Tweaks & Bugfixes

eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/simple_network/SimpleCommunicationGateway.java

@@ -4,6 +4,7 @@ import java.util.HashSet;
 import java.util.Set;
 
 import de.rwth.montisim.commons.dynamicinterface.PortInformation;
+import de.rwth.montisim.commons.dynamicinterface.SimplePacketType;
 import de.rwth.montisim.commons.dynamicinterface.PortInformation.PortType;
 import de.rwth.montisim.commons.eventsimulation.DiscreteEvent;
 import de.rwth.montisim.commons.eventsimulation.exceptions.UnexpectedEventException;
@@ -38,21 +39,6 @@ public class SimpleCommunicationGateway extends EEComponent implements PortTagUs
         this.address = network.registerNode(vehicle.properties.vehicleName + "_COMM_GATEWAY", vehicle.physicalObject, this);
     }
 
-    // Receiving a message from a vehicle component -> Send to the Network
-    @Override
-    protected void receive(MessageReceiveEvent msgRecvEvent) {
-        Message msg = msgRecvEvent.getMessage();
-        SimpleNetworkMessage netMsg;
-        if (!(msg instanceof SimpleNetworkMessage)) {
-            // Standard message -> broadcast
-            // TODO  Policy
-            netMsg = new SimpleNetworkMessage(IPV6Address.BROADCAST_ADDR, msg.msgInfo, msg.message, msg.msgLen);
-        } else {
-            netMsg = (SimpleNetworkMessage) msg;
-        }
-        netMsg.sender = address;
-        eesystem.simulator.addEvent(new SimpleNetworkRecvEvent(network, msgRecvEvent.getEventTime().plus(properties.processing_time), netMsg));
-    }
 
     
     @Override
@@ -67,13 +53,26 @@ public class SimpleCommunicationGateway extends EEComponent implements PortTagUs
         } else throw new UnexpectedEventException(this.toString(), event);
     }
 
+    
+    // Receiving a message from a vehicle component -> Send to the Network
+    @Override
+    protected void receive(MessageReceiveEvent msgRecvEvent) {
+        Message msg = msgRecvEvent.getMessage();
+        Object packet[] = (Object[]) msg.message;
+        SimpleNetworkMessage netMsg = new SimpleNetworkMessage(new IPV6Address((String) packet[0]), msg.msgInfo, packet[1], msg.msgLen);
+        netMsg.sender = address;
+        eesystem.simulator.addEvent(new SimpleNetworkRecvEvent(network, msgRecvEvent.getEventTime().plus(properties.processing_time), netMsg));
+    }
 
+    // Receiving a message from the Network
     private void receive(SimpleNetworkRecvEvent event) {
         MessageInformation msgInfo = getMsgInfo(event.msg.msgInfo.name);
         if (msgInfo == null) return; // The vehicle does not use this message
         // Resolve local MessageInformation
-        SimpleNetworkMessage newMsg = new SimpleNetworkMessage(event.msg.target, msgInfo, event.msg.message, event.msg.msgLen);
-        newMsg.sender = event.msg.sender;
+        Object newData[] = new Object[2];
+        newData[0] = event.msg.sender.addr;
+        newData[1] = event.msg.message;
+        Message newMsg = new Message(msgInfo, newData, event.msg.msgLen);
         eesystem.simulator.addEvent(new MessageSendEvent(this, event.getEventTime().plus(properties.processing_time), newMsg));
     }
 
