Merge pull request #67 from marty30/9-theoretical-tactic

9 theoretical tactic

docker-compose.yml

@@ -47,28 +47,38 @@ services:
       rabbitmq:
         condition: service_healthy
     ports:
-      - "8000:8000"
+      - "8001:8000"
     environment:
+      DRONE_NAME: "drone-thales-1"
       DRONE_TEAM: "teamthales"
-      DRONE_COMPONENTS: "gps,radar,radio"
+      DRONE_COMPONENTS: "gps,gun,radio"
+      DRONE_TACTIC: "org.inaetics.dronessimulator.drone.tactic.example.utility.TheoreticalTactic"
   drone-thales_2:
     build: ./docker_images/drone
     env_file: config.env
     depends_on:
       rabbitmq:
         condition: service_healthy
+    ports:
+      - "8002:8000"
     environment:
+      DRONE_NAME: "drone-thales-2"
       DRONE_TEAM: "teamthales"
-      DRONE_COMPONENTS: "gps,radio,gun"
+      DRONE_COMPONENTS: "gps,radio,radar"
+      DRONE_TACTIC: "org.inaetics.dronessimulator.drone.tactic.example.utility.TheoreticalTactic"
   drone-thales_3:
-      build: ./docker_images/drone
-      env_file: config.env
-      depends_on:
-        rabbitmq:
-          condition: service_healthy
-      environment:
-        DRONE_TEAM: "teamthales"
-        DRONE_COMPONENTS: "gps,radio,gun"
+    build: ./docker_images/drone
+    env_file: config.env
+    depends_on:
+      rabbitmq:
+        condition: service_healthy
+    ports:
+      - "8003:8000"
+    environment:
+      DRONE_NAME: "drone-thales-3"
+      DRONE_TEAM: "teamthales"
+      DRONE_COMPONENTS: "gps,radio,gun"
+      DRONE_TACTIC: "org.inaetics.dronessimulator.drone.tactic.example.utility.TheoreticalTactic"
 
 
   drone-student_1:
@@ -80,3 +90,4 @@ services:
     environment:
       DRONE_TEAM: "teamstudent"
       DRONE_COMPONENTS: "gps,radar,radio,gun"
+      DRONE_TACTIC: "org.inaetics.dronessimulator.drone.tactic.example.SimpleTactic"

implementation/architecture-event-controller/src/test/java/org/inaetics/dronessimulator/architectureevents/MockDiscoverer.java

@@ -19,13 +19,13 @@
 
 public class MockDiscoverer implements Discoverer {
     @Getter
-    private List<NodeEventHandler<AddedNode>> addedHandlers = new LinkedList<>();
+    private final List<NodeEventHandler<AddedNode>> addedHandlers = new LinkedList<>();
     @Getter
-    private List<NodeEventHandler<ChangedValue>> changedHandlers = new LinkedList<>();
+    private final List<NodeEventHandler<ChangedValue>> changedHandlers = new LinkedList<>();
     @Getter
-    private List<NodeEventHandler<RemovedNode>> removedHandlers = new LinkedList<>();
+    private final List<NodeEventHandler<RemovedNode>> removedHandlers = new LinkedList<>();
 
-    private List<NodeEvent> happenedEvents = new LinkedList<>();
+    private final List<NodeEvent> happenedEvents = new LinkedList<>();
 
     @Override
     public void register(Instance instance) throws DuplicateName, IOException {

implementation/architecture-manager/src/main/java/org/inaetics/dronessimulator/architecturemanager/ArchitectureManager.java

@@ -1,15 +1,13 @@
 package org.inaetics.dronessimulator.architecturemanager;
 
