feat: introducing SensorModule to provide access to environmental events

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

@@ -55,6 +55,7 @@ public class EmergencyBrakeApp extends ConfigurableApplication<CEmergencyBrakeAp
     @Override
     public void onStartup() {
         getOs().getAdHocModule().enable();
+        getOs().getSensorModule().getEnvironmentSensor().enable();
     }
 
     /**
@@ -67,7 +68,8 @@ public void onStartup() {
     @Override
     public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull VehicleData updatedVehicleData) {
 
-        boolean obstacleDetected = getOs().getStateOfEnvironmentSensor(SensorType.OBSTACLE) > 0;
+        boolean obstacleDetected = getOs().getSensorModule().getEnvironmentSensor().getSensorData()
+                .strengthOf(SensorType.OBSTACLE) > 0;
 
         // Initiate emergency brake if obstacle is detected
         if (obstacleDetected && !emergencyBrake) {

app/tutorials/traffic-light-communication/src/main/java/org/eclipse/mosaic/app/tutorial/EventSendingApp.java

@@ -27,7 +27,6 @@
 import org.eclipse.mosaic.fed.application.app.api.os.VehicleOperatingSystem;
 import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission;
 import org.eclipse.mosaic.lib.enums.AdHocChannel;
-import org.eclipse.mosaic.lib.enums.SensorType;
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleData;
 import org.eclipse.mosaic.lib.util.scheduling.Event;
 
@@ -57,11 +56,6 @@ public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull
         final List<? extends Application> applications = getOs().getApplications();
         final IntraVehicleMsg message = new IntraVehicleMsg(getOs().getId(), getRandom().nextInt(0, MAX_ID));
 
-        // Example usage for how to detect sensor readings
-        if (getOs().getStateOfEnvironmentSensor(SensorType.OBSTACLE) > 0) {
-            getLog().infoSimTime(this, "Reading sensor");
-        }
-
         for (Application application : applications) {
             final Event event = new Event(getOs().getSimulationTime() + 10, application, message);
             this.getOs().getEventManager().addEvent(event);

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

@@ -16,16 +16,12 @@
 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
@@ -35,22 +31,19 @@
  * 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> implements VehicleApplication {
+public class SlowDownApp extends AbstractApplication<VehicleOperatingSystem> {
 
     private final static float SPEED = 25 / 3.6f;
 
     private boolean hazardousArea = false;
 
-    /**
-     * This method is used to request new data from the sensors and in that case
-     * react on the retrieved data.
-     * It is called at each simulation step when the vehicle info has been updated for
-     * the vehicle that has this application equipped.
-     */
     @Override
-    public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull VehicleData updatedVehicleData) {
+    public void onStartup() {
+        getOs().getSensorModule().getEnvironmentSensor().enable();
+        getOs().getSensorModule().getEnvironmentSensor().reactOnSensorDataUpdate(this::onEnvironmentSensorUpdate);
+    }
 
-        // Enumeration of possible environment sensor types that are available in a vehicle
+    private void onEnvironmentSensorUpdate(EnvironmentSensorData environmentSensorData) {
         SensorType[] types = SensorType.values();
 
         // Initialize sensor strength
@@ -63,7 +56,7 @@ public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull
          */
         for (SensorType currentType : types) {
             // The strength of a detected sensor
-            strength = getOs().getStateOfEnvironmentSensor(currentType);
+            strength = environmentSensorData.strengthOf(currentType);
 
             if (strength > 0) {
                 break;
@@ -81,19 +74,13 @@ public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull
             getOs().resetSpeed();
             hazardousArea = false;
         }
-
     }
 
     @Override
     public void processEvent(Event event) throws Exception {
 
     }
 
-    @Override
-    public void onStartup() {
-
-    }
-
     @Override
     public void onShutdown() {
 

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

@@ -109,15 +109,13 @@ private Denm constructDenm() {
         final GeoCircle geoCircle = new GeoCircle(HAZARD_LOCATION, 3000.0D);
         final MessageRouting routing = getOs().getCellModule().createMessageRouting().geoBroadcastBasedOnUnicast(geoCircle);
 
-        final int strength = getOs().getStateOfEnvironmentSensor(SENSOR_TYPE);
-
         return new Denm(routing,
                 new DenmContent(
                         getOs().getSimulationTime(),
                         null,
                         HAZARD_ROAD,
                         SENSOR_TYPE,
-                        strength,
+                        0,
                         SPEED,
                         0.0f,
                         HAZARD_LOCATION,

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

@@ -84,6 +84,8 @@ public void onStartup() {
             getLog().infoSimTime(this, "Activated AdHoc Module");
         }
 
