feat(application): new version of sensor modules design after discussion

app/tutorials/example-applications/src/main/java/org/eclipse/mosaic/app/examples/emergencybrake/EmergencyBrakeApp.java

@@ -55,7 +55,7 @@ public class EmergencyBrakeApp extends ConfigurableApplication<CEmergencyBrakeAp
     @Override
     public void onStartup() {
         getOs().getAdHocModule().enable();
-        getOs().getSensorModule().getEnvironmentSensor().enable();
+        getOs().getBasicSensorModule().enable();
     }
 
     /**
@@ -68,8 +68,7 @@ public void onStartup() {
     @Override
     public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull VehicleData updatedVehicleData) {
 
-        boolean obstacleDetected = getOs().getSensorModule().getEnvironmentSensor().getSensorData()
-                .strengthOf(SensorType.OBSTACLE) > 0;
+        boolean obstacleDetected = getOs().getBasicSensorModule().getStrengthOf(SensorType.OBSTACLE) > 0;
 
         // Initiate emergency brake if obstacle is detected
         if (obstacleDetected && !emergencyBrake) {

app/tutorials/weather-warning/src/main/java/org/eclipse/mosaic/app/tutorial/SlowDownApp.java

@@ -16,12 +16,16 @@
 package org.eclipse.mosaic.app.tutorial;
 
 import org.eclipse.mosaic.fed.application.app.AbstractApplication;
+import org.eclipse.mosaic.fed.application.app.api.VehicleApplication;
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
-import org.eclipse.mosaic.fed.application.app.api.sensor.EnvironmentSensorData;
 import org.eclipse.mosaic.lib.enums.SensorType;
+import org.eclipse.mosaic.lib.objects.vehicle.VehicleData;
 import org.eclipse.mosaic.lib.util.scheduling.Event;
 import org.eclipse.mosaic.rti.TIME;
 
+import javax.annotation.Nonnull;
+import javax.annotation.Nullable;
+
 /**
  * This application shall induce vehicles to slow down in hazardous environments.
  * In onVehicleUpdated() the application requests new data from a vehicle's
@@ -31,19 +35,19 @@
  * within a specified time frame. After the respective vehicle has left the dangerous
  * zone, its speed will no longer be reduced.
  */
-public class SlowDownApp extends AbstractApplication<VehicleOperatingSystem> {
+public class SlowDownApp extends AbstractApplication<VehicleOperatingSystem> implements VehicleApplication {
 
     private final static float SPEED = 25 / 3.6f;
 
     private boolean hazardousArea = false;
 
     @Override
     public void onStartup() {
-        getOs().getSensorModule().getEnvironmentSensor().enable();
-        getOs().getSensorModule().getEnvironmentSensor().reactOnSensorDataUpdate(this::onEnvironmentSensorUpdate);
+        getOs().getBasicSensorModule().enable();
     }
 
-    private void onEnvironmentSensorUpdate(EnvironmentSensorData environmentSensorData) {
+    @Override
+    public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull VehicleData updatedVehicleData) {
         SensorType[] types = SensorType.values();
 
         // Initialize sensor strength
@@ -56,7 +60,7 @@ private void onEnvironmentSensorUpdate(EnvironmentSensorData environmentSensorDa
          */
         for (SensorType currentType : types) {
             // The strength of a detected sensor
-            strength = environmentSensorData.strengthOf(currentType);
+            strength = getOs().getBasicSensorModule().getStrengthOf(currentType);
 
             if (strength > 0) {
                 break;

app/tutorials/weather-warning/src/main/java/org/eclipse/mosaic/app/tutorial/WeatherWarningApp.java

@@ -84,7 +84,7 @@ public void onStartup() {
             getLog().infoSimTime(this, "Activated AdHoc Module");
         }
 
-        getOs().getSensorModule().getEnvironmentSensor().enable();
+        getOs().getBasicSensorModule().enable();
 
         getOs().requestVehicleParametersUpdate()
                 .changeColor(Color.RED)
@@ -150,7 +150,7 @@ private void detectSensors() {
         for (SensorType currentType : SensorType.values()) {
 
