkit.Schedule;
import simkit.SimEntityBase;
+
import simkit.smd.Mover;
/**
+ * A simple implementation of the DES "Mover" concept.
*
* @author ahbuss
*/
public class SimpleMover extends SimEntityBase implements Mover {
- public static Point2D NaP = new Point2D.Double(NaN, NaN);
-
- public Point2D initialLocation;
+ /**
+ * Start here
+ */
+ private Point2D initialLocation;
- public double maxSpeed;
+ /**
+ * All movement will be at this speed
+ */
+ private double maxSpeed;
- public Point2D lastStopLocation;
+ /**
+ * Current velocity vector
+ */
+ protected Point2D velocity;
- public Point2D velocity;
+ /**
+ * Location where SimpleMover last stopped
+ */
+ protected Point2D lastStopLocation;
- public Point2D destination;
+ /**
+ * Current destination
+ */
+ protected Point2D destination;
- public double startMoveTime;
+ /**
+ * simTime when move starts (or when it stops)
+ */
+ protected double startMoveTime;
+ /**
+ * Instantiate Point2D states by cloning NaP
+ */
public SimpleMover() {
lastStopLocation = (Point2D) NaP.clone();
velocity = (Point2D) NaP.clone();
destination = (Point2D) NaP.clone();
}
+ /**
+ * Instantiate with the given parameters
+ *
+ * @param initialLocation Given initial location
+ * @param maxSpeed Given maxSpeed
+ */
public SimpleMover(Point2D initialLocation, double maxSpeed) {
this();
setInitialLocation(initialLocation);
setMaxSpeed(maxSpeed);
}
+ /**
+ * set destination location to NaP<br>
+ * set lastStopLocation to initialLocation<br>
+ * set velocity to (0.0, 0.0)<br>
+ * set startMoveTime to 0.0
+ *
+ */
@Override
public void reset() {
super.reset();
- lastStopLocation.setLocation(initialLocation);
+ destination = (Point2D) NaP.clone();
+ lastStopLocation = getInitialLocation();
velocity.setLocation(0.0, 0.0);
- destination.setLocation(NaP);
startMoveTime = 0.0;
}
+ /**
+ * Nothing scheduled - waiting to hear MoveTo event
+ */
public void doRun() {
+ firePropertyChange("startMoveTime", getStartMoveTime());
firePropertyChange("lastStopLocation", getLastStopLocation());
firePropertyChange("velocity", getVelocity());
firePropertyChange("destination", getDestination());
- firePropertyChange("startMoveTime", getStartMoveTime());
}
- public void doMoveTo(Point2D newDestination) {
+ /**
+ * To be "heard" from a mover manager.<br>
+ * set destination to the given argument<br>
+ * schedule StartMove if non-zero travel distance
+ *
+ * @param destination Given new destination
+ */
+ public void doMoveTo(Point2D destination) {
Point2D oldDestination = getDestination();
- this.destination.setLocation(newDestination);
+ this.destination = destination;
firePropertyChange("destination", oldDestination, getDestination());
if (lastStopLocation.distance(destination) > 0.0) {
@@ -68,26 +108,43 @@ public class SimpleMover extends SimEntityBase implements Mover {
}
}
+ /**
+ * set velocity per the new destination and maxSpeed<br>
+ * set startMoveTime to current simTime<br>
+ * schedule EndMove with delay of travel time
+ *
+ * @param mover Should be "this" Mover
+ */
+ @Override
public void doStartMove(Mover mover) {
- double oldStartMoveTime = getStartMoveTime();
- startMoveTime = Schedule.getSimTime();
- firePropertyChange("startMoveTime", oldStartMoveTime, getStartMoveTime());
+ Point2D oldVelocity = getVelocity();
+ velocity = new Point2D.Double(
+ destination.getX() - lastStopLocation.getX(),
+ destination.getY() - lastStopLocation.getY()
+ );
+
double distance = lastStopLocation.distance(destination);
- double a = getMaxSpeed() / distance;
- Point2D oldVelocity = getVelocity();
- velocity.setLocation(destination.getX() - lastStopLocation.getX(), destination.getY() - lastStopLocation.getY());
- velocity.setLocation(a * velocity.getX(), a * velocity.getY());
+ velocity.setLocation(velocity.getX() * maxSpeed / distance,
+ velocity.getY() * maxSpeed / distance);
firePropertyChange("velocity", oldVelocity, getVelocity());
- waitDelay("EndMove", 1.0/a, mover);
- }
-
- public void doEndMove(Mover mover) {
double oldStartMoveTime = getStartMoveTime();
startMoveTime = Schedule.getSimTime();
firePropertyChange("startMoveTime", oldStartMoveTime, getStartMoveTime());
+ double travelTime = distance / maxSpeed;
+ waitDelay("EndMove", travelTime, mover);
+ }
+
+ /**
+ * Set lastStopLocation coordinates to destination<br>
+ * set velocity to (0.0, 0.0)<br>
+ * set destination of NaP
+ *
+ * @param mover Should be "this" Mover
+ */
+ public void doEndMove(Mover mover) {
Point2D oldLastStopLocation = getLastStopLocation();
lastStopLocation.setLocation(destination);
firePropertyChange("lastStopLocation", oldLastStopLocation, getLastStopLocation());
@@ -95,36 +152,74 @@ public class SimpleMover extends SimEntityBase implements Mover {
Point2D oldVelocity = getVelocity();
velocity.setLocation(0.0, 0.0);
firePropertyChange("velocity", oldVelocity, getVelocity());
