amr_mobility_model_ns3.h

// Copyright 2023 The SOLA authors
//
// This file is part of DAISI.
//
// DAISI 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; version 2.
//
// DAISI 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 DAISI. If not, see
// <https://www.gnu.org/licenses/>.
//
// SPDX-License-Identifier: GPL-2.0-only
 
#ifndef DAISI_CPPS_AMR_PHYSICAL_AMR_MOBILITY_MODEL_NS3_H_
#define DAISI_CPPS_AMR_PHYSICAL_AMR_MOBILITY_MODEL_NS3_H_
 
#include <functional>
#include <queue>
 
#include "cpps/amr/amr_description.h"
#include "cpps/amr/amr_mobility_helper.h"
#include "cpps/amr/amr_topology.h"
#include "cpps/amr/physical/amr_mobility_status.h"
#include "cpps/amr/physical/functionality.h"
#include "ns3/core-module.h"
#include "ns3/mobility-model.h"
#include "utils/structure_helpers.h"
 
namespace daisi::cpps {
 
class AmrMobilityModelNs3 : public ns3::MobilityModel {
public:
  AmrMobilityModelNs3() { phases_.emplace_back(); }
 
  ~AmrMobilityModelNs3() override = default;
 
  static ns3::TypeId GetTypeId();
 
  ns3::TypeId GetInstanceTypeId() const override;
 
  void execute(const FunctionalityVariant &functionality, const AmrDescription &description,
               const Topology &topology, FunctionalityDoneCallback notifyDone);
 
  util::Pose getPose() const;
  util::Acceleration getAcceleration() const;
  util::Position getPosition() const;
  util::Velocity getVelocity() const;
 
private:
  ns3::Vector DoGetPosition() const override;
  void DoSetPosition(const ns3::Vector &position) override;
  ns3::Vector DoGetVelocity() const override;
 
  AmrMobilityStatus getStatus() {
    return AmrMobilityHelper::calculateMobilityStatus(phases_.front(), now());
  }
  void startNextPhase();
 
  util::Duration now() const { return ns3::Simulator::Now().GetSeconds(); }
  std::deque<AmrMobilityStatus> phases_;
  FunctionalityVariant current_functionality_;
  std::function<void(const FunctionalityVariant &)> notifyDone_;
};
 
}  // namespace daisi::cpps
#endif