refactor(application): move navigation module interface to api package

app/tutorials/example-applications/src/main/java/org/eclipse/mosaic/app/examples/commuter/SimpleCommuterApp.java

@@ -15,12 +15,12 @@
 
 package org.eclipse.mosaic.app.examples.commuter;
 
-import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.INavigationModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.RoadPositionFactory;
 import org.eclipse.mosaic.fed.application.ambassador.util.UnitLogger;
 import org.eclipse.mosaic.fed.application.app.AbstractApplication;
 import org.eclipse.mosaic.fed.application.app.api.Application;
 import org.eclipse.mosaic.fed.application.app.api.VehicleApplication;
+import org.eclipse.mosaic.fed.application.app.api.navigation.NavigationModule;
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
 import org.eclipse.mosaic.lib.enums.VehicleStopMode;
 import org.eclipse.mosaic.lib.geo.GeoPoint;
@@ -106,7 +106,7 @@ public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull
      * @param event the event to process
      */
     private void driveBack(DriveBackEvent event) {
-        final INavigationModule navigationModule = getOs().getNavigationModule();
+        final NavigationModule navigationModule = getOs().getNavigationModule();
         final RoutingPosition targetPosition = new RoutingPosition(event.getTargetPosition());
         final RoutingParameters routingParameters =
                 new RoutingParameters().vehicleClass(getOs().getInitialVehicleType().getVehicleClass());

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

@@ -19,10 +19,10 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.CamBuilder;
 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.navigation.INavigationModule;
 import org.eclipse.mosaic.fed.application.app.AbstractApplication;
 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.navigation.NavigationModule;
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
 import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission;
 import org.eclipse.mosaic.lib.enums.AdHocChannel;
@@ -270,7 +270,7 @@ private void circumnavigateAffectedRoad(Denm denm, final String affectedRoadId)
          * The vehicle on which this application has been deployed has a navigation module
          * that we need to retrieve in order to switch routes.
          */
-        INavigationModule navigationModule = getOs().getNavigationModule();
+        NavigationModule navigationModule = getOs().getNavigationModule();
 
         /*
          * Routing parameters are used for route calculation. In our case, we want a specific cost function

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

@@ -25,7 +25,7 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.VehicleParameters;
 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.navigation.RoutingNavigationModule;
 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.perception.BasicSensorModule;
@@ -63,7 +63,7 @@ public class WeatherWarningAppTest {
     private VehicleData vehicleData;
 
     @Mock
-    private NavigationModule navigationModuleMock;
+    private RoutingNavigationModule navigationModuleMock;
 
     @Mock
     private AdHocModule adHocModuleMock;

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

@@ -17,9 +17,9 @@
 
 import org.eclipse.mosaic.fed.application.ambassador.ErrorRegister;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.CamBuilder;
-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.ambassador.simulation.navigation.RoutingNavigationModule;
 import org.eclipse.mosaic.fed.application.app.api.CommunicationApplication;
+import org.eclipse.mosaic.fed.application.app.api.navigation.RoutingModule;
 import org.eclipse.mosaic.fed.application.app.api.os.RoadSideUnitOperatingSystem;
 import org.eclipse.mosaic.lib.enums.RsuType;
 import org.eclipse.mosaic.lib.geo.GeoPoint;
@@ -33,7 +33,7 @@
  */
 public class RoadSideUnit extends AbstractSimulationUnit implements RoadSideUnitOperatingSystem {
 
-    private final IRoutingModule routingModule;
+    private final RoutingModule routingModule;
 
     /**
      * Creates a new Road Side simulation Unit.
@@ -44,7 +44,7 @@ public class RoadSideUnit extends AbstractSimulationUnit implements RoadSideUnit
     public RoadSideUnit(String rsuName, GeoPoint rsuPosition) {
         super(rsuName, rsuPosition);
         setRequiredOperatingSystem(RoadSideUnitOperatingSystem.class);
-        routingModule = new NavigationModule(this);
+        routingModule = new RoutingNavigationModule(this);
     }
 
     @Override
@@ -53,7 +53,7 @@ public GeoPoint getPosition() {
     }
 
     @Override
-    public IRoutingModule getRoutingModule() {
+    public RoutingModule getRoutingModule() {
         return routingModule;
     }
 