@@ -86,7 +85,8 @@ public class SimpleCommunicationGateway extends EEComponent implements PortTagUs
     public void processTag(String tag, PortInformation portInfo) {
         // TODO handle multiple components with same port
         // Add the found ports as own ports
-        if (portInfo.port_type != PortType.SOCKET) throw new IllegalArgumentException("Port "+portInfo.name + " has 'network' tag but is not of type 'SOCKET'.");
+        if (portInfo.port_type != PortType.SOCKET) throw new IllegalArgumentException("Port " + portInfo.name + " has 'network' tag but is not of type 'SOCKET'.");
+        if (!(portInfo.data_type instanceof SimplePacketType)) throw new IllegalArgumentException("Port "+portInfo.name + " has 'network' tag but its DataType is not 'SimplePacketType'.");
         addPort(PortInformation.newSocketPort(portInfo.name, portInfo.data_type, portInfo.isOutput(), portInfo.isInput()));
         // Register msg types at the Network for type checking
         network.registerMessage(address, portInfo.name, portInfo.data_type);

eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/simple_network/SimpleNetwork.java

@@ -70,7 +70,7 @@ public class SimpleNetwork implements EventTarget, SimulatorModule {
     private void dispatch(SimpleNetworkSendEvent event) {
         SimpleNetworkNodeInfo sender = ipToNode.get(event.msg.sender.addr);
         SimpleNetworkRecvEvent recvEvent = new SimpleNetworkRecvEvent(null, event.getEventTime(), event.msg);
-        if (event.msg.target.equals(IPV6Address.BROADCAST_ADDR)) {
+        if (event.msg.target.addr.equals(IPV6Address.BROADCAST_ADDR.addr)) {
             nodesInRange(sender).forEach(v -> {
                 if (v != sender)
                     v.component.process(recvEvent);

eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/simple_network/SimpleNetworkMessage.java

@@ -19,4 +19,8 @@ public class SimpleNetworkMessage extends Message {
 
     protected SimpleNetworkMessage() {
     }
+
+    public static Object newMessage(IPV6Address target, Object payload) {
+        return new Object[]{target.addr, payload};
+    }
 }

eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/vehicleconfigs/DefaultVehicleConfig.java

 /* (c) https://github.com/MontiCore/monticore */
 package de.rwth.montisim.simulation.eecomponents.vehicleconfigs;
 
-import java.time.Duration;
-
 import de.rwth.montisim.simulation.eecomponents.autopilots.JavaAutopilotProperties;
 import de.rwth.montisim.simulation.eesimulator.bus.constant.ConstantBusProperties;
 import de.rwth.montisim.simulation.eesimulator.sensor.SensorProperties;
@@ -35,33 +33,21 @@ public class DefaultVehicleConfig {
         this.properties.physics = rbPhysicsProperties;
 
         properties.addComponent(
-            new SensorProperties(
-                Duration.ofMillis(100), // Update rate
-                Duration.ofMillis(10), // Read time
-                false
-            )
+            new SensorProperties()
             .setPhysicalValueName(TrueVelocity.VALUE_NAME)
             .setName("TrueVelocitySensor")
             .connectTo("DefaultBus")
         );
 
         properties.addComponent(
-            new SensorProperties(
-                Duration.ofMillis(100), // Update rate
-                Duration.ofMillis(10), // Read time
-                false
-            )
+            new SensorProperties()
             .setPhysicalValueName(TruePosition.VALUE_NAME)
             .setName("TruePositionSensor")
             .connectTo("DefaultBus")
         );
 
         properties.addComponent(
-            new SensorProperties(
-                Duration.ofMillis(100), // Update rate
-                Duration.ofMillis(10), // Read time
-                false
-            )
+            new SensorProperties()
             .setPhysicalValueName(TrueCompass.VALUE_NAME)
             .setName("TrueCompassSensor")
             .connectTo("DefaultBus")

eecomponents/src/test/java/de/rwth/montisim/simulation/eecomponents/simple_network/CommunicationTest.java