             // The strength of a detected sensor
-            int strength = getOs().getSensorModule().getEnvironmentSensor().getSensorData().strengthOf(currentType);
+            int strength = getOs().getBasicSensorModule().getStrengthOf(currentType);
 
             if (strength > 0) {
                 // Method which is called to react on new or changed environment events

app/tutorials/weather-warning/src/test/java/WeatherWarningAppTest.java

@@ -26,11 +26,9 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.AdHocModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.ReceivedV2xMessage;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.NavigationModule;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.DefaultSensorModule;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentSensor;
 import org.eclipse.mosaic.fed.application.ambassador.util.UnitLogger;
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
-import org.eclipse.mosaic.fed.application.app.api.sensor.EnvironmentSensorData;
+import org.eclipse.mosaic.fed.application.app.api.sensor.BasicSensorModule;
 import org.eclipse.mosaic.lib.enums.SensorType;
 import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder;
 import org.eclipse.mosaic.lib.objects.addressing.SourceAddressContainer;
@@ -70,21 +68,18 @@ public class WeatherWarningAppTest {
     private AdHocModule adHocModuleMock;
 
     @Mock
-    private DefaultSensorModule sensorModuleMock;
+    private BasicSensorModule sensorModuleMock;
 
     @Before
     public void setup() {
         when(operatingSystem.getAdHocModule()).thenReturn(adHocModuleMock);
+        when(operatingSystem.getBasicSensorModule()).thenReturn(sensorModuleMock);
 
         VehicleParameters.VehicleParametersChangeRequest vehicleParametersChangeRequestMock =
                 mock(VehicleParameters.VehicleParametersChangeRequest.class);
         when(operatingSystem.requestVehicleParametersUpdate()).thenReturn(vehicleParametersChangeRequestMock);
         when(vehicleParametersChangeRequestMock.changeColor(any())).thenReturn(vehicleParametersChangeRequestMock);
 
-        // everytime a mock returns a mock a unicorn dies. I count 3 dead unicorns.
-        when(operatingSystem.getSensorModule()).thenReturn(sensorModuleMock);
-        when(sensorModuleMock.getEnvironmentSensor()).thenReturn(mock(EnvironmentSensor.class));
-        when(sensorModuleMock.getEnvironmentSensor().getSensorData()).thenReturn(mock(EnvironmentSensorData.class));
     }
 
     @Test
@@ -127,7 +122,7 @@ public void test_SwitchRouteIfDenmWasReceived() {
     }
 
     private void setSensor(SensorType sensorType, int value) {
-        when(operatingSystem.getSensorModule().getEnvironmentSensor().getSensorData().strengthOf(same(sensorType))).thenReturn(value);
+        when(operatingSystem.getBasicSensorModule().getStrengthOf(same(sensorType))).thenReturn(value);
     }
 
     private void setupMessageRouting() {

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/ApplicationAmbassador.java

@@ -22,8 +22,7 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.ReceivedV2xMessage;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.CentralNavigationComponent;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.CentralPerceptionComponent;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.DefaultSensorModule;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentSensor;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentBasicSensorModule;
 import org.eclipse.mosaic.fed.application.ambassador.util.EventNicenessPriorityRegister;
 import org.eclipse.mosaic.fed.application.app.api.MosaicApplication;
 import org.eclipse.mosaic.fed.application.app.api.TrafficSignAwareApplication;
@@ -512,26 +511,27 @@ private void process(final V2xFullMessageReception v2xFullMessageReception) {
 
     /**
      * This function does not directly fire an event, but puts it in a environmentEvents-map (see {@link AbstractSimulationUnit}).
-     * Use {@link DefaultSensorModule#getEnvironmentSensor()} to to determine the state of a Sensor. Keep in mind, that
+     * Use {@link Sensible#getBasicSensorModule()} to determine the state of a Sensor. Keep in mind, that
      * the map only stores the latest {@link EnvironmentEvent} of a specific type and overwrites old values.
      * <p>Events will not directly be removed from the map, but since events are mapped to their type, there
      * can't be more members than there are SensorType's. Nonetheless, the map is cleared using
-     * {@link EnvironmentSensor#cleanPastEnvironmentEvents()}, which is invoked by {@link SimulationKernel#garbageCollection()}.
+     * {@link EnvironmentBasicSensorModule#cleanPastEnvironmentEvents()}, which is invoked by {@link SimulationKernel#garbageCollection()}.
      * </p>
      *
      * @param environmentSensorUpdates the Interaction of type EnvironmentSensorUpdates to be processed
      */
     private void process(final EnvironmentSensorUpdates environmentSensorUpdates) {
         // store the sensor data immediately, the sensor event hold their intermittent time
         final AbstractSimulationUnit simulationUnit = UnitSimulator.UnitSimulator.getUnitFromId(environmentSensorUpdates.getUnitId());
-        // we don't simulate vehicles without an application
-        if (!(simulationUnit instanceof Sensible)) {
+        // we don't simulate vehicles without application or correct environment sensor implementation
+        if (!(simulationUnit instanceof Sensible sensible) ||
+                !(sensible.getBasicSensorModule() instanceof EnvironmentBasicSensorModule sensor)) {
             return;
         }
         for (EnvironmentEvent event : environmentSensorUpdates.getEvents()) {
             addEvent(new Event(
                     environmentSensorUpdates.getTime(),
-                    e -> simulationUnit.putEnvironmentEvent(event.type, event))
+                    e -> sensor.addEnvironmentEvent(event.type, event))
             );
         }
     }

