The WallTimeTimer reprogrammed. Now it takes into account the time of

code execution and the sleep. Added support for insertion of an event
that needs to be executed as soon as possible.
Added support for Bee Click device.
Added support for turtlebots navigation using "move base" topic.

jdeeco-core/src/cz/cuni/mff/d3s/deeco/timer/DiscreteEventTimer.java

@@ -60,6 +60,12 @@ public void notifyAt(long time, TimerEventListener listener, DEECoContainer cont
 		}
 	}
 
+	@Override
+	public void interruptionEvent(TimerEventListener listener, DEECoContainer container){
+		throw new UnsupportedOperationException();
+		// If you are about to implement this method remember to use synchronization
+	}
+
 	boolean tryToTerminate() {
 		if (eventTimes.isEmpty()) {
 			return true;

jdeeco-core/src/cz/cuni/mff/d3s/deeco/timer/Timer.java

@@ -17,4 +17,6 @@ public interface Timer extends CurrentTimeProvider {
 	 *            Node to schedule the even at
 	 */
 	void notifyAt(long time, TimerEventListener listener, DEECoContainer node);
+
+	void interruptionEvent(TimerEventListener listener, DEECoContainer node);
 }

jdeeco-core/src/cz/cuni/mff/d3s/deeco/timer/WallTimeTimer.java

@@ -5,42 +5,131 @@
 
 import cz.cuni.mff.d3s.deeco.runtime.DEECoContainer;
 
-
+/**
+ * {@link WallTimeTimer} holds a queue of events waiting to be executed and the
+ * current time of the DEECo node. The time starts at 0 and is being increased
+ * according to the {@link System} time.
+ * 
+ * @author Ilias Gerostathopoulos <iliasg@d3s.mff.cuni.cz>
+ * @author Dominik Skoda <skoda@d3s.mff.cuni.cz>
+ */
 public class WallTimeTimer implements RunnerTimer {
 
-	Queue<EventTime> eventTimes;
-	long currentTime;
-
+	protected final Queue<EventTime> eventTimes;
+	protected long startTime;
+	protected long currentTime;
+
 	public WallTimeTimer() {
+		startTime = 0;
 		currentTime = 0;
 		eventTimes = new PriorityQueue<>();
 	}
-
+
+	/**
+	 * Returns the number of milliseconds since the {@link #start()} method was
+	 * invoked. If the {@link #start()} method was not called before the call to
+	 * this method then the return value is 0.
+	 * 
+	 * @return The number of milliseconds since the {@link #start()} method was
+	 *         invoked.
+	 */
 	@Override
 	public long getCurrentMilliseconds() {
+		if(startTime == 0){
+			// Before the start() method is called always return 0
+			return 0;
+		}
+
+		// Adjust the time to return precise value
+		adjustCurrentTime();
+
 		return currentTime;
 	}
-	
+
 	public void start() {
-
+		// Save the current time as the start time of the timer
+		startTime = System.currentTimeMillis();
 		while (true) {
-			EventTime eventTime = eventTimes.remove();
-			long nextEventTime = eventTime.getTimePoint();
-			try {
-				Thread.sleep(nextEventTime-currentTime);
-				currentTime = nextEventTime;
-			} catch (InterruptedException e) {
-				e.printStackTrace();
+			// The next event to be processed. Assigned when its execution time
+			// arises
+			EventTime eventToProcess = null;
+
+			synchronized (eventTimes) {
+				final EventTime nextEvent = eventTimes.peek();
+				if (nextEvent == null) {
+					// TODO: log the state and exit
+					throw new IllegalStateException(
+							"No event found in the queue in the WallTimeTimer.");
+				}
+
+				// Get the time of the next event
+				final long nextTime = nextEvent.getTimePoint();
+				try {
+					// Wait till the time of the next event
+					if (nextTime > currentTime) {
+						eventTimes.wait(nextTime - currentTime);
+					} // TODO: else log planned time miss
+					// Take the next event to be executed. Interruption events
+					// notify the wait before the timeout expires
+					eventToProcess = eventTimes.poll();
+				} catch (InterruptedException e) {
+					// Ignore interruptions
+					adjustCurrentTime();
+					continue;
+				}
+			}
+
+			// eventToProcess should never be null since the nextEvent wasn't
+			// null either. The at() method gets its planned time of execution.
+			eventToProcess.getListener().at(eventToProcess.getTimePoint());
+
+			// Adjust the current time after the event execution
+			adjustCurrentTime();
+		}
+	}
+
+	@Override
+	public void notifyAt(long time, TimerEventListener listener,
+			DEECoContainer container) {
+		synchronized (eventTimes) {
+			EventTime eventTime = new EventTime(time, listener, false);
+			if (!eventTimes.contains(eventTime)) {
+				eventTimes.add(eventTime);
 			}
-			eventTime.getListener().at(currentTime);
 		}
 	}
 