@@ -8,7 +8,9 @@ import org.junit.Assert;
 import org.junit.Test;
 
 import de.rwth.montisim.commons.dynamicinterface.BasicType;
+import de.rwth.montisim.commons.dynamicinterface.DataType;
 import de.rwth.montisim.commons.dynamicinterface.PortInformation;
+import de.rwth.montisim.commons.dynamicinterface.SimplePacketType;
 import de.rwth.montisim.commons.eventsimulation.DiscreteEventSimulator;
 import de.rwth.montisim.commons.simulation.TimeUpdate;
 import de.rwth.montisim.commons.utils.BuildContext;
@@ -17,6 +19,7 @@ import de.rwth.montisim.simulation.eesimulator.bus.constant.ConstantBusPropertie
 import de.rwth.montisim.simulation.eesimulator.exceptions.EEMessageTypeException;
 import de.rwth.montisim.simulation.eesimulator.exceptions.EEMissingComponentException;
 import de.rwth.montisim.simulation.eesimulator.exceptions.EESetupException;
+import de.rwth.montisim.simulation.eesimulator.message.Message;
 import de.rwth.montisim.simulation.eesimulator.testcomponents.TestCompProperties;
 import de.rwth.montisim.simulation.eesimulator.testcomponents.TestEEComponent;
 import de.rwth.montisim.simulation.vehicle.Vehicle;
@@ -25,7 +28,7 @@ import de.rwth.montisim.simulation.vehicle.VehicleProperties;
 public class CommunicationTest {
 
     @Test
-    public void broadcastTest() throws EEMessageTypeException, EESetupException, EEMissingComponentException {
+    public void commTest() throws EEMessageTypeException, EESetupException, EEMissingComponentException {
         Instant start_time = Instant.ofEpochSecond(10);
         DiscreteEventSimulator simulator = new DiscreteEventSimulator(start_time);
 
@@ -46,6 +49,8 @@ public class CommunicationTest {
         prop3.start_pos = Optional.of(new Vec2(7,1));
         prop4.start_pos = Optional.of(new Vec2(20,7));
 
+        DataType intPacket = new SimplePacketType(BasicType.INT);
+
         prop1.addComponent(
             ConstantBusProperties.instantBus().setName("DefaultBus")
         );
@@ -54,9 +59,9 @@ public class CommunicationTest {
         );
         prop1.addComponent(
             new TestCompProperties("TestComp1")
-            .addPort(PortInformation.newSocketPort("m1", BasicType.INT, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
-            .addPort(PortInformation.newSocketPort("m2", BasicType.INT, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
-            .addPort(PortInformation.newSocketPort("m3", BasicType.INT, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m1", intPacket, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m2", intPacket, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m3", intPacket, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
             .connectTo("DefaultBus")
         );
         prop2.addComponent(
@@ -67,8 +72,8 @@ public class CommunicationTest {
         );
         prop2.addComponent(
             new TestCompProperties("TestComp2")
-            .addPort(PortInformation.newSocketPort("m1", BasicType.INT, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
-            .addPort(PortInformation.newSocketPort("m2", BasicType.INT, true, false).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m1", intPacket, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m2", intPacket, true, false).addTag(SimpleCommunicationGateway.NETWORK_TAG))
             .connectTo("DefaultBus")
         );
         prop3.addComponent(
@@ -79,8 +84,8 @@ public class CommunicationTest {
         );
         prop3.addComponent(
             new TestCompProperties("TestComp3")
-            .addPort(PortInformation.newSocketPort("m1", BasicType.INT, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
-            .addPort(PortInformation.newSocketPort("m2", BasicType.INT, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m1", intPacket, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m2", intPacket, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
             .connectTo("DefaultBus")
         );
         prop4.addComponent(
@@ -91,8 +96,8 @@ public class CommunicationTest {
         );
         prop4.addComponent(
             new TestCompProperties("TestComp4")
-            .addPort(PortInformation.newSocketPort("m1", BasicType.INT, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
-            .addPort(PortInformation.newSocketPort("m2", BasicType.INT, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m1", intPacket, true, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
+            .addPort(PortInformation.newSocketPort("m2", intPacket, false, true).addTag(SimpleCommunicationGateway.NETWORK_TAG))
             .connectTo("DefaultBus")
         );
 
