edu.ksu.cis.cooprobot.simulator.communication
Class CommunicationsSystem

java.lang.Object
  edu.ksu.cis.cooprobot.simulator.communication.CommunicationsSystem

public class CommunicationsSystem

extends Object

The CommunicationsSystem class is served as a main interface, which interact with the environment. It provides function for robot and environment control panel. It is also responsible for sending message, delivering message to the right robot including the process of verifying participants.

Author:

Acharaporn Pattaravanichanon

Field Summary

static int	BROADCAST Constant value of communication type indicates BROADCAST type.
static int	BROADCASTANDP2P Constant value of communication type indicates POINT-TO-POINT and BROADCAST type.
private int	delay System delay time default is 0
private int	deliveryProb System delivery probability default is 100
private edu.ksu.cis.cooprobot.simulator.environment.Environment	env
static int	INFINITE Constant value indicate infinite range limit.
private boolean	isLinkEnabled Status of System link (All links in the system) default set to true
static int	POINT2POINT Constant value of communication type indicates POINT-TO-POINT type.
private int	range System maximum range limit default is -1 (infinite)
private Vector	robotCommRecordVector Vector of RobotCommRecord in the communication system

Constructor Summary

CommunicationsSystem()
Constructor to start CommunicationsSystem

CommunicationsSystem(edu.ksu.cis.cooprobot.simulator.environment.Environment env)

Method Summary

private void	distributeMessages(RobotCommRecord senderRecord, Message msg, long timeStep) This method is used for distributing broadcast message.
int	getDelay() Get system delay
int	getDeliveryProb() Get system delivery probability
Vector	getMessage(String name, long timeStep) Retrieve message from the communication system.
int	getRange() Get system maximum range limit
RobotCommRecord	getRobotCommRecord(String name) Get RobotCommRecord with identified name
int	getRobotDelay(String robot1, String robot2) Get delay time between a pair of robot
int	getRobotDeliveryProb(String robot1, String robot2) Get delivery probability of a pair of robot
int	getRobotRange(String name) Get maximum range limit of a robot
private int	getTotalProb(int system, int robot) Get total value of delivery probability which is the average value of system delivery probability and robot delivery probability
private boolean	isInRangeLimit(String sender, String receiver, int robotRange)
boolean	isLinkEnabled() For checking if system link is enabled or not
boolean	isMsgLost(int random, int prob) Determine if message is lost or not by comparing random value of a message with total delivery probabibity
boolean	isRobotBroadcastEnabled(String name) Check if broadcast abililty is set to true
boolean	isRobotExist(String name) Check if this robot exists in the system.
boolean	isRobotP2PEnabled(String name) Check if point to point ability is set to true
boolean	isRobotReceiveEnabled(String name) Check if robot's incoming link is set to true
boolean	isRobotSendEnabled(String name) Check if robot's outgoing link is set to true
private void	processBroadcast(Message msg, long timeStep) It is used to process broadcast message by checking if sender is qualified and distribute messages to other robots.
private void	processP2P(Message msg, long timeStep) This method is used for processing point to point message by checking if sender and receiver are qualified and add message to the receiver's queue.
boolean	registerRobot(String name, int commType) Register robot into the system before starting communication session.
void	sendMessage(Message msg, long timeStep) Send message to other robots.
void	setDelay(int delay) Set system delay
void	setDeliveryProb(int prob) Set system delivery probability.
void	setRange(int range) Set system range which is the maximum range limit which robot can communicate with each other.
void	setRobotDelay(String robot1, String robot2, int delay) Set delay between a pair of robots.
void	setRobotDeliveryProb(String robot1, String robot2, int prob) Set delivery probalibity beween a pair of robot.
void	setRobotRange(String name, int range) Set maximum range limit which is the maximum distance of receiver which can receive messages from this robot.
void	shutdownAllLink() To shutdown system link
void	shutdownReceiveLink(String name) Shutdown robot's incoming link
void	shutdownSendLink(String name) Shutdown robot's outgoing link
void	startupAllLink() To start up system link
void	startupReceiveLink(String name) Startup robot's imcoming link
void	startupSendLink(String name) Start up robot's outgoing link

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

INFINITE

public static final int INFINITE

Constant value indicate infinite range limit.