+	/**
+	 * Add new event at the beginning of the event queue. Notify the timer about
+	 * the new event.
+	 * 
+	 * @param listener
+	 *            The event listener to be invoked at its specific time.
+	 * @param node
+	 *            The DEECoContainer is not used in this method.
+	 */
 	@Override
-	public void notifyAt(long time, TimerEventListener listener, DEECoContainer container) {
-		EventTime eventTime = new EventTime(time, listener, false);
-		if (!eventTimes.contains(eventTime)) {
-			eventTimes.add(eventTime);
+	public void interruptionEvent(TimerEventListener listener,
+			DEECoContainer node) {
+		synchronized (eventTimes) {
+			EventTime event = new EventTime(currentTime, listener, false);
+			eventTimes.add(event);
+			eventTimes.notify();
 		}
 	}
+
+	/**
+	 * Synchronize the {@link #currentTime} by the difference of
+	 * {@link System#currentTimeMillis()} and lastSystemTime.
+	 * 
+	 * @param lastSystemTime
+	 *            The last measured {@link System#currentTimeMillis()} before a
+	 *            time-consuming operation.
+	 */
+	protected void adjustCurrentTime() {
+		final long currentSystemTime = System.currentTimeMillis();
+
+		// Compute the amount of elapsed time since the timer was started.
+		currentTime = currentSystemTime - startTime;
+	}
 }

jdeeco-core/test/cz/cuni/mff/d3s/deeco/network/TestSerializer.java

@@ -133,7 +133,13 @@ public long getCurrentMilliseconds() {
 
 			@Override
 			public void notifyAt(long time, TimerEventListener listener, DEECoContainer node) {
-				throw new UnsupportedOperationException("Fakt timer dows not support notifications");
+				throw new UnsupportedOperationException("Fake timer does not support notifications");
+			}
+
+			@Override
+			public void interruptionEvent(TimerEventListener listener,
+					DEECoContainer node) {
+				throw new UnsupportedOperationException("Fake timer does not support interruptionEvent");
 			}
 		});
 		return scheduler;

jdeeco-matsim-plugin/src/cz/cuni/mff/d3s/jdeeco/matsim/plugin/MATSimSimulation.java

@@ -188,6 +188,12 @@ public void notifyAt(long time, TimerEventListener listener, DEECoContainer node
 			callAt(time, node.getId());
 			MATSimSimulation.this.getHost(node.getId()).listener = listener;
 		}
+
+		@Override
+		public void interruptionEvent(TimerEventListener listener,
+				DEECoContainer node) {
+			throw new UnsupportedOperationException("The Timer for MATSim simulation does not support interruptionEvent");			
+		}
 
 		@Override
 		public synchronized void callAt(long absoluteTime, int hostId) {

jdeeco-network-plugin/test/cz/cuni/mff/d3s/jdeeco/network/InstantSchedulerMock.java

@@ -55,6 +55,12 @@ public long getCurrentMilliseconds() {
 			public void notifyAt(long time, TimerEventListener listener, DEECoContainer node) {
 				throw new UnsupportedOperationException();
 			}
+
+			@Override
+			public void interruptionEvent(TimerEventListener listener,
+					DEECoContainer node) {
+				throw new UnsupportedOperationException("Fake timer does not support interruptionEvent");
+			}
 		};
 	}
 

jdeeco-ros/pom.xml

@@ -80,6 +80,11 @@
 			<artifactId>sensor_msgs</artifactId>
 			<version>1.11.7</version>
 		</dependency>
+		<dependency>
+			<groupId>beeclickarmROS</groupId>
+			<artifactId>beeclickarmROS</artifactId>
+			<version>0.0.1-SNAPSHOT</version>
+		</dependency>
 	</dependencies>
 
 	<repositories>