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

@@ -17,8 +17,8 @@
 
 import org.eclipse.mosaic.fed.application.ambassador.ErrorRegister;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.CamBuilder;
-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.ambassador.simulation.navigation.RoutingNavigationModule;
+import org.eclipse.mosaic.fed.application.app.api.navigation.RoutingModule;
 import org.eclipse.mosaic.fed.application.app.api.os.ServerOperatingSystem;
 import org.eclipse.mosaic.lib.objects.mapping.ServerMapping;
 import org.eclipse.mosaic.lib.util.scheduling.Event;
@@ -28,7 +28,7 @@
  */
 public class ServerUnit extends AbstractSimulationUnit implements ServerOperatingSystem {
 
-    private final IRoutingModule routingModule;
+    private final RoutingModule routingModule;
 
     /**
      * Constructor for {@link ServerUnit}, sets the operating system.
@@ -38,7 +38,7 @@ public class ServerUnit extends AbstractSimulationUnit implements ServerOperatin
     public ServerUnit(final ServerMapping serverMapping) {
         super(serverMapping.getName(), null);
         setRequiredOperatingSystem(ServerOperatingSystem.class);
-        routingModule = new NavigationModule(this);
+        routingModule = new RoutingNavigationModule(this);
     }
 
     /**
@@ -49,7 +49,7 @@ public ServerUnit(final ServerMapping serverMapping) {
      */
     public ServerUnit(String unitName) {
         super(unitName, null);
-        routingModule = new NavigationModule(this);
+        routingModule = new RoutingNavigationModule(this);
     }
 
     @Override
@@ -58,7 +58,7 @@ public final CamBuilder assembleCamMessage(CamBuilder camBuilder) {
     }
 
     @Override
-    public IRoutingModule getRoutingModule() {
+    public RoutingModule getRoutingModule() {
         return routingModule;
     }
 

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

@@ -18,15 +18,15 @@
 import org.eclipse.mosaic.fed.application.ambassador.ErrorRegister;
 import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.CamBuilder;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.INavigationModule;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.NavigationModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.RoadPositionFactory;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.RoutingNavigationModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.EnvironmentBasicSensorModule;
 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.app.api.CommunicationApplication;
 import org.eclipse.mosaic.fed.application.app.api.VehicleApplication;
+import org.eclipse.mosaic.fed.application.app.api.navigation.NavigationModule;
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
 import org.eclipse.mosaic.fed.application.app.api.perception.BasicSensorModule;
 import org.eclipse.mosaic.fed.application.app.api.perception.LidarSensorModule;
@@ -61,7 +61,7 @@
 public class VehicleUnit extends AbstractSimulationUnit implements VehicleOperatingSystem, PerceptionModuleOwner {
 
     @Nonnull
-    private final NavigationModule navigationModule;
+    private final RoutingNavigationModule navigationModule;
 
     @Nonnull
     private final PerceptionModule<SimplePerceptionConfiguration> perceptionModule;
@@ -83,7 +83,7 @@ public VehicleUnit(String vehicleName, VehicleType vehicleType, final GeoPoint i
         super(vehicleName, initialPosition);
         setRequiredOperatingSystem(VehicleOperatingSystem.class);
         vehicleParameters = new VehicleParameters(vehicleType);
-        navigationModule = new NavigationModule(this);
+        navigationModule = new RoutingNavigationModule(this);
         navigationModule.setCurrentPosition(initialPosition);
 
         Database database = null;
@@ -356,7 +356,7 @@ public void activateVehicleSensors(double sensorRange, SensorType... sensorTypes
     }
 
     @Override
-    public INavigationModule getNavigationModule() {
+    public NavigationModule getNavigationModule() {
         return this.navigationModule;
     }
 

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/navigation/NavigationModule.java → fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/navigation/RoutingNavigationModule.java

@@ -17,6 +17,8 @@
 
 import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.AbstractSimulationUnit;
+import org.eclipse.mosaic.fed.application.app.api.navigation.NavigationModule;
+import org.eclipse.mosaic.fed.application.app.api.navigation.RoutingModule;
 import org.eclipse.mosaic.lib.geo.GeoPoint;
 import org.eclipse.mosaic.lib.objects.road.IConnection;
 import org.eclipse.mosaic.lib.objects.road.INode;
@@ -33,14 +35,12 @@
 import com.google.common.annotations.VisibleForTesting;
 import org.apache.commons.lang3.StringUtils;
 