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/SimulationKernel.java

@@ -18,7 +18,7 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.AbstractSimulationUnit;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.CentralNavigationComponent;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.CentralPerceptionComponent;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentSensor;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentBasicSensorModule;
 import org.eclipse.mosaic.fed.application.app.api.os.modules.Sensible;
 import org.eclipse.mosaic.fed.application.config.CApplicationAmbassador;
 import org.eclipse.mosaic.interactions.communication.V2xMessageRemoval;
@@ -351,7 +351,7 @@ void garbageCollection() {
         // clean past environment events
         for (AbstractSimulationUnit simulationUnit : UnitSimulator.UnitSimulator.getAllUnits().values()) {
             if (simulationUnit instanceof Sensible sensible &&
-                    sensible.getSensorModule().getEnvironmentSensor() instanceof EnvironmentSensor environmentSensor) {
+                    sensible.getBasicSensorModule() instanceof EnvironmentBasicSensorModule environmentSensor) {
                 environmentSensor.cleanPastEnvironmentEvents();
             }
         }

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/AbstractSimulationUnit.java

@@ -23,8 +23,6 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.CommunicationModuleOwner;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.ReceivedAcknowledgement;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.ReceivedV2xMessage;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.DefaultSensorModule;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentSensor;
 import org.eclipse.mosaic.fed.application.ambassador.util.ClassNameParser;
 import org.eclipse.mosaic.fed.application.ambassador.util.ClassSubsetIterator;
 import org.eclipse.mosaic.fed.application.ambassador.util.UnitLoggerImpl;
@@ -33,14 +31,11 @@
 import org.eclipse.mosaic.fed.application.app.api.CommunicationApplication;
 import org.eclipse.mosaic.fed.application.app.api.MosaicApplication;
 import org.eclipse.mosaic.fed.application.app.api.os.OperatingSystem;
-import org.eclipse.mosaic.fed.application.app.api.sensor.SensorModule;
 import org.eclipse.mosaic.interactions.application.ItefLogging;
 import org.eclipse.mosaic.interactions.application.SumoTraciRequest;
 import org.eclipse.mosaic.interactions.communication.V2xMessageAcknowledgement;
 import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission;
-import org.eclipse.mosaic.lib.enums.SensorType;
 import org.eclipse.mosaic.lib.geo.GeoPoint;
-import org.eclipse.mosaic.lib.objects.environment.EnvironmentEvent;
 import org.eclipse.mosaic.lib.objects.traffic.SumoTraciResult;
 import org.eclipse.mosaic.lib.objects.v2x.V2xMessage;
 import org.eclipse.mosaic.lib.util.scheduling.Event;
@@ -99,7 +94,6 @@ public abstract class AbstractSimulationUnit implements EventProcessor, Operatin
 
     private final AdHocModule adhocModule;
     private final CellModule cellModule;
-    private final SensorModule sensorModule;
 
     /**
      * User defined tagged value for the next CAM.
@@ -122,7 +116,6 @@ public abstract class AbstractSimulationUnit implements EventProcessor, Operatin
         AtomicInteger messageSequenceNumberGenerator = new AtomicInteger();
         this.adhocModule = new AdHocModule(this, messageSequenceNumberGenerator, getOsLog());
         this.cellModule = new CellModule(this, messageSequenceNumberGenerator, getOsLog());
-        this.sensorModule = new DefaultSensorModule();
         this.initialPosition = initialPosition;
     }
 