+
+ Point2D oldDestination = getDestination();
+ destination.setLocation(NaP);
+ firePropertyChange("destination", oldDestination, getDestination());
+ }
+
+ /**
+ * Scheduled when Mover "stops" for a period of time.<br>
+ * Set lastStopLocation to currentLocation<br>
+ * setVelocity to (0.0, 0.0)
+ *
+ * @param mover Should be "this" Mover
+ */
+ @Override
+ public void doStop(Mover mover) {
+ Point2D oldLastStopLocation = getLastStopLocation();
+ lastStopLocation.setLocation(getCurrentLocation());
+ firePropertyChange("lastStopLocation", oldLastStopLocation, getLastStopLocation());
+
+ Point2D oldVelocity = getVelocity();
+ velocity.setLocation(0.0, 0.0);
+ firePropertyChange("velocity", oldVelocity, getVelocity());
+
}
-
- public void doOrderStop(){
+
+ /**
+ * to be "heard" from Mover Manager when stopping<br>
+ * Schedule Stop
+ */
+ public void doOrderStop() {
waitDelay("Stop", 0.0, this);
}
-
- public void doStop(Mover mover){
- Point2D oldLastStopLocation = lastStopLocation;
- lastStopLocation = getCurrentLocation();
- firePropertyChange("lastStopLocation", oldLastStopLocation, lastStopLocation);
- velocity.setLocation(0.0, 0.0);
- interrupt("EndMove", mover);
+
+ /**
+ * "Implicit" state - determined using the linear equation of motion.
+ *
+ * @return The current location of this Mover
+ */
+ @Override
+ public Point2D getCurrentLocation() {
+ Point2D currentLocation = (Point2D) NaP.clone();
+ double elapsedTime = Schedule.getSimTime() - getStartMoveTime();
+ currentLocation.setLocation(lastStopLocation.getX() + elapsedTime * velocity.getX(),
+ lastStopLocation.getY() + elapsedTime * velocity.getY());
+ return currentLocation;
+
}
-
+
/**
- * @return the NaP
+ *
+ * @return the maxSpeed
*/
- public static Point2D getNaP() {
- return NaP;
+ @Override
+ public double getMaxSpeed() {
+ return this.maxSpeed;
}
/**
- * @param aNaP the NaP to set
+ *
+ * @return copy of velocity
*/
- public static void setNaP(Point2D aNaP) {
- NaP = aNaP;
+ @Override
+ public Point2D getVelocity() {
+ return (Point2D) velocity.clone();
}
/**
- * @return the initialLocation
+ * @return copy of the initialLocation
*/
public Point2D getInitialLocation() {
return (Point2D) initialLocation.clone();
@@ -138,28 +233,25 @@ public class SimpleMover extends SimEntityBase implements Mover {
}
/**
- * @return the maxSpeed
+ * @param maxSpeed the maxSpeed to set
+ * @throws IllegalArgumentException if maxSpeed < 0.0
*/
- public double getMaxSpeed() {
- return maxSpeed;
+ public void setMaxSpeed(double maxSpeed) {
+ if (maxSpeed < 0.0) {
+ throw new IllegalArgumentException("maxSpeed must be 0.0: " + maxSpeed);
+ }
+ this.maxSpeed = maxSpeed;
}
/**
- * @return the lastStopLocation
+ * @return copy of the lastStopLocation
*/
public Point2D getLastStopLocation() {
return (Point2D) lastStopLocation.clone();
}
/**
- * @return the velocity
- */
- public Point2D getVelocity() {
- return (Point2D) velocity.clone();
- }
-
- /**
- * @return the destination
+ * @return copy of the destination
*/
public Point2D getDestination() {
return (Point2D) destination.clone();
@@ -173,32 +265,20 @@ public class SimpleMover extends SimEntityBase implements Mover {
}
/**
- * @param maxSpeed the maxSpeed to set
+ *
+ * @return Name currentLocation velocity
*/
- public void setMaxSpeed(double maxSpeed) {
- if (maxSpeed < 0.0) {
- throw new IllegalArgumentException("maxSpeed must be >= 0.0: " + maxSpeed);
- }
- this.maxSpeed = maxSpeed;
- }
-
- public Point2D getCurrentLocation() {
- double updateTime = Schedule.getSimTime() - getStartMoveTime();
- return new Point2D.Double(lastStopLocation.getX() + updateTime * velocity.getX(),
- lastStopLocation.getY() + updateTime * velocity.getY());
-// Point2D currentLocation = getVelocity();
-// currentLocation.setLocation(currentLocation.getX() * updateTime, currentLocation.getY() * updateTime);
-// currentLocation.setLocation(lastStopLocation.getX() + currentLocation.getX(), lastStopLocation.getY() + currentLocation.getY());
-// return currentLocation;
-
- }
-
@Override
public String toString() {
return String.format("%s %s %s", getName(), getCurrentLocation(), getVelocity());
}
+ /**
+ *
+ * @return super toString()
+ */
public String paramString() {
return super.toString();
}
+
}
diff --git a/MV3302ClassCode/src/mv3302/SimplePathMoverManager.java b/MV3302ClassCode/src/mv3302/SimplePathMoverManager.java
index 9090d7665e..d971360051 100644
--- a/MV3302ClassCode/src/mv3302/SimplePathMoverManager.java
+++ b/MV3302ClassCode/src/mv3302/SimplePathMoverManager.java
@@ -1,81 +1,112 @@
-/*
- * Click nbfs://nbhost/SystemFileSystem/Templates/Licenses/license-default.txt to change this license
- * Click nbfs://nbhost/SystemFileSystem/Templates/Classes/Class.java to edit this template
- */
package mv3302;
import java.awt.geom.Point2D;
-import static java.lang.Double.NaN;