@@ -112,31 +117,31 @@ public class CommunicationTest {
         // Send messages
         testComp1.sendMessage(
             start_time.plus(Duration.ofMillis(5)), 
-            new SimpleNetworkMessage(IPV6Address.BROADCAST_ADDR, testComp1.getMsgInfo("m1"), Integer.valueOf(1))
+            new Message(testComp1.getMsgInfo("m1"), SimpleNetworkMessage.newMessage(IPV6Address.BROADCAST_ADDR, Integer.valueOf(1)))
         );
 
         testComp2.sendMessage(
             start_time.plus(Duration.ofMillis(25)), 
-            new SimpleNetworkMessage(v1addr, testComp2.getMsgInfo("m1"), Integer.valueOf(2))
+            new Message(testComp2.getMsgInfo("m1"), SimpleNetworkMessage.newMessage(v1addr, Integer.valueOf(2)))
         );
         testComp3.sendMessage(
-            start_time.plus(Duration.ofMillis(35)), 
-            new SimpleNetworkMessage(v1addr, testComp3.getMsgInfo("m1"), Integer.valueOf(3))
+            start_time.plus(Duration.ofMillis(35)),
+            new Message(testComp3.getMsgInfo("m1"), SimpleNetworkMessage.newMessage(v1addr, Integer.valueOf(3)))
         );
         testComp4.sendMessage(
-            start_time.plus(Duration.ofMillis(45)), 
-            new SimpleNetworkMessage(v1addr, testComp4.getMsgInfo("m1"), Integer.valueOf(4))
+            start_time.plus(Duration.ofMillis(45)),
+            new Message(testComp4.getMsgInfo("m1"), SimpleNetworkMessage.newMessage(v1addr, Integer.valueOf(4)))
         );
 
         
         testComp1.sendMessage(
             start_time.plus(Duration.ofMillis(70)), 
-            new SimpleNetworkMessage(IPV6Address.BROADCAST_ADDR, testComp1.getMsgInfo("m2"), Integer.valueOf(5))
+            new Message(testComp1.getMsgInfo("m2"), SimpleNetworkMessage.newMessage(IPV6Address.BROADCAST_ADDR, Integer.valueOf(5)))
         );
 
         testComp1.sendMessage(
-            start_time.plus(Duration.ofMillis(100)), 
-            new SimpleNetworkMessage(IPV6Address.BROADCAST_ADDR, testComp1.getMsgInfo("m3"), Integer.valueOf(6))
+            start_time.plus(Duration.ofMillis(100)),
+            new Message(testComp1.getMsgInfo("m3"), SimpleNetworkMessage.newMessage(IPV6Address.BROADCAST_ADDR, Integer.valueOf(6)))
         );
 
         simulator.update(new TimeUpdate(start_time, Duration.ofSeconds(1)));
@@ -146,12 +151,12 @@ public class CommunicationTest {
         Assert.assertEquals(1, testComp3.events.size());
         Assert.assertEquals(0, testComp4.events.size());
 
-        Assert.assertEquals(2, (long)(Integer)testComp1.events.get(0).getMessage().message);
-        Assert.assertEquals(3, (long)(Integer)testComp1.events.get(1).getMessage().message);
+        Assert.assertEquals(2, (long)(Integer)((Object[])testComp1.events.get(0).getMessage().message)[1]);
+        Assert.assertEquals(3, (long)(Integer)((Object[])testComp1.events.get(1).getMessage().message)[1]);
 
-        Assert.assertEquals(1, (long)(Integer)testComp2.events.get(0).getMessage().message);
-        Assert.assertEquals(5, (long)(Integer)testComp2.events.get(1).getMessage().message);
+        Assert.assertEquals(1, (long)(Integer)((Object[])testComp2.events.get(0).getMessage().message)[1]);
+        Assert.assertEquals(5, (long)(Integer)((Object[])testComp2.events.get(1).getMessage().message)[1]);
         