-import org.apache.log4j.Logger;
+import lombok.extern.log4j.Log4j;
 import org.inaetics.dronessimulator.common.architecture.SimulationAction;
 import org.inaetics.dronessimulator.common.architecture.SimulationState;
 import org.inaetics.dronessimulator.common.protocol.MessageTopic;
 import org.inaetics.dronessimulator.common.protocol.RequestArchitectureStateChangeMessage;
 import org.inaetics.dronessimulator.discovery.api.Discoverer;
 import org.inaetics.dronessimulator.discovery.api.DuplicateName;
 import org.inaetics.dronessimulator.discovery.api.Instance;
-import org.inaetics.dronessimulator.discovery.api.discoverynode.Group;
-import org.inaetics.dronessimulator.discovery.api.discoverynode.Type;
 import org.inaetics.dronessimulator.discovery.api.instances.ArchitectureInstance;
 import org.inaetics.dronessimulator.pubsub.api.Message;
 import org.inaetics.dronessimulator.pubsub.api.subscriber.Subscriber;
@@ -24,6 +22,7 @@
  * Currently this only consists of the current lifecycle state of the architecture
  * Uses Discovery and Subscriber to publish current state and receive requested state updates
  */
+@Log4j
 public class ArchitectureManager {
     /**
      * Reference to discovery bundle to publish state information
@@ -34,11 +33,6 @@ public class ArchitectureManager {
      */
     private volatile Subscriber m_subscriber;
 
-    /**
-     * The logger
-     */
-    private final static Logger logger = Logger.getLogger(ArchitectureManager.class);
-
     /**
      * The instance published in Discovery
      */
@@ -90,15 +84,15 @@ public ArchitectureManager(Discoverer discoverer, Subscriber subscriber) {
      */
     public void start() {
         while (!m_subscriber.hasConnection()){
-            logger.warn("Architecture Manager does not yet have a connection to the subscriber implementation... Retrying now!");
+            log.warn("Architecture Manager does not yet have a connection to the subscriber implementation... Retrying now!");
             try {
                 m_subscriber.connect();
-                logger.debug("Connection with the subscriber created");
+                log.debug("Connection with the subscriber created");
             } catch (IOException e) {
-                logger.error(e);
+                log.error(e);
             }
         }
-        logger.info("Starting Architecture Manager...");
+        log.info("Starting Architecture Manager...");
         try {
             // Register instance with discovery
             m_discoverer.register(this.instance);
@@ -116,38 +110,43 @@ public void start() {
                     this.previousAction = action;
                     this.currentState = nextState;
 
-                    logger.info("New transition: (" + this.previousState + ", " + this.previousAction + ", " + this.currentState + ")");
+                    log.info("New transition: (" + this.previousState + ", " + this.previousAction + ", " + this.currentState + ")");
 
-                    try {
-                        instance = m_discoverer.updateProperties(instance, getCurrentProperties());
-                    } catch (IOException e) {
-                        logger.fatal(e);
-                    }
+                    instance = safeUpdateProperties(instance, getCurrentProperties());
 
                 } else {
-                    logger.error(String.format("Received an action which did not led to next state! Current state: %s. Action: %s", currentState, action));
+                    log.error(String.format("Received an action which did not led to next state! Current state: %s. Action: %s", currentState, action));
                 }
             });
 
         } catch(IOException | DuplicateName e) {
-            logger.fatal(e);
+            log.fatal(e);
         }
 
-        logger.info("Started Architecture Manager!");
+        log.info("Started Architecture Manager!");
+    }
+
+    private Instance safeUpdateProperties(final Instance instance, final Map<String, String> properties) {
+        try {
+            return m_discoverer.updateProperties(instance, properties);
+        } catch (IOException e) {
+            log.fatal(e);
+        }
+        return instance;
     }
 
     /**
      * Stops the Architecture Manager service
      * Unregisters the current state in Discovery
      */
     public void stop() {
-        logger.info("Stopping Architecture Manager...");
+        log.info("Stopping Architecture Manager...");
         try {
             m_discoverer.unregister(instance);
         } catch (IOException e) {
-            logger.error(e);
+            log.error(e);
         }
-        logger.info("Stopped Architecture Manager!");
+        log.info("Stopped Architecture Manager!");
     }
 
     /**

implementation/architecture-manager/src/test/java/org/inaetics/dronessimulator/architecturemanager/LifecycleUpdateIT.java