+import static mv3302.SimplestMover.NaP;
import simkit.SimEntityBase;
import simkit.smd.Mover;
/**
+ * Simple Path Mover Manager. Directs a listening Mover to each wayPoint in
+ * order until the last, when it "stops"
*
- * @author dansl
+ * @author ahbuss
*/
public class SimplePathMoverManager extends SimEntityBase {
+ /**
+ * If true, start immediately
+ */
private boolean startOnRun;
- protected Point2D[] path;
+ /**
+ * Given list of wayPoints
+ */
+ private Point2D[] path;
+ /**
+ * index of next wayPoint
+ */
protected int nextIndex;
- protected Point2D nextWaypoint;
+ /**
+ * next destination
+ */
+ protected Point2D nextDestination;
+ /**
+ * Instantiate nextDestination as copy of NaP
+ */
public SimplePathMoverManager() {
+ nextDestination = (Point2D) NaP.clone();
}
+ /**
+ * Instantiate with the given parameters
+ *
+ * @param path Given path
+ * @param startOnRun if true, start on Run event
+ */
public SimplePathMoverManager(Point2D[] path, boolean startOnRun) {
+ this();
setPath(path);
setStartOnRun(startOnRun);
}
+ /**
+ * Set nextIndex to -1<br>
+ * set nextDestination to NaP coordinates
+ */
@Override
public void reset() {
super.reset();
- nextIndex = 0;
-
+ nextIndex = -1;
+ nextDestination.setLocation(NaP);
}
+ /**
+ * If startOnRun is true, schedule NextWayPoint
+ */
public void doRun() {
- int oldNextIndex = getNextIndex();
- nextIndex -= 1;
firePropertyChange("nextIndex", getNextIndex());
- nextWaypoint = new Point2D.Double(NaN, NaN);
+
if (isStartOnRun()) {
- waitDelay("NextWP", 0.0);
+ waitDelay("NextWayPoint", 0.0);
}
}
-
- public void doNextWP(){
+
+ /**
+ * Increment nextIndex<br>
+ * set nextDestination to path[nextIndex]<br>
+ * schedule MoveTo with nextDestination
+ */
+ public void doNextWayPoint() {
int oldNextIndex = getNextIndex();
nextIndex += 1;
- firePropertyChange("nextIndex", getNextIndex());
- Point2D oldNextWaypoint = getNextWaypoint();
- nextWaypoint = path[nextIndex];
- firePropertyChange("nextWaypoint", getNextWaypoint());
- waitDelay("MoveTo", 0.0, nextWaypoint);
+ firePropertyChange("nextIndex", oldNextIndex, getNextIndex());
+
+ Point2D oldDestination = getNextDestination();
+ nextDestination.setLocation(path[nextIndex]);
+ firePropertyChange("nextDestination", oldDestination, getNextDestination());
+
+ waitDelay("MoveTo", 0.0, getNextDestination());
}
-
- public void doEndMove(Mover mover){
- if (nextIndex < path.length -1){
- waitDelay("NextWP", 0.0);
+
+ /**
+ * If more way points on path, schedule NextWayPoint<br>
+ * Else schedule OrderStop
+ *
+ * @param mover Given Mover (should be the one this is listening to)
+ */
+ public void doEndMove(Mover mover) {
+ if (nextIndex < path.length - 1) {
+ waitDelay("NextWayPoint", 0.0);
}
- if (nextIndex == path.length -1){
- waitDelay("Stop", 0.0);
+
+ if (nextIndex == path.length - 1) {
+ waitDelay("OrderStop", 0.0);
}
}
-
- public void doStop(){
- }
- public void doOrderStop(){
- }
-
- public void doMoveTo(Point2D nextWaypoint){
- }
-
/**
* @return the startOnRun
*/
@@ -91,12 +122,17 @@ public class SimplePathMoverManager extends SimEntityBase {
}
/**
- * @return the path
+ * @return topy of he path
*/
public Point2D[] getPath() {
- return path;
+ return path.clone();
}
+ /**
+ *
+ * @param index Given index
+ * @return path[index]
+ */
public Point2D getPath(int index) {
return path[index];
}
@@ -105,11 +141,16 @@ public class SimplePathMoverManager extends SimEntityBase {
* @param path the path to set
*/
public void setPath(Point2D[] path) {
- if (path.length > 0) {
- this.path = path.clone();
- } else {
- throw new IllegalArgumentException("path must be at least lengt 1: " + path.length);
- }
+ this.path = path.clone();
+ }
+
+ /**
+ *
+ * @param index Given index
+ * @param path Given waypoint
+ */
+ public void setPath(int index, Point2D path) {
+ this.path[index] = path;
}
/**
@@ -120,9 +161,10 @@ public class SimplePathMoverManager extends SimEntityBase {
}
/**
- * @return the nextWaypoint
+ * @return copy of the nextDestination
*/
- public Point2D getNextWaypoint() {
- return (Point2D) nextWaypoint;
+ public Point2D getNextDestination() {
+ return (Point2D) nextDestination.clone();
}
+
}
diff --git a/MV3302ClassCode/src/mv3302/SimplePatrolMoverManager.java b/MV3302ClassCode/src/mv3302/SimplePatrolMoverManager.java
index ed4c0fc37b..0773257d7b 100644
--- a/MV3302ClassCode/src/mv3302/SimplePatrolMoverManager.java
+++ b/MV3302ClassCode/src/mv3302/SimplePatrolMoverManager.java
@@ -1,56 +1,59 @@
-/*
- * Click nbfs://nbhost/SystemFileSystem/Templates/Licenses/license-default.txt to change this license
- * Click nbfs://nbhost/SystemFileSystem/Templates/Classes/Class.java to edit this template
- */
package mv3302;
import java.awt.geom.Point2D;
import simkit.smd.Mover;
/**
+ * Similar to PathMoverManager; directs a Mover to a sequence of way points.