See Also:

Constant Field Values

delay

private int delay

System delay time default is 0

range

private int range

System maximum range limit default is -1 (infinite)

deliveryProb

private int deliveryProb

System delivery probability default is 100

isLinkEnabled

private boolean isLinkEnabled

Status of System link (All links in the system) default set to true

robotCommRecordVector

private Vector robotCommRecordVector

Vector of RobotCommRecord in the communication system

BROADCAST

public static final int BROADCAST

Constant value of communication type indicates BROADCAST type.

See Also:

Constant Field Values

POINT2POINT

public static final int POINT2POINT

Constant value of communication type indicates POINT-TO-POINT type.

See Also:

Constant Field Values

BROADCASTANDP2P

public static final int BROADCASTANDP2P

Constant value of communication type indicates POINT-TO-POINT and BROADCAST type.

See Also:

Constant Field Values

env

private edu.ksu.cis.cooprobot.simulator.environment.Environment env

Constructor Detail

CommunicationsSystem

public CommunicationsSystem()

Constructor to start CommunicationsSystem

CommunicationsSystem

public CommunicationsSystem(edu.ksu.cis.cooprobot.simulator.environment.Environment env)

Method Detail

registerRobot

public boolean registerRobot(String name,
                             int commType)

Register robot into the system before starting communication session.

Parameters:

name - - robot name

commType - - communication types which registered robot can use to communicate

Returns:

true if successfully registered, false otherwise

sendMessage

public void sendMessage(Message msg,
                        long timeStep)

Send message to other robots. There are two parameters which are sending message and the current time step. Time step is used for synchronization within the robot simulator system. Therefore, every message has sent time and received time. Sent time is the time step which this message is sending out. Received time is the time step which receiver should get this message. Received time calculates by adding system delay and robot delay to the sent time.

Parameters:

msg - - message to others robot.

timeStep - - current time step.

getMessage

public Vector getMessage(String name,
                         long timeStep)

Retrieve message from the communication system. The parameters are robot name and time step. The robot name is the name of robot who would like to retreive messages at the defined time step.

Parameters:

name - - the owner of the message

timeStep - - the time step of messages which robot want to get messages.

Returns:

A vector of messages.

processBroadcast

private void processBroadcast(Message msg,
                              long timeStep)

It is used to process broadcast message by checking if sender is qualified and distribute messages to other robots. The qualified sender is sender's send link enabled and broadcast ability enabled.

Parameters:

msg - - broadcast message

timeStep - - current time step

processP2P

private void processP2P(Message msg,
                        long timeStep)

This method is used for processing point to point message by checking if sender and receiver are qualified and add message to the receiver's queue.

Parameters:

msg - - point to point message

timeStep - - current time step

distributeMessages

private void distributeMessages(RobotCommRecord senderRecord,
                                Message msg,
                                long timeStep)

This method is used for distributing broadcast message. It will check every robot if it is qualified for receiving message from this sender or not.

Parameters:

senderRecord - - The sender RobotCommRecord

msg - - sending broadcast message

timeStep - - current time step

getTotalProb

private int getTotalProb(int system,
                         int robot)

Get total value of delivery probability which is the average value of system delivery probability and robot delivery probability

Parameters:

system - - system delivery probability

robot - - robot delivery probability

Returns:

The average of system and robot delivery probability

isMsgLost

public boolean isMsgLost(int random,
                         int prob)

Determine if message is lost or not by comparing random value of a message with total delivery probabibity

Parameters:

random - - message random value

prob - - total delivery probability

Returns:

true if random > prob , a message will be lost if random value is beyond the probability.

isLinkEnabled

public boolean isLinkEnabled()

For checking if system link is enabled or not

Returns:

the status of system link

getRobotCommRecord

public RobotCommRecord getRobotCommRecord(String name)

Get RobotCommRecord with identified name

Parameters:

name - - robot name

Returns:

identified RobotCommRecord

isRobotExist

public boolean isRobotExist(String name)

Check if this robot exists in the system.