@@ -1,25 +1,16 @@
 package org.inaetics.dronessimulator.architecturemanager;
 
 import com.rabbitmq.client.ConnectionFactory;
-import org.inaetics.dronessimulator.architectureevents.ArchitectureEventController;
 import org.inaetics.dronessimulator.architectureevents.ArchitectureEventControllerService;
 import org.inaetics.dronessimulator.architectureevents.ArchitectureEventHandler;
 import org.inaetics.dronessimulator.common.architecture.SimulationAction;
 import org.inaetics.dronessimulator.common.architecture.SimulationState;
 import org.inaetics.dronessimulator.common.protocol.MessageTopic;
 import org.inaetics.dronessimulator.common.protocol.RequestArchitectureStateChangeMessage;
-import org.inaetics.dronessimulator.discovery.api.Discoverer;
-import org.inaetics.dronessimulator.discovery.api.Instance;
 import org.inaetics.dronessimulator.discovery.api.discoverynode.DiscoveryStoredNode;
-import org.inaetics.dronessimulator.discovery.api.discoverynode.Group;
-import org.inaetics.dronessimulator.discovery.api.discoverynode.Type;
 import org.inaetics.dronessimulator.discovery.api.instances.ArchitectureInstance;
-import org.inaetics.dronessimulator.discovery.etcd.EtcdDiscoverer;
 import org.inaetics.dronessimulator.discovery.etcd.EtcdDiscovererService;
-import org.inaetics.dronessimulator.pubsub.api.Message;
-import org.inaetics.dronessimulator.pubsub.api.publisher.Publisher;
 import org.inaetics.dronessimulator.pubsub.api.serializer.Serializer;
-import org.inaetics.dronessimulator.pubsub.api.subscriber.Subscriber;
 import org.inaetics.dronessimulator.pubsub.javaserializer.JavaSerializer;
 import org.inaetics.dronessimulator.pubsub.rabbitmq.common.RabbitConnectionInfo;
 import org.inaetics.dronessimulator.pubsub.rabbitmq.publisher.RabbitPublisher;
@@ -33,7 +24,7 @@
 import java.util.Map;
 import java.util.concurrent.atomic.AtomicBoolean;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertTrue;
 
 public class LifecycleUpdateIT {
 
@@ -66,9 +57,7 @@ public void testLifecycleUpdates() throws Exception {
         ArchitectureManager manager = new ArchitectureManager(discoverer, subscriber);
         ArchitectureEventControllerService controller = new ArchitectureEventControllerService(discoverer);
         AtomicBoolean isReceived = new AtomicBoolean(false);
-        ArchitectureEventHandler handler = (SimulationState fromState, SimulationAction action, SimulationState toState) -> {
-            isReceived.set(toState == SimulationState.CONFIG);
-        };
+        ArchitectureEventHandler handler = (SimulationState fromState, SimulationAction action, SimulationState toState) -> isReceived.set(toState == SimulationState.CONFIG);
 
         controller.addHandler(SimulationState.INIT, SimulationAction.CONFIG, SimulationState.CONFIG, handler);
 

implementation/architecture-manager/src/test/java/org/inaetics/dronessimulator/architecturemanager/StateTransitionTest.java

@@ -7,7 +7,7 @@
 import static org.junit.Assert.assertEquals;
 
 public class StateTransitionTest {
-    SimulationState[] validCurrentStates = new SimulationState[]{
+    final SimulationState[] validCurrentStates = new SimulationState[]{
             SimulationState.NOSTATE,
             SimulationState.INIT,
             SimulationState.CONFIG,
@@ -19,7 +19,7 @@ public class StateTransitionTest {
             SimulationState.PAUSED,
             SimulationState.DONE,
     };
-    SimulationAction[] validActions = new SimulationAction[]{
+    final SimulationAction[] validActions = new SimulationAction[]{
             SimulationAction.INIT,
             SimulationAction.CONFIG,
             SimulationAction.STOP,
@@ -31,7 +31,7 @@ public class StateTransitionTest {
             SimulationAction.RESUME,
             SimulationAction.STOP,
     };
-    SimulationState[] validFinalStates = new SimulationState[]{
+    final SimulationState[] validFinalStates = new SimulationState[]{
             SimulationState.INIT,
             SimulationState.CONFIG,
             SimulationState.INIT,
@@ -44,17 +44,17 @@ public class StateTransitionTest {
             SimulationState.INIT,
     };
 
-    int numActions = 10;
+    final int numActions = 10;
 