-        Assert.assertEquals(1, (long)(Integer)testComp3.events.get(0).getMessage().message);
+        Assert.assertEquals(1, (long)(Integer)((Object[])testComp3.events.get(0).getMessage().message)[1]);
     }
 }

eesimulator/src/main/java/de/rwth/montisim/simulation/eesimulator/sensor/SensorProperties.java

@@ -30,7 +30,7 @@ public class SensorProperties extends EEComponentProperties {
         this.send_only_changed = sendOnlyChanged;
     }
 
-    protected SensorProperties() {
+    public SensorProperties() {
         this.update_interval = Duration.ofMillis(100);
         this.read_time = Duration.ofMillis(10);
         this.send_only_changed = false;

running_state.json

@@ -202,6 +202,8 @@
       0.0,
       0.0
     ],
+    "start_coords": {},
+    "start_osm_node": {},
     "start_orientation": 0.0,
     "task": {
       "goals": [
@@ -225,17 +227,17 @@
         "SteeringActuator": {
           "sensor": {
             "nextUpdate": [
-              0,
-              990000000
+              4,
+              70000000
             ]
           },
-          "targetValue": -137.69912470771388
+          "targetValue": 2.138957759123023
         },
         "BrakingActuator": {
           "sensor": {
             "nextUpdate": [
-              0,
-              990000000
+              4,
+              70000000
             ]
           },
           "targetValue": 0.0
@@ -243,38 +245,42 @@
         "GasActuator": {
           "sensor": {
             "nextUpdate": [
-              0,
-              990000000
+              4,
+              70000000
             ]
           },
-          "targetValue": 0.5553088028485318
+          "targetValue": 0.025600579481880503
         },
         "TrueVelocitySensor": {
           "logic": {
             "nextUpdate": [
-              0,
-              990000000
+              4,
+              70000000
             ]
           }
         },
         "TruePositionSensor": {
           "logic": {
             "nextUpdate": [
-              0,
-              990000000
+              4,
+              70000000
             ]
           }
         },
         "TrueCompassSensor": {
           "logic": {
             "nextUpdate": [
-              0,
-              990000000
+              4,
+              70000000
             ]
           }
         },
         "Navigation": {
           "targets": [
+            [
+              -63.83,
+              -171.96
+            ],
             [
               -63.83,
               -171.96
@@ -282,11 +288,9 @@
           ],
           "currentPath": {
             "trajectoryX": [
-              18,
-              0.0,
-              -2.3721876315154202,
-              -2.1798136749816006,
-              4.211962552465172,
+              16,
+              5.7813108846301935,
+              4.270347736560122,
               4.289310779669538,
               3.1923722851743537,
               -9.68962336796794,
@@ -303,11 +307,9 @@
               -63.83
             ],
             "trajectoryY": [
-              18,
-              0.0,
-              -0.12404716846665131,
-              -3.8028664914396786,
-              -3.4692817115581356,
+              16,
+              -6.164792883105725,
+              -6.197132576848973,
               -7.083116827073201,
               -8.372977976211862,
               -11.419718966323348,
@@ -325,61 +327,61 @@
             ]
           },
           "currentPos": [
-            1.6170090724482489,
-            -0.5128244385869507
+            -3.9864173310372286,
+            -14.116218391617224
           ]
         },
         "DefaultBus": {},
         "TestAutopilot": {
-          "currentVelocity": 14.646501381369834,
+          "currentVelocity": 29.793168576702126,
           "currentPosition": [
-            1.6170090724482489,
-            -0.5128244385869507
+            -3.9864173310372286,
+            -14.116218391617224
           ],
-          "currentCompass": -10.65766304240394,
+          "currentCompass": 176.48927739643344,
           "newTrajX": [
             10,
-            0.0,
-            -2.3721876315154202,
-            -2.1798136749816006,
-            4.211962552465172,
-            4.289310779669538,
             3.1923722851743537,
             -9.68962336796794,
             -18.338561497475773,
             -23.091961640246605,
-            -42.70325305754577
+            -42.70325305754577,
+            -45.76905551645384,