+ * Instead of stopping at the end, return to the first and cycle through again
+ * until stopped by an external component.
*
- * @author dansl
+ * @author ahbuss
*/
-public class SimplePatrolMoverManager extends SimplePathMoverManager{
+public class SimplePatrolMoverManager extends SimplePathMoverManager {
/**
- * Zero-argument constructor
+ * Zero argument constructor
*/
public SimplePatrolMoverManager() {
}
/**
- * Instantiate with given given parameters
+ * Instantiate with the given parameters
*
- * @param path Given waypoints
- * @param startOnRun true if start immediately
+ * @param path Given path
+ * @param startOnRun if true, start on Run event
*/
public SimplePatrolMoverManager(Point2D[] path, boolean startOnRun) {
super(path, startOnRun);
}
- /**
- * Increment nextIndex; if it is beyond the last index, modulo back to
- * 0.<br>
- * Schedule MoveTo with path[nextIndex] (using getter, since path is
- * private)
+
+ /**
+ * Always schedule NextWayPoint
+ *
+ * @param mover Given Mover
*/
@Override
public void doEndMove(Mover mover) {
- waitDelay("NextWP", 0.0, getPath(nextIndex));
+ waitDelay("NextWaypoint", 0.0);
+
}
-
- @Override
- public void doNextWP(){
+
+ /**
+ * Increment nextIndext and set modulo the length of the path<br>
+ * setNextDestination<br>
+ * Schedule MoveTo
+ */
+ public void doNextWaypoint() {
int oldNextIndex = getNextIndex();
- nextIndex = (nextIndex+1)%path.length;
+ nextIndex = (nextIndex + 1) % getPath().length;
firePropertyChange("nextIndex", oldNextIndex, getNextIndex());
- Point2D oldNextWaypoint = getNextWaypoint();
- nextWaypoint = path[nextIndex];
- firePropertyChange("nextWaypoint", oldNextWaypoint, getNextWaypoint());
- waitDelay("MoveTo", 0.0, nextWaypoint);
- }
-
- public void doMoveTo(Mover mover){
+
+ Point2D oldDestination = getNextDestination();
+ nextDestination.setLocation(getPath(nextIndex));
+ firePropertyChange("nextDestination", oldDestination, getNextDestination());
+
+ waitDelay("MoveTo", 0.0, getNextDestination());
}
-
+
}
diff --git a/MV3302ClassCode/src/mv3302/SimpleRandomMoverManager.java b/MV3302ClassCode/src/mv3302/SimpleRandomMoverManager.java
index ec2ab863fe..b703beb2e3 100644
--- a/MV3302ClassCode/src/mv3302/SimpleRandomMoverManager.java
+++ b/MV3302ClassCode/src/mv3302/SimpleRandomMoverManager.java
@@ -1,113 +1,118 @@
-/*
- * Click nbfs://nbhost/SystemFileSystem/Templates/Licenses/license-default.txt to change this license
- * Click nbfs://nbhost/SystemFileSystem/Templates/Classes/Class.java to edit this template
- */
package mv3302;
import java.awt.geom.Point2D;
-import static java.lang.Double.NaN;
+import static mv3302.SimplestMover.NaP;
+import simkit.SimEntity;
+import simkit.SimEntityBase;
import simkit.random.RandomVariate;
-import simkit.smd.Mover;
/**
+ * A MoverManager that generates a random destination and directs a Mover there.
+ * When the Mover reaches that destination, generate the next, etc.