-    SimulationState[] allStates = new SimulationState[]{
+    final SimulationState[] allStates = new SimulationState[]{
             SimulationState.NOSTATE,
             SimulationState.INIT,
             SimulationState.CONFIG,
             SimulationState.RUNNING,
             SimulationState.PAUSED,
             SimulationState.DONE,
     };
-    SimulationAction[] allActions = new SimulationAction[]{
+    final SimulationAction[] allActions = new SimulationAction[]{
             SimulationAction.INIT,
             SimulationAction.CONFIG,
             SimulationAction.START,

implementation/common/src/main/java/org/inaetics/dronessimulator/common/Settings.java

@@ -1,5 +1,7 @@
 package org.inaetics.dronessimulator.common;
 
+import org.inaetics.dronessimulator.common.vector.D3Vector;
+
 import java.time.temporal.ChronoUnit;
 
 public class Settings {
@@ -8,6 +10,7 @@ public class Settings {
     public static final double ARENA_HEIGHT = Float.parseFloat(v("ARENA_HEIGHT", "100"));
     public static final double ARENA_DEPTH = Float.parseFloat(v("ARENA_DEPTH", "800"));
     public static final double ARENA_WIDTH = Float.parseFloat(v("ARENA_WIDTH", "800"));
+    public static final D3Vector ARENA = new D3Vector(ARENA_WIDTH, ARENA_DEPTH, ARENA_HEIGHT);
     public static final GameMode GAME_MODE = GameMode.valueOf(v("GAME_MODE", "DEATHMATCH"));
     public static final long TICK_TIME = 33;//ms
     /**
@@ -26,6 +29,10 @@ private static String v(String variableName, String defaultValue) {
         return value != null ? value : defaultValue;
     }
 
+    private Settings() {
+        throw new IllegalStateException("Utility class");
+    }
+
     public static double getTickTime(ChronoUnit temporalUnit) {
         switch (temporalUnit) {
             case NANOS:

implementation/common/src/main/java/org/inaetics/dronessimulator/common/TimeoutTimer.java

@@ -19,7 +19,6 @@ public class TimeoutTimer {
      * @return true if the timeout has been exceeded, false otherwise.
      */
     public static boolean isTimeExceeded(long startTime, double timeout) {
-
         return (startTime + timeout) < System.currentTimeMillis();
     }
 
@@ -34,6 +33,22 @@ public static boolean isTimeExceeded(LocalDateTime startTime, long timeout) {
         return startTime.plusSeconds(timeout).isBefore(LocalDateTime.now());
     }
 
+    /**
+     * Check if a timeout has exceeded since the given starttime
+     *
+     * @param startTime a LocalDateTime object with the time since when the timeout must be counted
+     * @param timeout   a timeout in seconds (note that it will be compared up-to nano second accuracy).
+     * @return true if the timeout has been exceeded, false otherwise.
+     */
+    public static boolean isTimeExceeded(LocalDateTime startTime, double timeout) {
+        LocalDateTime test = startTime.plusNanos((long) (timeout * 1e9));
+        LocalDateTime nu = LocalDateTime.now();
+        return test.isBefore(nu);
+    }
+
+    /**
+     * Reset the timer. You must call this everytime a new measurement should start.
+     */
     public synchronized void reset() {
         lastTime = System.currentTimeMillis();
     }

implementation/common/src/main/java/org/inaetics/dronessimulator/common/model/Triple.java

@@ -0,0 +1,23 @@
+package org.inaetics.dronessimulator.common.model;
+
+import lombok.EqualsAndHashCode;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import lombok.ToString;
+
+/**
+ * 3-tuple with arbitrary types.
+ *
+ * @param <A> Type of the first value.
+ * @param <B> Type of the second value.
+ * @param <C> Type of the third value.
+ */
+@EqualsAndHashCode
+@RequiredArgsConstructor
+@ToString
+@Getter
+public class Triple<A, B, C> {
+    private final A a;
+    private final B b;
+    private final C c;
+}

implementation/common/src/main/java/org/inaetics/dronessimulator/common/protocol/FireBulletMessage.java

@@ -18,6 +18,7 @@ public class FireBulletMessage extends CreateEntityMessage {
      */
     private String firedById;
 
+    @Override
     public String toString() {
         return String.format("(FireBulletMessage %s fired by %s, %s)", this.getIdentifier(), this.getFiredById(), this.getDamage());
     }