This is the local mobility module of MoBAN. More...

#include <MoBanLocal.h>

Inheritance diagram for inet::MoBanLocal:

Public Member Functions
	MoBanLocal ()

virtual const Coord &	getCurrentPosition () override
	Returns the position at the current simulation time. More...

virtual const Coord &	getCurrentVelocity () override
	Returns the velocity at the current simulation time. More...

void	setCoordinator (MoBanCoordinator *coordinator)

void	setMoBANParameters (Coord referencePoint, double radius, double speed)

virtual double	getMaxSpeed () const override
	Returns the maximum possible speed at any future time. More...

Public Member Functions inherited from inet::LineSegmentsMobilityBase
	LineSegmentsMobilityBase ()

Public Member Functions inherited from inet::MovingMobilityBase
virtual const Coord &	getCurrentAcceleration () override
	Returns the acceleration at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularPosition () override
	Returns the angular position at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularVelocity () override
	Returns the angular velocity at the current simulation time. More...

virtual const Quaternion &	getCurrentAngularAcceleration () override
	Returns the angular acceleration at the current simulation time. More...

Public Member Functions inherited from inet::MobilityBase
virtual const Coord &	getConstraintAreaMax () const override
	Returns the maximum position along each axes for. More...

virtual const Coord &	getConstraintAreaMin () const override
	Returns the minimum position along each axes for. More...

Public Member Functions inherited from inet::IMobility
virtual	~IMobility ()

Protected Member Functions
virtual int	numInitStages () const override
	Returns the required number of initialize stages. More...

virtual void	refreshDisplay () const override
	Moves the visual representation module's icon to the new position on the screen. More...

virtual void	initialize (int) override
	Initializes mobility model parameters. More...

virtual void	setInitialPosition () override
	Initializes the position from the display string or from module parameters. More...

virtual void	setTargetPosition () override
	Should be redefined in subclasses. More...

virtual void	computeMaxSpeed ()

Protected Member Functions inherited from inet::LineSegmentsMobilityBase
virtual void	initializePosition () override
	Initializes mobility position. More...

virtual void	move () override
	Moves according to the mobility model to the current simulation time. More...

Protected Member Functions inherited from inet::MovingMobilityBase
	MovingMobilityBase ()

virtual	~MovingMobilityBase ()

virtual void	handleSelfMessage (cMessage *message) override
	Called upon arrival of a self messages, subclasses must override. More...

void	scheduleUpdate ()
	Schedules the move timer that will update the mobility state. More...

void	moveAndUpdate ()
	Moves and notifies listeners. More...

virtual void	orient ()

Protected Member Functions inherited from inet::MobilityBase
	MobilityBase ()

virtual int	getId () const override

virtual void	checkPosition ()
	Checks whether the position is valid or not. More...

virtual void	initializeOrientation ()
	Initializes the orientation from module parameters. More...

virtual void	updateDisplayStringFromMobilityState () const

virtual void	handleParameterChange (const char *name) override
	Allows changing parameters from the GUI. More...

virtual void	handleMessage (cMessage *msg) override
	This modules should only receive self-messages. More...

virtual void	emitMobilityStateChangedSignal ()
	Emits a signal with the updated mobility state. More...

virtual Coord	getRandomPosition ()
	Returns a new random position satisfying the constraint area. More...

virtual cModule *	findSubjectModule ()
	Returns the module that represents the object moved by this mobility module. More...

virtual bool	isOutside ()
	Returns true if the mobility is outside of the constraint area. More...

virtual void	reflectIfOutside (Coord &targetPosition, Coord &velocity, rad &angle, rad &elevation, Quaternion &quaternion)
	Utility function to reflect the node if it goes outside the constraint area. More...

virtual void	wrapIfOutside (Coord &targetPosition)
	Utility function to wrap the node to the opposite edge (torus) if it goes outside the constraint area. More...

virtual void	placeRandomlyIfOutside (Coord &targetPosition)
	Utility function to place the node randomly if it goes outside the constraint area. More...

virtual void	raiseErrorIfOutside ()
	Utility function to raise an error if the node gets outside the constraint area. More...

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity)
	Invokes one of reflectIfOutside(), wrapIfOutside() and placeRandomlyIfOutside(), depending on the given border policy. More...

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity, rad &heading)

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity, rad &heading, rad &elevation)

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &velocity, rad &heading, rad &elevation, Quaternion &quaternion)

Protected Attributes
MoBanCoordinator *	coordinator
	The coordinator of the WBAN. More...

Coord	referencePosition
	Reference position of the node in the current posture. More...

double	radius
	The radius of local mobility of the node in the current posture. More...

double	speed
	The speed of local mobility of the node in the current posture. More...

double	maxSpeed
	The possible maximum speed at any future time. More...