-import java.util.ArrayList;
-import java.util.Collection;
-import java.util.Map;
-
 /**
  * Implementation of the interface to access the central navigation component.
+ * This class provides implementation for both {@link NavigationModule} and {@link RoutingModule}, as
+ * they are very close related with each other from a functional perspective.
  */
-public class NavigationModule implements INavigationModule, IRoutingModule {
+public class RoutingNavigationModule implements NavigationModule, RoutingModule {
 
     private static final int POSITION_DIFFERENCE_THRESHOLD = 10;
 
@@ -51,7 +51,7 @@ public class NavigationModule implements INavigationModule, IRoutingModule {
     private VehicleRoute currentRoute;
     private GeoPoint currentPosition;
 
-    public NavigationModule(AbstractSimulationUnit owner) {
+    public RoutingNavigationModule(AbstractSimulationUnit owner) {
         this.belongingUnit = owner;
     }
 
@@ -101,7 +101,7 @@ public boolean switchRoute(CandidateRoute newRoute) {
         VehicleRoute route;
         try {
             route = SimulationKernel.SimulationKernel.getCentralNavigationComponent().switchRoute(
-                    this.vehicleData, newRoute, currentRoute, belongingUnit.getSimulationTime()
+                    vehicleData, newRoute, currentRoute, belongingUnit.getSimulationTime()
             );
 
             boolean switched = route != null && (getCurrentRoute() == null || !route.getId().equals(getCurrentRoute().getId()));
@@ -173,7 +173,7 @@ public void setCurrentRoute(VehicleRoute currentRoute) {
     public void refineRoadPosition(IRoadPosition roadPosition) {
         final IRoadPosition newRoadPosition =
                 SimulationKernel.SimulationKernel.getCentralNavigationComponent().refineRoadPosition(roadPosition);
-        if (newRoadPosition != null) {
+        if (newRoadPosition != null && getVehicleData() != null) {
             setVehicleData(
                     new VehicleData.Builder(getVehicleData().getTime(), getVehicleData().getName())
                             .copyFrom(getVehicleData())
@@ -182,36 +182,9 @@ public void refineRoadPosition(IRoadPosition roadPosition) {
         }
     }
 
-    @Override
-    public Collection<CandidateRoute> retrieveAllValidRoutesToTarget(RoutingPosition targetPosition) {
-        return retrieveAllValidExistingRoutesToTargetHelper(targetPosition);
-    }
-
-    @Override
-    public Collection<CandidateRoute> retrieveAllValidRoutesToTarget(GeoPoint targetGeoPoint) {
-        RoutingPosition targetPosition = new RoutingPosition(targetGeoPoint);
-        return retrieveAllValidExistingRoutesToTargetHelper(targetPosition);
-    }
-
-    private Collection<CandidateRoute> retrieveAllValidExistingRoutesToTargetHelper(RoutingPosition targetPosition) {
-        CentralNavigationComponent centNavComp = SimulationKernel.SimulationKernel.getCentralNavigationComponent();
-        ArrayList<CandidateRoute> candidateRoutes = new ArrayList<>();
-        for (Map.Entry<String, VehicleRoute> entry : centNavComp.getAllRoutes().entrySet()) {
-            VehicleRoute route = entry.getValue();
-            if (targetQuery(targetPosition, route, centNavComp.getTargetPositionOfRoute(route.getId())) && onRouteQuery(route)) {
-                // length and time are no valid values at this point
-                candidateRoutes.add(new CandidateRoute(route.getConnectionIds(), 0, 0));
-                belongingUnit.getOsLog().debug(
-                        "NavigationModule#retrieveAllValidExistingRoutesToTarget found valid existing candidate route {} ", route.getId()
-                );
-            }
-        }
-        return candidateRoutes;
-    }
-
     @VisibleForTesting
     boolean onRouteQuery(VehicleRoute route) {
-        return route.getConnectionIds().contains(this.getVehicleData().getRoadPosition().getConnectionId());
+        return route.getConnectionIds().contains(getVehicleData().getRoadPosition().getConnectionId());
     }
 