*
- * @author dansl
+ * @author ahbuss
*/
-public class SimpleRandomMoverManager extends SimplePathMoverManager {
+public class SimpleRandomMoverManager extends SimEntityBase {
/**
- * Array to generate coordinates randomly
+ * Generates the coordinates
*/
- public RandomVariate[] coordinateGenerator;
+ private RandomVariate[] coordinateGenerator;
/**
- * If true start immediately
+ * If true, start on the Run event
*/
- public boolean startOnRun;
+ private boolean startOnRun;
+ /**
+ * Next destination
+ */
+ protected Point2D nextWayPoint;
+
+ /**
+ * set nextWayPoint to clone of NaP
+ */
public SimpleRandomMoverManager() {
+ this.nextWayPoint = (Point2D) NaP.clone();
}
/**
- * Instantiate with the given parameters
*
- * @param coordinateGenerator Given random coordinate generator
- * @param startOnRun true if starting immediately
+ * @param coordinateGenerator Given coordinate generators
+ * @param startOnRun if true, start in Run event
*/
- public SimpleRandomMoverManager(RandomVariate[] coordinateGenerator,
- boolean startOnRun) {
+ public SimpleRandomMoverManager(RandomVariate[] coordinateGenerator, boolean startOnRun) {
+ this();
this.setCoordinateGenerator(coordinateGenerator);
this.setStartOnRun(startOnRun);
}
/**
- * If startOnRun is true, generate random coordinates and schedule MoveTo
- * with that destination
+ * set nextWayPoint to NaP coordinates
*/
@Override
+ public void reset() {
+ super.reset();
+ nextWayPoint.setLocation(NaP);
+ }
+
+ /**
+ * If startOnRun, schedule Start event
+ */
public void doRun() {
- Point2D oldNextWaypoint = getNextWaypoint();
- nextWaypoint = new Point2D.Double(NaN, NaN);
- firePropertyChange("nextWaypoint", oldNextWaypoint, nextWaypoint);
+ firePropertyChange("nextWayPoint", getNextWayPoint());
if (isStartOnRun()) {
- waitDelay("NextWP", 0.0);
+ waitDelay("Start", 0.0);
}
}
- @Override
- public void doNextWP() {
- Point2D oldNextWaypoint = getNextWaypoint();
- nextWaypoint = new Point2D.Double(
- coordinateGenerator[0].generate(),
- coordinateGenerator[1].generate());
- firePropertyChange("nextWaypoint", oldNextWaypoint, nextWaypoint);
- waitDelay("MoveTo", 0.0, nextWaypoint);
- }
+ /**
+ * Generate nextWaypoint<br>
+ * schedule MoveTo
+ */
+ public void doStart() {
+ nextWayPoint = new Point2D.Double(coordinateGenerator[0].generate(), coordinateGenerator[1].generate());
+ firePropertyChange("nextWaypoint", getNextWayPoint());
- @Override
- public void doMoveTo(Point2D nextWayPoint) {
+ waitDelay("MoveTo", 0.0, nextWayPoint);
}
- @Override
- public void doEndMove(Mover mover) {
- waitDelay("NextWP", 0.0);
+ /**
+ * To be "heard" from Mover. generate nextWayPoint and schedule MoveTo
+ *
+ * @param mover Given Mover
+ */
+ public void doEndMove(SimEntity mover) {
+ nextWayPoint = new Point2D.Double(coordinateGenerator[0].generate(), coordinateGenerator[1].generate());
+ firePropertyChange("nextWaypoint", getNextWayPoint());
+
+ waitDelay("MoveTo", 0.0, nextWayPoint);
}
-
- @Override
- public void doStop(){
+
+ /**
+ * Schedule OrderStop (which should "Stop" the Mover listening)
+ */
+ public void doStop() {
waitDelay("OrderStop", 0.0);
}
-
- @Override
- public void doOrderStop(){
- }
/**
- * @return the coordinateGenerator
+ * @return copy of the coordinateGenerator
*/
public RandomVariate[] getCoordinateGenerator() {
return coordinateGenerator.clone();
}
- public RandomVariate getCoordinateGenerator(int index) {
- return coordinateGenerator[index];
- }
-
/**
- * @param coordinateGenerator the coordinateGenerator to set
+ * @param coordinateGenerator the coordinateGenerator to set (copy of)
*/
public void setCoordinateGenerator(RandomVariate[] coordinateGenerator) {
this.coordinateGenerator = coordinateGenerator.clone();
}
- public void setCoordinateGenerator(int index, RandomVariate coordinateGenerator) {
- this.coordinateGenerator[index] = coordinateGenerator;
- }
-
/**
* @return the startOnRun
*/
- @Override
public boolean isStartOnRun() {
return startOnRun;
}
@@ -115,9 +120,15 @@ public class SimpleRandomMoverManager extends SimplePathMoverManager {
/**
* @param startOnRun the startOnRun to set
*/
- @Override
public void setStartOnRun(boolean startOnRun) {
this.startOnRun = startOnRun;
}
+ /**
+ * @return the nextWayPoint
+ */
+ public Point2D getNextWayPoint() {
+ return nextWayPoint;
+ }
+
}
diff --git a/MV3302ClassCode/src/mv3302/SimplestMover.java b/MV3302ClassCode/src/mv3302/SimplestMover.java
new file mode 100644
index 0000000000..f24607b670
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/SimplestMover.java
