feat(perception): simplified configuration for perception index

bundle/src/assembly/resources/scenarios/Barnim/application/application_config.json

@@ -0,0 +1,19 @@
+{
+    "messageCacheTime": "30s",
+    "encodePayloads": true,
+    "eventSchedulerThreads": 1,
+    "navigationConfiguration": {
+        "type": "database"
+    },
+    "perceptionConfiguration": {
+        "vehicleIndex": {
+            "enabled": true
+        },
+        "trafficLightIndex": {
+            "enabled": true
+        },
+        "wallIndex": {
+            "enabled": false
+        }
+    }
+}

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

@@ -369,8 +369,10 @@ this, new StartApplications(chargingStationUnit.getId(), chargingStationRegistra
      * @param trafficLightRegistration traffic light
      */
     public void registerTrafficLight(TrafficLightRegistration trafficLightRegistration) {
-        if (!trafficLightRegistration.getMapping().hasApplication()
-                && SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.trafficLightIndex == null) {
+        // if traffic light index is enabled, we need traffic light state information for all traffic lights via subscriptions
+        boolean isTrafficLightIndexEnabled = SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.trafficLightIndex != null &&
+                SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.trafficLightIndex.enabled;
+        if (!trafficLightRegistration.getMapping().hasApplication() &&  !isTrafficLightIndexEnabled) {
             return;
         }
 

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

@@ -85,12 +85,13 @@ public VehicleUnit(String vehicleName, VehicleType vehicleType, final GeoPoint i
                     .getCentralNavigationComponent().getRouting()).getScenarioDatabase();
         }
 
-        if (SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.vehicleIndex != null) {
-            perceptionModule = SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.vehicleIndex
-                    .createPerceptionModule(this, database, getOsLog());
+        if (SimulationKernel.SimulationKernel.getCentralPerceptionComponent().getTrafficObjectIndex() != null) {
+            perceptionModule = SimulationKernel.SimulationKernel.getCentralPerceptionComponent()
+                    .getTrafficObjectIndex().createPerceptionModule(this, database, getOsLog());
         } else {
             perceptionModule = new NopPerceptionModule(this, database, getOsLog());
         }
+
     }
 
     @Override

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

@@ -17,34 +17,21 @@
 
 import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.TrafficObjectIndex;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.TrafficLightObject;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.VehicleObject;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.providers.TrafficLightMap;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.providers.VehicleMap;
-import org.eclipse.mosaic.fed.application.config.CApplicationAmbassador;
+import org.eclipse.mosaic.fed.application.config.CPerception;
 import org.eclipse.mosaic.interactions.traffic.TrafficLightUpdates;
 import org.eclipse.mosaic.interactions.traffic.VehicleUpdates;
 import org.eclipse.mosaic.lib.database.Database;
 import org.eclipse.mosaic.lib.geo.CartesianRectangle;
-import org.eclipse.mosaic.lib.math.Vector3d;
 import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightGroup;
-import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightGroupInfo;
-import org.eclipse.mosaic.lib.objects.vehicle.VehicleData;
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleType;
 import org.eclipse.mosaic.lib.routing.Routing;
-import org.eclipse.mosaic.lib.spatial.Edge;
-import org.eclipse.mosaic.lib.util.PerformanceMonitor;
 import org.eclipse.mosaic.rti.api.InternalFederateException;
 
 import com.google.common.collect.Iterables;
 import org.apache.commons.lang3.Validate;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
-import java.util.Collection;
-import java.util.List;
-import java.util.Map;
-
 /**
  * The {@link CentralPerceptionComponent} is responsible for keeping a spatial index of all vehicles,
  * which allows fast querying of nearby vehicles.
@@ -57,7 +44,7 @@ public class CentralPerceptionComponent {
     /**
      * Configuration containing parameters for setting up the spatial indexes.
      */
-    private final CApplicationAmbassador.CPerception configuration;
+    private final CPerception configuration;
 
     /**
      * The spatial index used to store and find objects by their positions.
@@ -84,7 +71,7 @@ public class CentralPerceptionComponent {
      */
     private boolean updateTrafficLightIndex = false;
 
-    public CentralPerceptionComponent(CApplicationAmbassador.CPerception perceptionConfiguration) {
+    public CentralPerceptionComponent(CPerception perceptionConfiguration) {
         this.configuration = Validate.notNull(perceptionConfiguration, "perceptionConfiguration must not be null");
     }
 
@@ -99,38 +86,21 @@ public void initialize() throws InternalFederateException {
             // evaluate bounding box for perception
             scenarioBounds = configuration.perceptionArea == null
                     ? routing.getScenarioBounds() : configuration.perceptionArea.toCartesian();
-            // see what backends are configured
-            boolean vehicleIndexConfigured = configuration.vehicleIndex != null;
-            boolean trafficLightIndexConfigured = configuration.trafficLightIndex != null;
 
