A Discrete-Event Network Simulator
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waypoint-mobility-model.cc
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1/*
2 * Copyright (c) 2009 Phillip Sitbon
3 *
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License version 2 as
6 * published by the Free Software Foundation;
7 *
8 * This program is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
12 *
13 * You should have received a copy of the GNU General Public License
14 * along with this program; if not, write to the Free Software
15 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
16 *
17 * Author: Phillip Sitbon <phillip@sitbon.net>
18 */
20
21#include "ns3/abort.h"
22#include "ns3/boolean.h"
23#include "ns3/config.h"
24#include "ns3/log.h"
25#include "ns3/simulator.h"
26#include "ns3/test.h"
27#include "ns3/uinteger.h"
28
29#include <limits>
30
31namespace ns3
32{
33
34NS_LOG_COMPONENT_DEFINE("WaypointMobilityModel");
35
36NS_OBJECT_ENSURE_REGISTERED(WaypointMobilityModel);
37
38TypeId
40{
41 static TypeId tid =
42 TypeId("ns3::WaypointMobilityModel")
44 .SetGroupName("Mobility")
45 .AddConstructor<WaypointMobilityModel>()
46 .AddAttribute("NextWaypoint",
47 "The next waypoint used to determine position.",
52 .AddAttribute("WaypointsLeft",
53 "The number of waypoints remaining.",
57 MakeUintegerChecker<uint32_t>())
58 .AddAttribute("LazyNotify",
59 "Only call NotifyCourseChange when position is calculated.",
60 BooleanValue(false),
63 .AddAttribute("InitialPositionIsWaypoint",
64 "Calling SetPosition with no waypoints creates a waypoint.",
65 BooleanValue(false),
68 return tid;
69}
70
72 : m_first(true),
73 m_lazyNotify(false),
74 m_initialPositionIsWaypoint(false)
75{
76}
77
79{
80}
81
82void
84{
86}
87
88void
90{
91 if (m_first)
92 {
93 m_first = false;
94 m_current = m_next = waypoint;
95 }
96 else
97 {
98 NS_ABORT_MSG_IF(!m_waypoints.empty() && (m_waypoints.back().time >= waypoint.time),
99 "Waypoints must be added in ascending time order");
100 m_waypoints.push_back(waypoint);
101 }
102
103 if (!m_lazyNotify)
104 {
106 }
107}
108
111{
112 Update();
113 return m_next;
114}
115
118{
119 Update();
120 return m_waypoints.size();
121}
122
123void
125{
126 const Time now = Simulator::Now();
127 bool newWaypoint = false;
128
129 if (now < m_current.time)
130 {
131 return;
132 }
133
134 while (now >= m_next.time)
135 {
136 if (m_waypoints.empty())
137 {
138 if (m_current.time <= m_next.time)
139 {
140 /*
141 Set m_next.time = -1 to make sure this doesn't happen more than once.
142 The comparison here still needs to be '<=' in the case of mobility with one
143 waypoint.
144 */
145 m_next.time = Seconds(-1.0);
147 m_current.time = now;
148 m_velocity = Vector(0, 0, 0);
150 }
151 else
152 {
153 m_current.time = now;
154 }
155
156 return;
157 }
158
160 m_next = m_waypoints.front();
161 m_waypoints.pop_front();
162 newWaypoint = true;
163
164 const double t_span = (m_next.time - m_current.time).GetSeconds();
165 NS_ASSERT(t_span > 0);
166 m_velocity.x = (m_next.position.x - m_current.position.x) / t_span;
167 m_velocity.y = (m_next.position.y - m_current.position.y) / t_span;
168 m_velocity.z = (m_next.position.z - m_current.position.z) / t_span;
169 }
170
171 if (now > m_current.time) // Won't ever be less, but may be equal
172 {
173 const double t_diff = (now - m_current.time).GetSeconds();
174 m_current.position.x += m_velocity.x * t_diff;
175 m_current.position.y += m_velocity.y * t_diff;
176 m_current.position.z += m_velocity.z * t_diff;
177 m_current.time = now;
178 }
179
180 if (newWaypoint)
181 {
183 }
184}
185
186Vector
188{
189 Update();
190 return m_current.position;
191}
192
193void
195{
196 const Time now = Simulator::Now();
197
199 {
200 AddWaypoint(Waypoint(now, position));
201 return;
202 }
203
204 Update();
205 m_current.time = std::max(now, m_next.time);
206 m_current.position = position;
207 m_velocity = Vector(0, 0, 0);
208
209 if (!m_first && (now >= m_current.time))
210 {
211 // This is only a course change if the node is actually moving
213 }
214}
215
216void
218{
219 m_waypoints.clear();
220 m_current.time = Time(std::numeric_limits<uint64_t>::infinity());
222 m_first = true;
223}
224
225Vector
227{
228 return m_velocity;
229}
230
231} // namespace ns3
AttributeValue implementation for Boolean.
Definition: boolean.h:37
Keep track of the current position and velocity of an object.
void NotifyCourseChange() const
Must be invoked by subclasses when the course of the position changes to notify course change listene...
virtual void DoDispose()
Destructor implementation.
Definition: object.cc:444
static EventId Schedule(const Time &delay, FUNC f, Ts &&... args)
Schedule an event to expire after delay.
Definition: simulator.h:571
static Time Now()
Return the current simulation virtual time.
Definition: simulator.cc:208
Simulation virtual time values and global simulation resolution.
Definition: nstime.h:105
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:932
Hold an unsigned integer type.
Definition: uinteger.h:45
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.
void DoDispose() override
The dispose method.
Waypoint GetNextWaypoint() const
Get the waypoint that this object is traveling towards.
bool m_initialPositionIsWaypoint
If true, calling SetPosition with no waypoints creates a waypoint.
virtual void Update() const
Update the underlying state corresponding to the stored waypoints.
Vector DoGetVelocity() const override
Returns the current velocity of a node.
WaypointMobilityModel()
Create a path with no waypoints at location (0,0,0).
uint32_t WaypointsLeft() const
Get the number of waypoints left for this object, excluding the next one.
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.
void EndMobility()
Clear any existing waypoints and set the current waypoint time to infinity.
void DoSetPosition(const Vector &position) override
Sets a new position for the node.
Vector DoGetPosition() const override
Get current position.
Waypoint m_next
The next ns3::Waypoint in the deque.
static TypeId GetTypeId()
Register this type with the TypeId system.
void AddWaypoint(const Waypoint &waypoint)
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:66
Ptr< const AttributeAccessor > MakeBooleanAccessor(T1 a1)
Definition: boolean.h:81
Ptr< const AttributeChecker > MakeBooleanChecker()
Definition: boolean.cc:124
Ptr< const AttributeAccessor > MakeUintegerAccessor(T1 a1)
Definition: uinteger.h:46
Ptr< const AttributeChecker > MakeWaypointChecker()
Definition: waypoint.cc:24
Ptr< const AttributeAccessor > MakeWaypointAccessor(T1 a1)
Definition: waypoint.h:60
#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:202
#define NS_OBJECT_ENSURE_REGISTERED(type)
Register an Object subclass with the TypeId system.
Definition: object-base.h:46
Time Seconds(double value)
Construct a Time in the indicated unit.
Definition: nstime.h:1326
Every class exported by the ns3 library is enclosed in the ns3 namespace.