@@ -0,0 +1,170 @@
+package mv3302;
+
+import java.awt.geom.Point2D;
+import static java.lang.Double.NaN;
+import simkit.Schedule;
+import simkit.SimEntityBase;
+
+/**
+ *
+ * @author ahbuss
+ */
+public class SimplestMover extends SimEntityBase {
+
+ public static final Point2D NaP = new Point2D.Double(NaN, NaN);
+
+ private Point2D initialLocation;
+
+ private double maxSpeed;
+
+ protected Point2D lastStopLocation;
+
+ protected Point2D velocity;
+
+ protected Point2D destination;
+
+ protected double startMoveTime;
+
+ public SimplestMover() {
+ lastStopLocation = (Point2D) NaP.clone();
+ velocity = (Point2D) NaP.clone();
+ destination = (Point2D) NaP.clone();
+ }
+
+ public SimplestMover(Point2D initialLocation, double maxSpeed) {
+ this();
+ setInitialLocation(initialLocation);
+ setMaxSpeed(maxSpeed);
+ }
+
+ @Override
+ public void reset() {
+ super.reset();
+ lastStopLocation.setLocation(initialLocation);
+ velocity.setLocation(0.0, 0.0);
+ destination.setLocation(NaP);
+ startMoveTime = 0.0;
+ }
+
+ public void doRun() {
+ firePropertyChange("lastStopLocation", getLastStopLocation());
+ firePropertyChange("velocity", getVelocity());
+ firePropertyChange("destination", getDestination());
+ firePropertyChange("startMoveTime", getStartMoveTime());
+ }
+
+ public void doMoveTo(Point2D newDestination) {
+ Point2D oldDestination = getDestination();
+ this.destination.setLocation(newDestination);
+ firePropertyChange("destination", oldDestination, getDestination());
+
+ if (lastStopLocation.distance(destination) > 0.0) {
+ waitDelay("StartMove", 0.0);
+ }
+ }
+
+ public void doStartMove() {
+ double oldStartMoveTime = getStartMoveTime();
+ startMoveTime = Schedule.getSimTime();
+ firePropertyChange("startMoveTime", oldStartMoveTime, getStartMoveTime());
+
+ double distance = lastStopLocation.distance(destination);
+ double a = getMaxSpeed() / distance;
+
+ Point2D oldVelocity = getVelocity();
+ velocity.setLocation(destination.getX() - lastStopLocation.getX(), destination.getY() - lastStopLocation.getY());
+ velocity.setLocation(a * velocity.getX(), a * velocity.getY());
+ firePropertyChange("velocity", oldVelocity, getVelocity());
+
+ waitDelay("EndMove", 1.0 / a);
+ }
+
+ public void doEndMove() {
+ double oldStartMoveTime = getStartMoveTime();
+ startMoveTime = Schedule.getSimTime();
+ firePropertyChange("startMoveTime", oldStartMoveTime, getStartMoveTime());
+
+ Point2D oldLastStopLocation = getLastStopLocation();
+ lastStopLocation.setLocation(destination);
+ firePropertyChange("lastStopLocation", oldLastStopLocation, getLastStopLocation());
+
+ Point2D oldVelocity = getVelocity();
+ velocity.setLocation(0.0, 0.0);
+ firePropertyChange("velocity", oldVelocity, getVelocity());
+
+ }
+
+ /**
+ * @return the initialLocation
+ */
+ public Point2D getInitialLocation() {
+ return (Point2D) initialLocation.clone();
+ }
+
+ /**
+ * @param initialLocation the initialLocation to set
+ */
+ public void setInitialLocation(Point2D initialLocation) {
+ this.initialLocation = (Point2D) initialLocation.clone();
+ }
+
+ /**
+ * @return the maxSpeed
+ */
+ public double getMaxSpeed() {
+ return maxSpeed;
+ }
+
+ /**
+ * @param maxSpeed the maxSpeed to set
+ */
+ public void setMaxSpeed(double maxSpeed) {
+ if (maxSpeed < 0.0) {
+ throw new IllegalArgumentException("maxSpeed must be >= 0.0: " + maxSpeed);
+ }
+ this.maxSpeed = maxSpeed;
+ }
+
+ /**
+ * @return the lastStopLocation
+ */
+ public Point2D getLastStopLocation() {
+ return (Point2D) lastStopLocation.clone();
+ }
+
+ /**
+ * @return the velocity
+ */
+ public Point2D getVelocity() {
+ return (Point2D) velocity.clone();
+ }
+
+ /**
+ * @return the destination
+ */
+ public Point2D getDestination() {
+ return (Point2D) destination.clone();
+ }
+
+ /**
+ * @return the startMoveTime
+ */
+ public double getStartMoveTime() {
+ return startMoveTime;
+ }
+
+ public Point2D getCurrentLocation() {
+ double elapsedTime = Schedule.getSimTime() - getStartMoveTime();
+ return new Point2D.Double(lastStopLocation.getX() + elapsedTime * velocity.getX() ,
+ lastStopLocation.getY() + elapsedTime * velocity.getY());
+ }
+
+ @Override
+ public String toString() {
+ return String.format("%s %s", getName(), getCurrentLocation());
+ }
+
+ public String paramString() {
+ return super.toString();
+ }
+}
diff --git a/MV3302ClassCode/src/mv3302/run/Assignment7.java b/MV3302ClassCode/src/mv3302/run/Assignment7.java
new file mode 100644
index 0000000000..241d6c5094
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/run/Assignment7.java