             TrafficObjectIndex.Builder indexBuilder = new TrafficObjectIndex.Builder(LOG);
-            if (scenarioBounds.getArea() <= 0) {
-                LOG.warn("The bounding area of the scenario could not be determined. Defaulting to low performance spatial index.");
-                if (vehicleIndexConfigured) { // if configured default to map index
-                    indexBuilder.withVehicleIndex(new VehicleMap());
-                }
-                if (trafficLightIndexConfigured) { // if configured default to map index
-                    indexBuilder.withTrafficLightIndex(new TrafficLightMap());
-                }
-            } else {
-                if (vehicleIndexConfigured) {
-                    indexBuilder.withVehicleIndex(configuration.vehicleIndex);
-                }
-                if (trafficLightIndexConfigured) {
-                    indexBuilder.withTrafficLightIndex(configuration.trafficLightIndex);
-                }
+            if (configuration.vehicleIndex != null) {
+                indexBuilder.withVehicleIndex(configuration.vehicleIndex.create());
+            }
+            if (configuration.trafficLightIndex != null) {
+                indexBuilder.withTrafficLightIndex(configuration.trafficLightIndex.create());
             }
             if (routing instanceof Database) {
                 Database dbRouting = (Database) routing;
-                if (!dbRouting.getBuildings().isEmpty()) {
-                    indexBuilder.withWallIndex(configuration.wallIndex, (Database) routing);
+                if (!dbRouting.getBuildings().isEmpty() && configuration.wallIndex != null) {
+                    indexBuilder.withWallIndex(configuration.wallIndex.create(), (Database) routing);
                 }
             }
             trafficObjectIndex = indexBuilder.build();
-
-            if (configuration.measurePerformance) {
-                trafficObjectIndex = new MonitoringTrafficObjectIndexProvider(trafficObjectIndex, PerformanceMonitor.getInstance());
-            }
         } catch (Exception e) {
             throw new InternalFederateException("Couldn't initialize CentralPerceptionComponent", e);
         }
@@ -212,63 +182,4 @@ public void updateTrafficLights(TrafficLightUpdates trafficLightUpdates) {
         updateTrafficLightIndex = true;
     }
 
-    /**
-     * Wrapper class to measure atomic calls of update, search and remove of the used spatial index.
-     */
-    static class MonitoringTrafficObjectIndexProvider extends TrafficObjectIndex {
-        private final PerformanceMonitor monitor;
-
-        MonitoringTrafficObjectIndexProvider(TrafficObjectIndex parent, PerformanceMonitor monitor) {
-            super(parent);
-            this.monitor = monitor;
-        }
-
-        @Override
-        public List<VehicleObject> getVehiclesInRange(PerceptionModel searchRange) {
-            try (PerformanceMonitor.Measurement m = monitor.start("search-vehicle")) {
-                m.setProperties(getNumberOfVehicles(), SimulationKernel.SimulationKernel.getCurrentSimulationTime()).restart();
-                return super.getVehiclesInRange(searchRange);
-            }
-        }
-
-        @Override
-        public void removeVehicles(Iterable<String> vehiclesToRemove) {
-            try (PerformanceMonitor.Measurement m = monitor.start("remove-vehicle")) {
-                m.setProperties(getNumberOfVehicles(), SimulationKernel.SimulationKernel.getCurrentSimulationTime()).restart();
-                super.removeVehicles(vehiclesToRemove);
-            }
-        }
-
-        @Override
-        public void updateVehicles(Iterable<VehicleData> vehiclesToUpdate) {
-            try (PerformanceMonitor.Measurement m = monitor.start("update-vehicle")) {
-                m.setProperties(getNumberOfVehicles(), SimulationKernel.SimulationKernel.getCurrentSimulationTime()).restart();
-                super.updateVehicles(vehiclesToUpdate);
-            }
-        }
-
-        @Override
-        public List<TrafficLightObject> getTrafficLightsInRange(PerceptionModel perceptionModel) {
-            try (PerformanceMonitor.Measurement m = monitor.start("search-traffic-light")) {
-                m.setProperties(SimulationKernel.SimulationKernel.getCurrentSimulationTime()).restart();
-                return super.getTrafficLightsInRange(perceptionModel);
-            }
-        }
-
-        @Override
-        public void updateTrafficLights(Map<String, TrafficLightGroupInfo> trafficLightsToUpdate) {
-            try (PerformanceMonitor.Measurement m = monitor.start("update-traffic-light")) {
-                m.setProperties(SimulationKernel.SimulationKernel.getCurrentSimulationTime()).restart();
-                super.updateTrafficLights(trafficLightsToUpdate);
-            }
-        }
-
-        @Override
-        public Collection<Edge<Vector3d>> getSurroundingWalls(PerceptionModel perceptionModel) {
-            try (PerformanceMonitor.Measurement m = monitor.start("search-walls")) {
-                m.setProperties(SimulationKernel.SimulationKernel.getCurrentSimulationTime()).restart();
-                return super.getSurroundingWalls(perceptionModel);
-            }
-        }
-    }
 }

