% Initialisation of time and cost

time = 0;

cost = 0;

% Base Station coordinates

base_x = 0;

base_y = 0;

% Drone intial properties

drone_range = 2;

drone_x = 0;

drone_y = 0;

id = 1;

% Create objects of Destination, BaseStation and Drone

baseStation = BaseStation(base_x, base_y);

%drone1 = Drone(id, drone_range, drone_x, drone_y);

% Generate random destination points

rng(0,'threefry');

rand_x = randi([-10 10],1,10);

rand_y = randi([-10 10],1,10);

listOfDestinations = {};

for i = 1:10

destination = Destination(rand_x(i), rand_y(i));

listOfDestinations{i} = destination;

end

listOfDrones = {};

% Add the newly created drone object into the list of drones

listOfDrones{1} = Drone(id, drone_range, drone_x, drone_y);

num_of_drones = 1;

figure

% Store Base Station graph type, used for legend

bs_plot = plot(baseStation.X_coord, baseStation.Y_coord, 'o', 'MarkerFaceColor','b');

grid on

hold on

% Store Drone path graph type, used for legend

drone_path = plot([drone1.X_coord drone1.X_coord], [drone1.Y_coord drone1.Y_coord], 'r--', 'LineWidth', 2);

hold on

for i = 1:length(listOfDestinations)

% Store Visited node destinations graph type, used for legend

visited_dest_plot = plot(listOfDestinations{i}.X_coord, listOfDestinations{i}.Y_coord, 'd', 'Color', 'black', 'MarkerFaceColor', 'g');

% Store Visited node destinations graph type, used for legend

unvisited_dest_plot = plot(listOfDestinations{i}.X_coord, listOfDestinations{i}.Y_coord, 'd', 'Color', 'g', 'MarkerFaceColor', 'w');

hold on

end

% Add legend to the graph

legend([bs_plot, visited_dest_plot, unvisited_dest_plot, drone_path], {'Base Station', 'Visited Destinations', 'Unvisited Destinations', 'Drone Path'},'AutoUpdate','off', 'Location', 'best');

% Add Base station to the end of the list, for the drone to return

%listOfDestinations{end+1} = baseStation;

% Loops until the drone has reached the destination

while (~isempty(listOfDestinations)) && ~(listOfDrones{1}.X_coord == listOfDestinations{1}.X_coord && listOfDrones{1}.Y_coord == listOfDestinations{1}.Y_coord)

% Calculate the Manhattan Distance between the last drone in the list and the base station

manh_dist_drone_base = abs(listOfDrones{1}.X_coord - baseStation.X_coord) + abs(listOfDrones{end}.Y_coord - baseStation.Y_coord);

% When the drone cannot connect with the base due to its range limitation, send a relay drone

if manh_dist_drone_base >= drone_range

num_of_drones = num_of_drones + 1;

% Create a new Drone object with dynamic name

id = id + 1;

eval(['drone', int2str(num_of_drones),' = Drone(id, drone_range, drone_x, drone_y);']);

listOfDrones{end+1} = eval(['drone', int2str(num_of_drones)]);

disp(['Sending new drone (No.', num2str(listOfDrones{end}.Id), ')'])

end

% Calculate the Manhattan Distance between the first drone and the destination

manh_dist_drone_dest = abs(listOfDrones{1}.X_coord - listOfDestinations{1}.X_coord) + abs(listOfDrones{1}.Y_coord - listOfDestinations{1}.Y_coord);

% The drone is too far from destination and cannot establish a connection

if manh_dist_drone_dest > drone_range

disp(['Drone', num2str(listOfDrones{1}.Id), ' cannot establish connection with destination. ', 'Total Cost: ', num2str(cost), ' Time elapsed: ', num2str(time)])

% Destination is in drone's range and can now establish a connection

else

disp(['Drone', num2str(listOfDrones{1}.Id), ' established connection with destination. ', 'Total Cost: ', num2str(cost), ' Time elapsed: ', num2str(time)])

len = length(listOfDrones);

for i = 1:len

if i <= len-1

drone_i = listOfDrones{i};

drone_j = listOfDrones{i+1};

% Distance between drones

manh_dist_drone_i_drone_j = abs(drone_i.X_coord - drone_j.X_coord) + abs(drone_i.Y_coord - drone_j.Y_coord);

% Distance between last drone and base

manh_dist_drone_j_base = abs(drone_j.X_coord - baseStation.X_coord) + abs(drone_j.Y_coord - baseStation.Y_coord);

if manh_dist_drone_i_drone_j <= drone_range

disp(['Drone', num2str(drone_i.Id), ' transmitting data to Drone', num2str(drone_j.Id), '. Total Cost: ', num2str(cost), ' Time elapsed: ', num2str(time)])

if manh_dist_drone_j_base <= drone_range

disp(['Drone', num2str(drone_j.Id), ' transmitting data to the Base Station', '. Total Cost: ', num2str(cost), ' Time elapsed: ', num2str(time)])

% Call return to prevent the base station from sending a new drone

%return

end

end

end

end

end

lenOfList = length(listOfDrones);

% Update coordinates of the drones

for i = 1:lenOfList

if i == lenOfList

listOfDrones{end} = listOfDrones{end}.selectMove(listOfDestinations{1}.X_coord, listOfDestinations{1}.Y_coord);

else

listOfDrones{i} = listOfDrones{i}.selectMove(listOfDestinations{1}.X_coord, listOfDestinations{1}.Y_coord);

end

end

if (drone1.X_coord == listOfDestinations{1}.X_coord && drone1.Y_coord == listOfDestinations{1}.Y_coord)

disp("Destination reached");

% Remove the first visited destination

listOfDestinations = listOfDestinations(2:end);

end

% Increase time elapsed and cost based on the number of drones currently in use

time = time + 1;

cost = cost + 5 * num_of_drones;

end