@@ -0,0 +1,73 @@
+/*
+ * Click nbfs://nbhost/SystemFileSystem/Templates/Licenses/license-default.txt to change this license
+ * Click nbfs://nbhost/SystemFileSystem/Templates/Classes/Main.java to edit this template
+ */
+package mv3302.run;
+
+import java.awt.geom.Point2D;
+import mv3302.SimpleMover;
+import mv3302.SimplePathMoverManager;
+import mv3302.sensor.SimpleConstantRateSensor;
+import mv3302.sensor.SimpleConstantTimeSensor;
+import mv3302.sensor.SimpleCookieCutterSensor;
+import simkit.Schedule;
+import simkit.util.SimplePropertyDumper;
+
+/**
+ *
+ * @author dansl
+ */
+public class Assignment7 {
+
+ /**
+ * @param args the command line arguments
+ */
+ public static void main(String[] args) {
+ SimpleCookieCutterSensor cookieCutterSensor = new SimpleCookieCutterSensor();
+ cookieCutterSensor.setSimpleMover(new SimpleMover());
+ cookieCutterSensor.setMaxRange(10.0);
+ System.out.println(cookieCutterSensor);
+
+ SimpleConstantTimeSensor constantTimeSensor = new SimpleConstantTimeSensor();
+ constantTimeSensor.setSimpleMover(new SimpleMover());
+ constantTimeSensor.setMaxRange(10);
+ constantTimeSensor.setTimeToDetect(5.0);
+ System.out.println(constantTimeSensor);
+
+ SimpleConstantRateSensor constantRateSensor = new SimpleConstantRateSensor();
+ constantRateSensor.setSimpleMover(new SimpleMover());
+ constantRateSensor.setMaxRange(10.0);
+ constantRateSensor.setMeanTimeToDetect(3.0);
+ System.out.println(constantRateSensor);
+
+ Point2D sensorLocation = new Point2D.Double(0.0, 0.0);
+ SimpleMover simpleSensorMover = new SimpleMover();
+ double maxRange = 20.0;
+ double timeToDetect = 5.0;
+ SimpleConstantTimeSensor simpleConstantTimeSensor = new SimpleConstantTimeSensor(simpleSensorMover, maxRange, timeToDetect);
+ System.out.println(simpleSensorMover.paramString());
+
+ Point2D targetLocation = new Point2D.Double(0.0, 10.0);
+ double targetMaxSpeed = 40;
+ SimpleMover simpleMover = new SimpleMover(targetLocation, targetMaxSpeed);
+ System.out.println(simpleMover.paramString());
+
+ Point2D[] path = new Point2D[]{new Point2D.Double(50.0, -20.0)};
+ SimplePathMoverManager simplePathMoverManager = new SimplePathMoverManager(path, true);
+ System.out.println(simplePathMoverManager);
+
+ simplePathMoverManager.addSimEventListener(simpleMover);
+ simpleMover.addSimEventListener(simplePathMoverManager);
+
+ SimplePropertyDumper simplePropertyDumper = new SimplePropertyDumper(true);
+ simpleConstantTimeSensor.addPropertyChangeListener(simplePropertyDumper);
+ simpleMover.addPropertyChangeListener(simplePropertyDumper);
+ simplePathMoverManager.addPropertyChangeListener(simplePropertyDumper);
+
+ Schedule.setVerbose(true);
+
+ Schedule.reset();
+ Schedule.startSimulation();
+ }
+
+}
diff --git a/MV3302ClassCode/src/mv3302/sensor/AbstractSimpleSensor.java b/MV3302ClassCode/src/mv3302/sensor/AbstractSimpleSensor.java
new file mode 100644
index 0000000000..09568c82eb
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/sensor/AbstractSimpleSensor.java
@@ -0,0 +1,109 @@
+
+package mv3302.sensor;
+
+import java.awt.geom.Point2D;
+import java.util.HashSet;
+import java.util.Set;
+import mv3302.SimpleMover;
+import simkit.SimEntityBase;
+
+/**
+ *
+ * @author dansl
+ */
+public abstract class AbstractSimpleSensor extends SimEntityBase implements Sensor {
+
+ public double maxRange;
+ public SimpleMover simpleMover;
+ public Set<SimpleMover> contacts;
+
+ public AbstractSimpleSensor() {
+ contacts = new HashSet<>();
+ }
+
+ public AbstractSimpleSensor(SimpleMover simpleMover, double maxRange) {
+ this();
+ setSimpleMover(simpleMover);
+ setMaxRange(maxRange);
+ }
+
+ public void doRun() {
+ contacts.clear();
+ }
+
+ public void doDetection(SimpleMover simpleMover) {
+ Set<SimpleMover> oldContacts = getContacts();
+ contacts.add(simpleMover);
+ firePropertyChange("contacts", oldContacts, getContacts());
+
+ firePropertyChange("detection", simpleMover);
+ }
+
+ public void doUndetection(SimpleMover simpleMover) {
+ Set<SimpleMover> oldContacts = getContacts();
+ contacts.remove(simpleMover);
+ firePropertyChange("contacts", oldContacts, getContacts());
+
+ firePropertyChange("undetection", simpleMover);
+ }
+
+ public void doStartMove(SimpleMover simpleMover) {
+ waitDelay("StartMove", 0.0, this);
+ }
+
+ public void doStartMove(Sensor sensor) {
+ }
+
+ public void doStop(SimpleMover simpleMover) {
+ waitDelay("Stop", 0.0, this);
+ }
+
+ public void doStop(Sensor sensor) {
+
+ }
+
+ @Override
+ public Point2D getCurrentLocation() {