+        getOs().getSensorModule().getEnvironmentSensor().enable();
+
         getOs().requestVehicleParametersUpdate()
                 .changeColor(Color.RED)
                 .apply();
@@ -137,28 +139,19 @@ public void onVehicleUpdated(@Nullable VehicleData previousVehicleData, @Nonnull
      * This method is used to request new data from the sensors and, in case of new data, react on it.
      */
     private void detectSensors() {
-        // Enumeration of possible environment sensor types that are available in a vehicle
-        SensorType[] types = SensorType.values();
-
-        // Initialize sensor type
-        SensorType type = null;
-        // Initialize sensor strength
-        int strength = 0;
-
         /*
          * The current strength of each environment sensor is examined here.
          * If one is higher than zero, we reason that we are in a hazardous area with the
          * given hazard.
          */
-        for (SensorType currentType : types) {
+        for (SensorType currentType : SensorType.values()) {
 
             // The strength of a detected sensor
-            strength = getOs().getStateOfEnvironmentSensor(currentType);
+            int strength = getOs().getSensorModule().getEnvironmentSensor().getSensorData().strengthOf(currentType);
 
             if (strength > 0) {
-                type = currentType;
                 // Method which is called to react on new or changed environment events
-                reactOnEnvironmentData(type, strength);
+                reactOnEnvironmentData(currentType, strength);
                 return;
             }
         }

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

@@ -26,8 +26,11 @@
 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.lib.enums.SensorType;
 import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder;
 import org.eclipse.mosaic.lib.objects.addressing.SourceAddressContainer;
@@ -66,6 +69,9 @@ public class WeatherWarningAppTest {
     @Mock
     private AdHocModule adHocModuleMock;
 
+    @Mock
+    private DefaultSensorModule sensorModuleMock;
+
     @Before
     public void setup() {
         when(operatingSystem.getAdHocModule()).thenReturn(adHocModuleMock);
@@ -74,6 +80,11 @@ public void setup() {
                 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
@@ -116,7 +127,7 @@ public void test_SwitchRouteIfDenmWasReceived() {
     }
 
     private void setSensor(SensorType sensorType, int value) {
-        when(operatingSystem.getStateOfEnvironmentSensor(same(sensorType))).thenReturn(value);
+        when(operatingSystem.getSensorModule().getEnvironmentSensor().getSensorData().strengthOf(same(sensorType))).thenReturn(value);
     }
 
     private void setupMessageRouting() {

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

@@ -22,10 +22,12 @@
 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.util.EventNicenessPriorityRegister;
 import org.eclipse.mosaic.fed.application.app.api.MosaicApplication;
 import org.eclipse.mosaic.fed.application.app.api.TrafficSignAwareApplication;
-import org.eclipse.mosaic.fed.application.app.api.os.OperatingSystem;
+import org.eclipse.mosaic.fed.application.app.api.os.modules.Sensible;
 import org.eclipse.mosaic.fed.application.config.CApplicationAmbassador;
 import org.eclipse.mosaic.interactions.application.ApplicationInteraction;
 import org.eclipse.mosaic.interactions.application.SumoTraciResponse;
@@ -510,11 +512,11 @@ 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 OperatingSystem#getStateOfEnvironmentSensor} to determine the state of a Sensor. Keep in mind, that
+     * Use {@link DefaultSensorModule#getEnvironmentSensor()} to 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 can be cleared using
-     * {@link AbstractSimulationUnit#cleanPastEnvironmentEvents()}, which is also invoked by {@link SimulationKernel#garbageCollection()}.
+     * 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()}.
      * </p>
      *
      * @param environmentSensorUpdates the Interaction of type EnvironmentSensorUpdates to be processed
@@ -523,7 +525,7 @@ 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 == null) {
+        if (!(simulationUnit instanceof Sensible)) {
             return;
         }
         for (EnvironmentEvent event : environmentSensorUpdates.getEvents()) {

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

@@ -18,6 +18,8 @@
 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.app.api.os.modules.Sensible;
 import org.eclipse.mosaic.fed.application.config.CApplicationAmbassador;
 import org.eclipse.mosaic.interactions.communication.V2xMessageRemoval;
 import org.eclipse.mosaic.lib.math.RandomNumberGenerator;
@@ -277,7 +279,7 @@ public Map<String, VehicleRoute> getRoutes() {
     /**
      * Registers a new route to the simulation kernel.
      *
-     * @param id the id of the route
+     * @param id    the id of the route
      * @param route the {@link VehicleRoute} to register
      */
     public void registerRoute(String id, VehicleRoute route) {
@@ -348,7 +350,10 @@ void garbageCollection() {
         }
         // clean past environment events
         for (AbstractSimulationUnit simulationUnit : UnitSimulator.UnitSimulator.getAllUnits().values()) {
-            simulationUnit.cleanPastEnvironmentEvents();
+            if (simulationUnit instanceof Sensible sensible &&
+                    sensible.getSensorModule().getEnvironmentSensor() instanceof EnvironmentSensor environmentSensor) {
+                environmentSensor.cleanPastEnvironmentEvents();
+            }
         }
 
         // is the garbage collection enabled?