MoBANLocal.cc

/* -*- mode:c++ -*- ********************************************************
 * file:        MoBANLocal.cc
 *
 * author:      Majid Nabi <m.nabi@tue.nl>
 *
 *
 *              http://www.es.ele.tue.nl/nes
 *
 * copyright:   (C) 2010 Electronic Systems group(ES),
 *              Eindhoven University of Technology (TU/e), the Netherlands.
 *
 *
 *              This program is free software; you can redistribute it
 *              and/or modify it under the terms of the GNU General Public
 *              License as published by the Free Software Foundation; either
 *              version 2 of the License, or (at your option) any later
 *              version.
 *              For further information see file COPYING
 *              in the top level directory
 ***************************************************************************
 * part of:    MoBAN (Mobility Model for wireless Body Area Networks)
 * description:     Implementation of the local module of the MoBAN mobility model
 ***************************************************************************
 * Citation of the following publication is appreciated if you use MoBAN for
 * a publication of your own.
 *
 * M. Nabi, M. Geilen, T. Basten. MoBAN: A Configurable Mobility Model for Wireless Body Area Networks.
 * In Proc. of the 4th Int'l Conf. on Simulation Tools and Techniques, SIMUTools 2011, Barcelona, Spain, 2011.
 *
 * BibTeX:
 *    @inproceedings{MoBAN,
 *    author = "M. Nabi and M. Geilen and T. Basten.",
 *    title = "{MoBAN}: A Configurable Mobility Model for Wireless Body Area Networks.",
 *      booktitle = "Proceedings of the 4th Int'l Conf. on Simulation Tools and Techniques.",
 *      series = {SIMUTools '11},
 *      isbn = {978-963-9799-41-7},
 *      year = {2011},
 *      location = {Barcelona, Spain},
 *      publisher = {ICST} }
 *
 **************************************************************************/


#include <FWMath.h>
#include "MoBANLocal.h"

Define_Module(MoBANLocal);

void MoBANLocal::initialize(int stage)
{
    BaseMobility::initialize(stage);

    if (stage == 0) {

    speed = 1;
      move.setSpeed(speed);//It should be done in the first stage for sure. If it is not set, then no move message will be initiated. Any value is okay, but Zero!
      numSteps = 0;
        step = -1;
        stepSize = Coord(0,0,0);

        BBMoBANMessage groupMove;        // subscribe to blackboard to receive items published by the MoBAN coordinator
        catRefMove = utility->subscribe(this, &groupMove, findHost()->getId());
    }
    else if( stage == 1 ){
      referencePoint = move.getStartPos();
    }
}

void MoBANLocal::setTargetPosition()
{
  Coord currentRelativePosition;

  if (speed != 0)
  {
    // Find a uniformly random position within a sphere around the reference point
    double x  = uniform(-1*radius, radius);
    double y  = uniform(-1*radius, radius);
    double z =  uniform(-1*radius, radius);
    while (x*x+y*y+z*z > radius*radius)
    {
      x  = uniform(-1*radius, radius);
      y  = uniform(-1*radius, radius);
      z =  uniform(-1*radius, radius);
    }

    targetPos.setX(x);
    targetPos.setY(y);
    targetPos.setZ(z);

    currentRelativePosition = move.getStartPos()- referencePoint;
    double distance = currentRelativePosition.distance(targetPos);

    simtime_t totalTime = distance / move.getSpeed();
    if (totalTime >= updateInterval)
      numSteps = FWMath::round(totalTime / updateInterval);
    else
      numSteps = 1; //The selected target position is quite close so that in less than one step, it will be reached with the given velocity.

    stepSize = (targetPos - currentRelativePosition)/numSteps;
    stepTarget = (move.getStartPos()-referencePoint) + stepSize;
  }
  else
  {
    numSteps = 1;
    targetPos = referencePoint;
    stepSize = Coord(0,0,0);
    stepTarget = Coord(0,0,0);
  }


  move.setStart(insideWorld(stepTarget + referencePoint),simTime());

    step = 0;

  EV << "new targetPos: " << targetPos.info() << " numSteps=" << numSteps << endl;

}

void MoBANLocal::makeMove()
{
    // increment number of steps
    step++;

    if( step == numSteps ){
      EV << "destination reached. " << move.info() << endl;
      setTargetPosition();
  }
    else if( step < numSteps ){
      // step forward
      stepTarget += stepSize;
      move.setStart(insideWorld(stepTarget+referencePoint),simTime());
    }
    else{
      error("step cannot be bigger than numSteps");
    }

}

void MoBANLocal::receiveBBItem(int category, const BBItem *details, int scopeModuleId)
{
    if(category == catRefMove)
    {
      BBMoBANMessage m(*static_cast<const BBMoBANMessage*>(details));
      referencePoint= m.position;

      speed = m.speed;
      if ( !FWMath::close(speed,0.0) )
         move.setSpeed(speed); // IF WE SET ZERO, it is not going to move anymore

        radius = m.radius;

      move.setStart(insideWorld(stepTarget+referencePoint),simTime());

        EV<<"Node "<< getParentModule()->getIndex() <<" received new reference point."<<endl;
        EV<< "New speed:" << speed <<" , new radius: "<< radius <<endl;

    }
}

Coord MoBANLocal::insideWorld(Coord apoint)
{
  double xmax, ymax, zmax;

  Coord NearestBorder = apoint;

  xmax = world->getPgs()->getX();
  ymax = world->getPgs()->getY();
  zmax = world->getPgs()->getZ();

  if (NearestBorder.getX() < 0)
    NearestBorder.setX(0.0);

  if (NearestBorder.getY() < 0)
    NearestBorder.setY(0.0);

  if (NearestBorder.getZ() < 0)
    NearestBorder.setZ(0.0);

  if (NearestBorder.getX() > xmax)
    NearestBorder.setX(xmax);

  if (NearestBorder.getY() > ymax)
    NearestBorder.setY(ymax);

  if (NearestBorder.getZ() > zmax)
    NearestBorder.setZ(zmax);

  return NearestBorder;

}