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/index/TrafficObjectIndex.java

@@ -15,12 +15,16 @@
 
 package org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index;
 
+import org.eclipse.mosaic.fed.application.ambassador.simulation.VehicleUnit;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.NopPerceptionModule;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.PerceptionModel;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.SimplePerceptionConfiguration;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.TrafficLightObject;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.VehicleObject;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.providers.TrafficLightIndex;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.providers.VehicleIndex;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.providers.WallIndex;
+import org.eclipse.mosaic.fed.application.app.api.perception.PerceptionModule;
 import org.eclipse.mosaic.lib.database.Database;
 import org.eclipse.mosaic.lib.math.Vector3d;
 import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightGroup;
@@ -189,6 +193,13 @@ public Collection<Edge<Vector3d>> getSurroundingWalls(PerceptionModel perception
         return wallIndex.getSurroundingWalls(perceptionModel);
     }
 
+    public PerceptionModule<SimplePerceptionConfiguration> createPerceptionModule(VehicleUnit vehicleUnit, Database database, Logger osLog) {
+        if (vehicleIndex != null) {
+            return vehicleIndex.createPerceptionModule(vehicleUnit, database, log);
+        }
+        return new NopPerceptionModule(vehicleUnit, database, log);
+    }
+
     public static class Builder {
         private final Logger log;
         private VehicleIndex vehicleIndex = null;

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/index/providers/TrafficLightIndex.java

@@ -19,18 +19,14 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.PerceptionModel;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.TrafficObjectIndex;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.TrafficLightObject;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.util.TrafficLightIndexTypeAdapterFactory;
 import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightGroup;
 import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightGroupInfo;
 import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightState;
 
-import com.google.gson.annotations.JsonAdapter;
-
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-@JsonAdapter(TrafficLightIndexTypeAdapterFactory.class)
 public abstract class TrafficLightIndex {
 
     /**

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/index/providers/TrafficLightTree.java

@@ -21,8 +21,6 @@
 import org.eclipse.mosaic.lib.spatial.KdTree;
 import org.eclipse.mosaic.lib.spatial.SpatialTreeTraverser;
 
-import com.google.gson.annotations.Expose;
-
 import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Collectors;
@@ -32,13 +30,16 @@
  */
 public class TrafficLightTree extends TrafficLightIndex {
 
-    @Expose
-    public int bucketSize = 20;
+    private final int bucketSize;
 
     private KdTree<TrafficLightObject> trafficLightTree;
 
     private SpatialTreeTraverser.InRadius<TrafficLightObject> treeTraverser;
 
+    public TrafficLightTree(int bucketSize) {
+        this.bucketSize = bucketSize;
+    }
+
     @Override
     public void initialize() {
         // initialization at first update

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/index/providers/VehicleGrid.java

@@ -27,26 +27,27 @@
 import org.eclipse.mosaic.lib.geo.CartesianRectangle;
 import org.eclipse.mosaic.lib.spatial.BoundingBox;
 import org.eclipse.mosaic.lib.spatial.Grid;
-import org.eclipse.mosaic.lib.util.gson.UnitFieldAdapter;
 
-import com.google.gson.annotations.JsonAdapter;
 import org.slf4j.Logger;
 
 import java.util.List;
 
 public class VehicleGrid extends VehicleIndex {
 
-    @JsonAdapter(UnitFieldAdapter.DistanceMeters.class)
-    public double cellWidth = 200;
+    private final double cellWidth;
 
-    @JsonAdapter(UnitFieldAdapter.DistanceMeters.class)
-    public double cellHeight = 200;
+    private final double cellHeight;
 
     /**
      * The Grid to be used for spatial search of {@link VehicleObject}s.
      */
     private Grid<VehicleObject> vehicleGrid;
 
+    public VehicleGrid(double cellWidth, double cellHeight) {
+        this.cellWidth = cellWidth;
+        this.cellHeight = cellHeight;
+    }
+
     /**
      * Configures a grid as a spatial index for vehicles.
      */

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/index/providers/VehicleIndex.java

@@ -21,21 +21,18 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.SimplePerceptionConfiguration;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.TrafficObjectIndex;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.VehicleObject;
-import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.util.VehicleIndexTypeAdapterFactory;
 import org.eclipse.mosaic.fed.application.app.api.perception.PerceptionModule;
 import org.eclipse.mosaic.lib.database.Database;
 import org.eclipse.mosaic.lib.geo.CartesianPoint;
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleData;
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleType;
 
-import com.google.gson.annotations.JsonAdapter;
 import org.slf4j.Logger;
 
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-@JsonAdapter(VehicleIndexTypeAdapterFactory.class)
 public abstract class VehicleIndex {
 
     /**