@@ -389,17 +382,6 @@ private void processV2xMessageAcknowledgement(final V2xMessageAcknowledgement v2
 
     }
 
-    public void putEnvironmentEvent(SensorType type, EnvironmentEvent environmentEvent) {
-        if (sensorModule.getEnvironmentSensor() instanceof EnvironmentSensor environmentSensor) {
-            environmentSensor.addEnvironmentEvent(type, environmentEvent);
-        }
-    }
-
-    @Override
-    public int getStateOfEnvironmentSensor(SensorType type) {
-        return sensorModule.getEnvironmentSensor().getSensorData().strengthOf(type);
-    }
-
     @Override
     public void triggerOnSendMessage(V2xMessageTransmission messageTransmission) {
         for (CommunicationApplication application : getApplicationsIterator(CommunicationApplication.class)) {
@@ -430,10 +412,6 @@ public final CellModule getCellModule() {
         return cellModule;
     }
 
-    public final SensorModule getSensorModule() {
-        return sensorModule;
-    }
-
     void setRequiredOperatingSystem(Class<? extends OperatingSystem> operatingSystemCheck) {
         this.operatingSystemCheck = operatingSystemCheck;
     }

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/ServerUnit.java

@@ -20,7 +20,6 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.IRoutingModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.NavigationModule;
 import org.eclipse.mosaic.fed.application.app.api.os.ServerOperatingSystem;
-import org.eclipse.mosaic.lib.enums.SensorType;
 import org.eclipse.mosaic.lib.objects.mapping.ServerMapping;
 import org.eclipse.mosaic.lib.util.scheduling.Event;
 
@@ -58,11 +57,6 @@ public final CamBuilder assembleCamMessage(CamBuilder camBuilder) {
         throw new UnsupportedOperationException("Servers can't send CAMs.");
     }
 
-    @Override
-    public final int getStateOfEnvironmentSensor(SensorType type) {
-        throw new UnsupportedOperationException("Servers can't access Environment functionality.");
-    }
-
     @Override
     public IRoutingModule getRoutingModule() {
         return routingModule;

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/VehicleUnit.java

@@ -24,10 +24,13 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.NopPerceptionModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.PerceptionModuleOwner;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.SimplePerceptionConfiguration;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.sensor.EnvironmentBasicSensorModule;
 import org.eclipse.mosaic.fed.application.app.api.CommunicationApplication;
 import org.eclipse.mosaic.fed.application.app.api.VehicleApplication;
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
 import org.eclipse.mosaic.fed.application.app.api.perception.PerceptionModule;
+import org.eclipse.mosaic.fed.application.app.api.sensor.BasicSensorModule;
+import org.eclipse.mosaic.fed.application.app.api.sensor.LidarSensorModule;
 import org.eclipse.mosaic.interactions.vehicle.VehicleLaneChange;
 import org.eclipse.mosaic.interactions.vehicle.VehicleParametersChange;
 import org.eclipse.mosaic.interactions.vehicle.VehicleResume;
@@ -63,6 +66,9 @@ public class VehicleUnit extends AbstractSimulationUnit implements VehicleOperat
     @Nonnull
     private final PerceptionModule<SimplePerceptionConfiguration> perceptionModule;
 
+    @Nonnull
+    private final BasicSensorModule basicSensorModule;
+
     @Nonnull
     private VehicleParameters vehicleParameters;
 
@@ -92,6 +98,7 @@ public VehicleUnit(String vehicleName, VehicleType vehicleType, final GeoPoint i
             perceptionModule = new NopPerceptionModule(this, database, getOsLog());
         }
 
+        basicSensorModule = new EnvironmentBasicSensorModule();
     }
 
     @Override
@@ -368,4 +375,14 @@ public IRoadPosition getRoadPosition() {
     public PerceptionModule<SimplePerceptionConfiguration> getPerceptionModule() {
         return perceptionModule;
     }
+
+    @Override
+    public BasicSensorModule getBasicSensorModule() {
+        return basicSensorModule;
+    }
+
+    @Override
+    public LidarSensorModule getLidarSensorModule() {
+        throw new UnsupportedOperationException("Not yet implemented");
+    }
 }