Coord	lastCompositePosition

Coord	lastCompositeVelocity

Protected Attributes inherited from inet::LineSegmentsMobilityBase
Coord	targetPosition
	End position of current linear movement. More...

Protected Attributes inherited from inet::MovingMobilityBase
cMessage *	moveTimer
	The message used for mobility state changes. More...

simtime_t	updateInterval
	The simulation time interval used to regularly signal mobility state changes. More...

bool	stationary
	A mobility model may decide to become stationary at any time. More...

Coord	lastVelocity
	The last velocity that was reported at lastUpdate. More...

Quaternion	lastAngularVelocity
	The last angular velocity that was reported at lastUpdate. More...

simtime_t	lastUpdate
	The simulation time when the mobility state was last updated. More...

simtime_t	nextChange
	The next simulation time when the mobility module needs to update its internal state. More...

bool	faceForward

Protected Attributes inherited from inet::MobilityBase
cModule *	subjectModule
	Pointer to visual representation module, to speed up repeated access. More...

const CanvasProjection *	canvasProjection
	The 2D projection used on the canvas. More...

Coord	constraintAreaMin
	3 dimensional position and size of the constraint area (in meters). More...

Coord	constraintAreaMax

Coord	lastPosition
	The last position that was reported. More...

Quaternion	lastOrientation
	The last orientation that was reported. More...

StringFormat	format

Additional Inherited Members
Public Types inherited from inet::MobilityBase
enum	BorderPolicy { REFLECT, WRAP, PLACERANDOMLY, RAISEERROR }
	Selects how a mobility module should behave if it reaches the edge of the constraint area. More...

Static Public Attributes inherited from inet::IMobility
static simsignal_t	mobilityStateChangedSignal = cComponent::registerSignal("mobilityStateChanged")
	A signal used to publish mobility state changes. More...

Detailed Description

This is the local mobility module of MoBAN.

It should be instantiated in each node that belongs to a WBAN. The NED parameter "coordinatorIndex" determines to which WBAN (MoBanCoordinator) it belongs. The current implementation uses the Random Walk Mobility Model (RWMM) for individual (local) movement within a sphere around the node, with given speed and sphere radius of the current posture. The reference point of the node in the current posture, the sphere radius, and the speed is given by the corresponding coordinator. RWMM determines the location of the node at any time relative to the given reference point.

Author: Majid Nabi

Constructor & Destructor Documentation

◆ MoBanLocal()

inet::MoBanLocal::MoBanLocal ( )

 {
     coordinator = nullptr;
     referencePosition = Coord::ZERO;
     radius = 0;
     speed = 0;
     maxSpeed = 0;
 }

Member Function Documentation

◆ computeMaxSpeed()

void inet::MoBanLocal::computeMaxSpeed ( )

protectedvirtual

 {
     maxSpeed = coordinator->getMaxSpeed();
 }

Referenced by initialize().

◆ getCurrentPosition()

const Coord & inet::MoBanLocal::getCurrentPosition ( )

overridevirtual

Returns the position at the current simulation time.

Reimplemented from inet::MovingMobilityBase.

 {
     lastCompositePosition = LineSegmentsMobilityBase::getCurrentPosition() + coordinator->getCurrentPosition();
     return lastCompositePosition;
 }

◆ getCurrentVelocity()

const Coord & inet::MoBanLocal::getCurrentVelocity ( )

overridevirtual

Returns the velocity at the current simulation time.

Reimplemented from inet::MovingMobilityBase.

 {
     lastCompositeVelocity = LineSegmentsMobilityBase::getCurrentVelocity() + coordinator->getCurrentVelocity();
     return lastCompositeVelocity;
 }

◆ getMaxSpeed()

virtual double inet::MoBanLocal::getMaxSpeed ( ) const

inlineoverridevirtual

Returns the maximum possible speed at any future time.

Reimplemented from inet::MobilityBase.

103 { return maxSpeed; }

◆ initialize()

void inet::MoBanLocal::initialize ( int stage )

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented from inet::MovingMobilityBase.

 {
     LineSegmentsMobilityBase::initialize(stage);
  
     EV_TRACE << "initializing MoBanLocal stage " << stage << endl;
     if (stage == INITSTAGE_LOCAL) {
         WATCH(lastCompositePosition);
         WATCH(lastCompositeVelocity);
         WATCH_PTR(coordinator);
         WATCH(referencePosition);
         WATCH(radius);
         WATCH(speed);
     }
     else if (stage == INITSTAGE_SINGLE_MOBILITY)
         computeMaxSpeed();
 }

◆ numInitStages()

virtual int inet::MoBanLocal::numInitStages ( ) const

inlineoverrideprotectedvirtual

Returns the required number of initialize stages.

Reimplemented from inet::MobilityBase.