+ return simpleMover.getCurrentLocation();
+ }
+
+ public Point2D getVelocity() {
+ return simpleMover.getVelocity();
+ }
+
+ public void setSimpleMover(SimpleMover simpleMover) {
+ this.simpleMover = simpleMover;
+ }
+
+ public void setMaxRange(double maxRange) {
+ if (maxRange <= 0.0) {
+ throw new IllegalArgumentException("maxRange must be > 0.0: " + maxRange);
+ }
+ this.maxRange = maxRange;
+ }
+
+ public Set<SimpleMover> getContacts() {
+ return new HashSet<>(contacts);
+ }
+
+ @Override
+ public String toString() {
+ return String.format("%s %s", getSimpleMover(), getMaxRange());
+ }
+
+ /**
+ * @return the maxRange
+ */
+ @Override
+ public double getMaxRange() {
+ return maxRange;
+ }
+
+ /**
+ * @return the simpleMover
+ */
+ @Override
+ public SimpleMover getSimpleMover() {
+ return simpleMover;
+ }
+}
diff --git a/MV3302ClassCode/src/mv3302/sensor/Sensor.java b/MV3302ClassCode/src/mv3302/sensor/Sensor.java
new file mode 100644
index 0000000000..7c2c05bd81
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/sensor/Sensor.java
@@ -0,0 +1,22 @@
+package mv3302.sensor;
+
+import java.awt.geom.Point2D;
+import java.util.Set;
+import mv3302.SimpleMover;
+import simkit.SimEntity;
+
+/**
+ *
+ * @author dansl
+ */
+interface Sensor extends SimEntity {
+
+ public Point2D getCurrentLocation();
+ public Point2D getVelocity();
+ public double getMaxRange();
+ public void doStartMove(SimpleMover simpleMover);
+ public void doStop(SimpleMover simpleMover);
+ public SimpleMover getSimpleMover();
+ public Set<SimpleMover> getContacts();
+
+}
diff --git a/MV3302ClassCode/src/mv3302/sensor/SimpleConstantRateSensor.java b/MV3302ClassCode/src/mv3302/sensor/SimpleConstantRateSensor.java
new file mode 100644
index 0000000000..ba79c9b488
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/sensor/SimpleConstantRateSensor.java
@@ -0,0 +1,36 @@
+
+package mv3302.sensor;
+
+import java.util.HashSet;
+import mv3302.SimpleMover;
+
+/**
+ *
+ * @author dansl
+ */
+public class SimpleConstantRateSensor extends AbstractSimpleSensor {
+
+ private double meanTimeToDetect;
+
+ public SimpleConstantRateSensor() {
+ contacts = new HashSet<>();
+ }
+
+ public SimpleConstantRateSensor(SimpleMover simpleMover, double maxRange, double meanTimeToDetect) {
+ this();
+ setSimpleMover(simpleMover);
+ setMaxRange(maxRange);
+ setMeanTimeToDetect(meanTimeToDetect);
+ }
+
+ public double getMeanTimeToDetect() {
+ return meanTimeToDetect;
+ }
+
+ public void setMeanTimeToDetect(double meanTimeToDetect) {
+ if (meanTimeToDetect < 0.0) {
+ throw new IllegalArgumentException("meanTimeToDetect must be >= 0.0: " + meanTimeToDetect);
+ }
+ this.meanTimeToDetect = meanTimeToDetect;
+ }
+}
diff --git a/MV3302ClassCode/src/mv3302/sensor/SimpleConstantTimeSensor.java b/MV3302ClassCode/src/mv3302/sensor/SimpleConstantTimeSensor.java
new file mode 100644
index 0000000000..da862ca784
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/sensor/SimpleConstantTimeSensor.java
@@ -0,0 +1,36 @@
+
+package mv3302.sensor;
+
+import java.util.HashSet;
+import mv3302.SimpleMover;
+
+/**
+ *
+ * @author dansl
+ */
+public class SimpleConstantTimeSensor extends AbstractSimpleSensor {
+
+ private double timeToDetect;
+
+ public SimpleConstantTimeSensor() {
+ contacts = new HashSet<>();
+ }
+
+ public SimpleConstantTimeSensor(SimpleMover simpleMover, double maxRange, double timeToDetect) {
+ this();
+ setSimpleMover(simpleMover);
+ setMaxRange(maxRange);
+ setTimeToDetect(timeToDetect);
+ }
+
+ double getTimeToDetect() {
+ return timeToDetect;
+ }
+
+ public void setTimeToDetect(double timeToDetect) {
+ if (timeToDetect < 0.0) {
+ throw new IllegalArgumentException("timeToDetect must be >= 0.0: " + timeToDetect);
+ }
+ this.timeToDetect = timeToDetect;
+ }
+}
diff --git a/MV3302ClassCode/src/mv3302/sensor/SimpleCookieCutterSensor.java b/MV3302ClassCode/src/mv3302/sensor/SimpleCookieCutterSensor.java
new file mode 100644
index 0000000000..b1d3fdc10f
--- /dev/null
+++ b/MV3302ClassCode/src/mv3302/sensor/SimpleCookieCutterSensor.java
@@ -0,0 +1,23 @@
+
+package mv3302.sensor;
+
+import java.util.HashSet;
+import mv3302.SimpleMover;
+
+/**
+ *
+ * @author dansl
+ */
+public class SimpleCookieCutterSensor extends AbstractSimpleSensor {
+
+ public SimpleCookieCutterSensor() {
+ contacts = new HashSet<>();
+ }
+
+ public SimpleCookieCutterSensor(SimpleMover simpleMover, double maxRange) {
+ this();
+ setSimpleMover(simpleMover);
+ setMaxRange(maxRange);
+ }
+
+}
--
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