at.uni_salzburg.cs.ros.artificer.LocationData.java Source code

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Here is the source code for at.uni_salzburg.cs.ros.artificer.LocationData.java

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/*
 * This code is part of the BigActor project.
 *
 * Copyright (c) 2013 Clemens Krainer <clemens.krainer@gmail.com>
 *
 * 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.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 */
package at.uni_salzburg.cs.ros.artificer;

import at.uni_salzburg.cs.ckgroup.course.PolarCoordinate;
import at.uni_salzburg.cs.ckgroup.course.WGS84;
import at.uni_salzburg.cs.ros.Configuration;
import at.uni_salzburg.cs.ros.LocationSimulationDetails;

import org.apache.commons.lang.math.RandomUtils;

import java.util.Map;

import big_actor_msgs.LatLng;
import big_actor_msgs.Location;

/**
 * LocationData
 */
public class LocationData implements Updatable {
    private Location location;
    private Map<Integer, LocationSimulationDetails> simDetails;
    private double velocity;
    private double mutation;
    private boolean moving;
    private double headingSouth;
    private double headingEast;
    private double heading;
    private double minLatitude;
    private double maxLatitude;
    private double minLongitude;
    private double maxLongitude;

    private WGS84 geodeticSystem = new WGS84();
    private Clock clock;

    /**
     * @param configuration configuration
     * @param location location
     */
    public LocationData(Configuration configuration, Location location) {
        clock = configuration.getClock();
        this.location = location;
        simDetails = configuration.getLocationSimulationDetails();
        velocity = simDetails.get(location.getLocationId()).getAverageSpeed();
        mutation = simDetails.get(location.getLocationId()).getMutationSpeed();

        minLatitude = simDetails.get(location.getLocationId()).getMinLatitude();
        maxLatitude = simDetails.get(location.getLocationId()).getMaxLatitude();
        minLongitude = simDetails.get(location.getLocationId()).getMinLongitude();
        maxLongitude = simDetails.get(location.getLocationId()).getMaxLongitude();

        moving = Math.abs(velocity) > 1E-6 || Math.abs(mutation) > 1E-4;
        heading = RandomUtils.nextDouble() * 2.0 * Math.PI;
        headingSouth = Math.sin(heading) * velocity;
        headingEast = Math.cos(heading) * velocity;
    }

    /**
     * {@inheritDoc}
     */
    @Override
    public void update() {
        if (!moving) {
            return;
        }

        int l = location.getBoundaries().size();

        boolean invertLat = false;
        boolean invertLon = false;

        for (int k = 1; k < l; ++k) {
            LatLng vertex = location.getBoundaries().get(k);

            if ((vertex.getLatitude() >= maxLatitude && headingSouth < 0)
                    || (vertex.getLatitude() <= minLatitude && headingSouth > 0)) {
                invertLat = true;
            }

            if ((vertex.getLongitude() >= maxLongitude && headingEast > 0)
                    || (vertex.getLongitude() <= minLongitude && headingEast < 0)) {
                invertLon = true;
            }

            PolarCoordinate pos = new PolarCoordinate(vertex.getLatitude(), vertex.getLongitude(), 0);
            double x = headingSouth + (RandomUtils.nextDouble() - 0.5) * mutation;
            double y = headingEast + (RandomUtils.nextDouble() - 0.5) * mutation;

            PolarCoordinate r = geodeticSystem.walk(pos, x, y, 0);

            vertex.setLatitude(r.getLatitude());
            vertex.setLongitude(r.getLongitude());
        }

        if (l > 1) {
            LatLng firstVertex = location.getBoundaries().get(0);
            LatLng lastVertex = location.getBoundaries().get(l - 1);
            firstVertex.setLatitude(lastVertex.getLatitude());
            firstVertex.setLongitude(lastVertex.getLongitude());
        }

        if (invertLat) {
            headingSouth *= -1;
        }

        if (invertLon) {
            headingEast *= -1;
        }

        location.setTimeStamp(clock.currentTimeMillis());
    }

    /**
     * @return location
     */
    public Location getLocation() {
        return location;
    }
}