80 { return NUM_INIT_STAGES; }

◆ refreshDisplay()

void inet::MoBanLocal::refreshDisplay ( ) const

overrideprotectedvirtual

Moves the visual representation module's icon to the new position on the screen.

Reimplemented from inet::MobilityBase.

 {
     if (hasGUI() && subjectModule != nullptr) {
         Coord coordinatorPosition = coordinator->getCurrentPosition();
         subjectModule->getDisplayString().setTagArg("p", 0, lastPosition.x + coordinatorPosition.x);
         subjectModule->getDisplayString().setTagArg("p", 1, lastPosition.y + coordinatorPosition.y);
     }
 }

◆ setCoordinator()

void inet::MoBanLocal::setCoordinator ( MoBanCoordinator * coordinator )

inline

99 { this->coordinator = coordinator; }

Referenced by inet::MoBanCoordinator::collectLocalModules().

◆ setInitialPosition()

void inet::MoBanLocal::setInitialPosition ( )

overrideprotectedvirtual

Initializes the position from the display string or from module parameters.

Reimplemented from inet::MobilityBase.

 {
     lastPosition = referencePosition;
 }

◆ setMoBANParameters()

void inet::MoBanLocal::setMoBANParameters	(	Coord	referencePoint,
		double	radius,
		double	speed
	)

 {
     Enter_Method("setMoBANParameters");
     this->referencePosition = referencePoint;
     this->radius = radius;
     this->speed = speed;
     setTargetPosition();
     lastVelocity = (targetPosition - lastPosition) / (nextChange - simTime()).dbl();
     scheduleUpdate();
 }

Referenced by inet::MoBanCoordinator::publishToNodes().

◆ setTargetPosition()

void inet::MoBanLocal::setTargetPosition ( )

overrideprotectedvirtual

Should be redefined in subclasses.

This method gets called when targetPosition and nextChange has been reached, and its task is to set a new targetPosition and nextChange. At the end of the movement sequence, it should set nextChange to -1.

Implements inet::LineSegmentsMobilityBase.

 {
     if (speed != 0) {
         // find a uniformly random position within a sphere around the reference point
         double x = uniform(-radius, radius);
         double y = uniform(-radius, radius);
         double z = uniform(-radius, radius);
         while (x * x + y * y + z * z > radius * radius) {
             x = uniform(-radius, radius);
             y = uniform(-radius, radius);
             z = uniform(-radius, radius);
         }
  
         targetPosition = referencePosition + Coord(x, y, z);
         Coord positionDelta = targetPosition - lastPosition;
         double distance = positionDelta.length();
         nextChange = simTime() + distance / speed;
     }
     else {
         targetPosition = lastPosition;
         nextChange = -1;
     }
 }

Referenced by setMoBANParameters().

Member Data Documentation

◆ coordinator

MoBanCoordinator* inet::MoBanLocal::coordinator

protected

The coordinator of the WBAN.

Referenced by computeMaxSpeed(), getCurrentPosition(), getCurrentVelocity(), initialize(), MoBanLocal(), and refreshDisplay().

◆ lastCompositePosition

Coord inet::MoBanLocal::lastCompositePosition

protected

Referenced by getCurrentPosition(), and initialize().

◆ lastCompositeVelocity

Coord inet::MoBanLocal::lastCompositeVelocity

protected

Referenced by getCurrentVelocity(), and initialize().

◆ maxSpeed

double inet::MoBanLocal::maxSpeed

protected

The possible maximum speed at any future time.

Referenced by computeMaxSpeed(), and MoBanLocal().

◆ radius

double inet::MoBanLocal::radius

protected

The radius of local mobility of the node in the current posture.

Referenced by initialize(), MoBanLocal(), setMoBANParameters(), and setTargetPosition().

◆ referencePosition

Coord inet::MoBanLocal::referencePosition

protected

Reference position of the node in the current posture.

Referenced by initialize(), MoBanLocal(), setInitialPosition(), setMoBANParameters(), and setTargetPosition().

◆ speed

double inet::MoBanLocal::speed

protected

The speed of local mobility of the node in the current posture.

Referenced by initialize(), MoBanLocal(), setMoBANParameters(), and setTargetPosition().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoBanLocal()

Member Function Documentation

◆ computeMaxSpeed()

◆ getCurrentPosition()

◆ getCurrentVelocity()

◆ getMaxSpeed()

◆ initialize()

◆ numInitStages()

◆ refreshDisplay()

◆ setCoordinator()

◆ setInitialPosition()

◆ setMoBANParameters()

◆ setTargetPosition()

Member Data Documentation

◆ coordinator

◆ lastCompositePosition

◆ lastCompositeVelocity

◆ maxSpeed

◆ radius

◆ referencePosition

◆ speed