Parameters:

name - - name of a robot

Returns:

true if this robot exists, false otherwise

startupAllLink

public void startupAllLink()

To start up system link

shutdownAllLink

public void shutdownAllLink()

To shutdown system link

setDelay

public void setDelay(int delay)

Set system delay

Parameters:

delay - - system delay

setRange

public void setRange(int range)

Set system range which is the maximum range limit which robot can communicate with each other.

Parameters:

range - - System Range Limit

setDeliveryProb

public void setDeliveryProb(int prob)

Set system delivery probability. With delivery probability 100%, the system assures that all messages will be delivered to the right receivers. Delivery probability value is between 0 and 100.

Parameters:

prob - - delivery probaility (0 to 100)

setRobotDelay

public void setRobotDelay(String robot1,
                          String robot2,
                          int delay)

Set delay between a pair of robots.

Parameters:

robot1 - - the first robot's name.

robot2 - - the second tobot's name.

delay - - delay time between these two robots.

setRobotRange

public void setRobotRange(String name,
                          int range)

Set maximum range limit which is the maximum distance of receiver which can receive messages from this robot.

Parameters:

name - - robot name

range - - maximum range limit

setRobotDeliveryProb

public void setRobotDeliveryProb(String robot1,
                                 String robot2,
                                 int prob)

Set delivery probalibity beween a pair of robot.

Parameters:

robot1 - - first robot's name

robot2 - - second robot's name

prob - - delivery probability (value between 0-100)

getDelay

public int getDelay()

Get system delay

Returns:

system delay

getRange

public int getRange()

Get system maximum range limit

Returns:

system range limit

getDeliveryProb

public int getDeliveryProb()

Get system delivery probability

Returns:

system delivery probability

getRobotDelay

public int getRobotDelay(String robot1,
                         String robot2)

Get delay time between a pair of robot

Parameters:

robot1 - - first robot name

robot2 - - second robot name

Returns:

delay time between robot1 and robot2

getRobotRange

public int getRobotRange(String name)

Get maximum range limit of a robot

Parameters:

name - - robot name

Returns:

maximum range limit

getRobotDeliveryProb

public int getRobotDeliveryProb(String robot1,
                                String robot2)

Get delivery probability of a pair of robot

Parameters:

robot1 - - first robot name

robot2 - - second robot name

Returns:

delivery probability between robot1 and robot2

startupSendLink

public void startupSendLink(String name)

Start up robot's outgoing link

Parameters:

name - - robot name

shutdownSendLink

public void shutdownSendLink(String name)

Shutdown robot's outgoing link

Parameters:

name - - robot name

startupReceiveLink

public void startupReceiveLink(String name)

Startup robot's imcoming link

Parameters:

name - - robot name

shutdownReceiveLink

public void shutdownReceiveLink(String name)

Shutdown robot's incoming link

Parameters:

name - - robot name

isRobotBroadcastEnabled

public boolean isRobotBroadcastEnabled(String name)

Check if broadcast abililty is set to true

Parameters:

name - - robot name

Returns:

true - if broadcast is enabled, false otherwise

isRobotP2PEnabled

public boolean isRobotP2PEnabled(String name)

Check if point to point ability is set to true

Parameters:

name - - robot name

Returns:

true - if point to point is enabled, false otherwise

isRobotSendEnabled

public boolean isRobotSendEnabled(String name)

Check if robot's outgoing link is set to true

Parameters:

name - - robot name

Returns:

true - if outgoing link is enabled, false otherwise

isRobotReceiveEnabled

public boolean isRobotReceiveEnabled(String name)

Check if robot's incoming link is set to true

Parameters:

name - - robot name

Returns:

true - if incoming link is enabled, false otherwise

isInRangeLimit

private boolean isInRangeLimit(String sender,
                               String receiver,
                               int robotRange)