     @VisibleForTesting

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/navigation/INavigationModule.java → fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/app/api/navigation/NavigationModule.java

@@ -13,7 +13,7 @@
  * Contact: [email protected]
  */
 
-package org.eclipse.mosaic.fed.application.ambassador.simulation.navigation;
+package org.eclipse.mosaic.fed.application.app.api.navigation;
 
 import org.eclipse.mosaic.lib.geo.GeoPoint;
 import org.eclipse.mosaic.lib.objects.road.IConnection;
@@ -26,13 +26,14 @@
 import org.eclipse.mosaic.lib.routing.RoutingPosition;
 import org.eclipse.mosaic.lib.routing.RoutingResponse;
 
-import java.util.Collection;
 import javax.annotation.Nullable;
 
 /**
- * Interface to access the central navigation component from vehicle applications.
+ * Interface to access navigational functions of the vehicle.
+ * As one part, it offers methods to calculate routes from the current position of
+ * the vehicle to a provided target location.
  */
-public interface INavigationModule {
+public interface NavigationModule {
 
     /**
      * Calculates one or more routes from the position of the vehicle to the given target location.
@@ -52,22 +53,6 @@ public interface INavigationModule {
      */
     RoutingResponse calculateRoutes(GeoPoint targetGeoPoint, RoutingParameters routingParameters);
 
-    /**
-     * Returns all existing routes that can be taken to target position using {@link RoutingPosition}.
-     *
-     * @param targetPosition The target position to calculate routes for.
-     * @return All valid routes to target position.
-     */
-    Collection<CandidateRoute> retrieveAllValidRoutesToTarget(RoutingPosition targetPosition);
-
-    /**
-     * Returns all existing routes that can be taken to target position using {@link GeoPoint}.
-     *
-     * @param targetGeoPoint The target position to calculate routes for.
-     * @return All valid routes to target position.
-     */
-    Collection<CandidateRoute> retrieveAllValidRoutesToTarget(GeoPoint targetGeoPoint);
-
     /**
      * Switch to a specific route.
      *

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/navigation/IRoutingModule.java → fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/app/api/navigation/RoutingModule.java

@@ -13,7 +13,7 @@
  * Contact: [email protected]
  */
 
-package org.eclipse.mosaic.fed.application.ambassador.simulation.navigation;
+package org.eclipse.mosaic.fed.application.app.api.navigation;
 
 import org.eclipse.mosaic.lib.geo.GeoPoint;
 import org.eclipse.mosaic.lib.objects.road.IConnection;
@@ -24,9 +24,14 @@
 import org.eclipse.mosaic.lib.routing.RoutingResponse;
 
 /**
- * Interface to access the central navigation component from road side units.
+ * Interface to access road routing functionalities for server or road side units.
+ * The offered methods, for example, provide route calculation from a provided source to
+ * a provided target location.<br>
+ * In contrast to {@link NavigationModule}, a {@link RoutingModule} can only calculate routes,
+ * but is not able to switch to calculated routes. Thus, the {@link RoutingModule} can be used
+ * in server units to emulate central routíng service functionalities.
  */
-public interface IRoutingModule {
+public interface RoutingModule {
 
     /**
      * Calculates one or more routes from the position of the vehicle to the given target location.

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/app/api/os/modules/Navigable.java

@@ -15,19 +15,19 @@
 
 package org.eclipse.mosaic.fed.application.app.api.os.modules;
 
-import org.eclipse.mosaic.fed.application.ambassador.simulation.navigation.INavigationModule;
+import org.eclipse.mosaic.fed.application.app.api.navigation.NavigationModule;
 
 /**
  * Interface to mark an {@link org.eclipse.mosaic.fed.application.app.api.os.OperatingSystem} as
- * an owner of a {@link INavigationModule} to calculate routes from its current position to any target,
+ * an owner of a {@link NavigationModule} to calculate routes from its current position to any target,
  * thus making it navigable.
  */
 public interface Navigable extends Locatable {
 
     /**
      * Returns a navigation module to calculate and switch routes to any target.
      *
-     * @return the {@link INavigationModule} of this unit.
+     * @return the {@link NavigationModule} of this unit.
      */
-    INavigationModule getNavigationModule();
+    NavigationModule getNavigationModule();
 }