+            -49.706783445404504,
+            -76.86304284074316,
+            -92.37487821783468,
+            -107.28902274852298
           ],
           "newTrajLength": 10,
           "trajLength": 10,
           "trajX": [
             10,
-            0.0,
-            -2.3721876315154202,
-            -2.1798136749816006,
-            4.211962552465172,
-            4.289310779669538,
             3.1923722851743537,
             -9.68962336796794,
             -18.338561497475773,
             -23.091961640246605,
-            -42.70325305754577
+            -42.70325305754577,
+            -45.76905551645384,
+            -49.706783445404504,
+            -76.86304284074316,
+            -92.37487821783468,
+            -107.28902274852298
           ],
           "trajY": [
             10,
-            0.0,
-            -0.12404716846665131,
-            -3.8028664914396786,
-            -3.4692817115581356,
-            -7.083116827073201,
             -8.372977976211862,
             -11.419718966323348,
             -13.64361749913033,
             -15.689604149597187,
-            -30.64532178345498
+            -30.64532178345498,
+            -33.9255721190885,
+            -38.32889121431496,
+            -75.87941794250301,
+            -97.71810153550507,
+            -114.73092531183404
           ],
-          "currentGas": 0.5553088028485318,
-          "currentSteering": -137.69912470771388,
+          "currentGas": 0.025600579481880503,
+          "currentSteering": 2.138957759123023,
           "currentBrakes": 0.0,
           "lastTime": [
             0,
@@ -387,80 +389,80 @@
           ],
           "currSeg": {
             "posStart": [
-              0.0,
-              0.0
+              3.1923722851743537,
+              -8.372977976211862
             ],
             "posEnd": [
-              -2.3721876315154202,
-              -0.12404716846665131
+              -9.68962336796794,
+              -11.419718966323348
             ],
             "dir": [
-              -0.9986355548682545,
-              -0.05222095894345149
+              -0.9731523767464246,
+              -0.23016179446811966
             ],
             "normal": [
-              0.05222095894345149,
-              -0.9986355548682545
+              0.23016179446811966,
+              -0.9731523767464246
             ],
             "relPos": [
-              1.6170090724482489,
-              -0.5128244385869507
+              -7.178789616211582,
+              -5.743240415405362
             ],
-            "length": 2.37542877374156,
-            "projPos": -1.5880225683387108,
-            "orthoPos": 0.5965664821617892,
-            "dist": 0.5965664821617892,
-            "projDistToEnd": 3.963451342080271
+            "length": 13.237388060656167,
+            "projPos": 8.307930697250383,
+            "orthoPos": 3.936764960301489,
+            "dist": 3.936764960301489,
+            "projDistToEnd": 4.929457363405785
           },
           "nextSeg": {
             "posStart": [
-              -2.3721876315154202,
-              -0.12404716846665131
+              -9.68962336796794,
+              -11.419718966323348
             ],
             "posEnd": [
-              -2.1798136749816006,
-              -3.8028664914396786
+              -18.338561497475773,
+              -13.64361749913033
             ],
             "dir": [
-              0.052220958943452016,
-              -0.9986355548682544
+              -0.9684960149914635,
+              -0.24902905241287568
             ],
             "normal": [
-              0.9986355548682544,
-              0.052220958943452016
+              0.24902905241287568,
+              -0.9684960149914635
             ],
             "relPos": [
-              3.9891967039636693,
-              -0.3887772701202994
+              5.703206036930711,
+              -2.696499425293876
             ],
-            "length": 3.683845728343167,
-            "projPos": 0.5965664821617913,
-            "orthoPos": 3.963451342080271,
-            "dist": 3.963451342080271,
-            "projDistToEnd": 3.0872792461813754
+            "length": 8.930277456623367,
+            "projPos": -4.852025622729854,
+            "orthoPos": 4.031812942916138,
+            "dist": 4.031812942916138,
+            "projDistToEnd": 13.78230307935322
           },
           "relPos": [
             0.0,
             0.0
           ],
           "targetDir": [