Add Sensor/Detector Registration to Infrastructure Ambassador

co-simulation/fed/mosaic-infrastructure/pom.xml

@@ -25,6 +25,13 @@
       <artifactId>mosaic-objects</artifactId>
       <version>${mosaic.version}</version>
     </dependency>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-objects</artifactId>
+      <version>${mosaic.version}</version>
+      <type>test-jar</type>
+      <scope>test</scope>
+    </dependency>
     <dependency>
         <groupId>gov.dot.fhwa.saxton</groupId>
         <artifactId>mosaic-carma-utils</artifactId>

co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java

@@ -16,17 +16,23 @@
 
 package org.eclipse.mosaic.fed.infrastructure.ambassador;
 
-import org.eclipse.mosaic.lib.geo.CartesianPoint;
-
 import java.io.IOException;
 import java.net.DatagramPacket;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
+import java.util.List;
+
+import org.eclipse.mosaic.lib.geo.CartesianPoint;
+import org.eclipse.mosaic.lib.objects.detector.DetectedObject;
+import org.eclipse.mosaic.lib.objects.detector.Detector;
+import org.eclipse.mosaic.rti.api.Interaction;
+
+import com.google.gson.Gson;
 
 /**
  * InfrastructureInstance class represents a physical instance of an
- * infrastructure node in the simulated environment.
- * It contains information about the infrastructure node such as its ID,
+ * infrastructure instance in the simulated environment.
+ * It contains information about the infrastructure instance such as its ID,
  * location, target address, and ports.
  */
 public class InfrastructureInstance {
@@ -35,40 +41,48 @@ public class InfrastructureInstance {
     private InetAddress targetAddress;
     private int rxMessagePort;
     private int timeSyncPort;
+    private int simulatedInteractionPort;
     private CartesianPoint location = null;
-    private DatagramSocket rxMsgsSocket = null;
+    private DatagramSocket socket = null;
+    private List<Detector> sensors;
 
     /**
      * Constructor for InfrastructureInstance
      * 
-     * @param infrastructureId the ID of the infrastructure node
-     * @param targetAddress    the target IP address of the infrastructure node
-     * @param rxMessagePort    the receive message port of the infrastructure node
-     * @param timeSyncPort     the time synchronization port of the infrastructure
-     *                         node
-     * @param location         the location of the infrastructure node in the
-     *                         simulated environment
-     */
-    public InfrastructureInstance(String infrastructureId, InetAddress targetAddress,
-            int rxMessagePort, int timeSyncPort, CartesianPoint location) {
+     * @param infrastructureId          the ID of the infrastructure instance.
+     * @param targetAddress             the target IP address of the infrastructure instance.
+     * @param rxMessagePort             the receive V2X message port of the infrastructure instance.
+     * @param timeSyncPort              the receive time synchronization message port of the infrastructure.
+     *                         
+     * @param simulatedInteractionPort  the receive simulated interaction message port of the infrastructure
+     *                                  instance.
+     * @param location                  the location of the infrastructure instance in the
+     *                                  simulated environment
+     */ 
+    public InfrastructureInstance(String infrastructureId, InetAddress targetAddress, int rxMessagePort,
+            int timeSyncPort, int simulatedInteractionPort, CartesianPoint location, List<Detector> sensors) {
         this.infrastructureId = infrastructureId;
         this.targetAddress = targetAddress;
         this.rxMessagePort = rxMessagePort;
         this.timeSyncPort = timeSyncPort;
+        this.simulatedInteractionPort = simulatedInteractionPort;
         this.location = location;
+        this.sensors = sensors;
     }
 
+
+
     /**
-     * Returns the target IP address of the infrastructure node
+     * Returns the target IP address of the infrastructure instance
      * 
-     * @return InetAddress the target IP address of the infrastructure node
+     * @return InetAddress the target IP address of the infrastructure instance
      */
     public InetAddress getTargetAddress() {
         return targetAddress;
     }
 
     /**
-     * Sets the target IP address of the infrastructure node
+     * Sets the target IP address of the infrastructure instance
      * 
      * @param targetAddress the target IP address to set
      */
@@ -77,16 +91,16 @@ public void setTargetAddress(InetAddress targetAddress) {
     }
 
     /**
-     * Returns the location of the infrastructure node in the simulated environment
+     * Returns the location of the infrastructure instance in the simulated environment
      * 
-     * @return CartesianPoint the location of the infrastructure node
+     * @return CartesianPoint the location of the infrastructure instance
      */
     public CartesianPoint getLocation() {
         return this.location;
     }
 
     /**
-     * Sets the location of the infrastructure node in the simulated environment
+     * Sets the location of the infrastructure instance in the simulated environment
      * 
      * @param location the location to set
      */
@@ -95,16 +109,16 @@ public void setLocation(CartesianPoint location) {
     }
 
     /**
-     * Returns the ID of the infrastructure node
+     * Returns the ID of the infrastructure instance
      * 
-     * @return String the ID of the infrastructure node
+     * @return String the ID of the infrastructure instance
      */
     public String getInfrastructureId() {
         return infrastructureId;
     }
 
     /**
-     * Sets the ID of the infrastructure node
+     * Sets the ID of the infrastructure instance
      * 
      * @param infrastructureId the ID to set
      */
@@ -113,16 +127,16 @@ public void setInfrastructureId(String infrastructureId) {
     }
 
     /**
-     * Returns the receive message port of the infrastructure node
+     * Returns the receive message port of the infrastructure instance
      * 
-     * @return int the receive message port of the infrastructure node
+     * @return int the receive message port of the infrastructure instance
      */
     public int getRxMessagePort() {
         return rxMessagePort;
     }
 
     /**
-     * Sets the receive message port of the infrastructure node
+     * Sets the receive message port of the infrastructure instance
      * 
      * @param rxMessagePort the port to set
      */
@@ -131,32 +145,87 @@ public void setRxMessagePort(int rxMessagePort) {
     }
 
     /**
-     * Returns the time synchronization port of the infrastructure node
+     * Returns the time synchronization port of the infrastructure instance
      * 
-     * @return int the time synchronization port of the infrastructure node
+     * @return int the time synchronization port of the infrastructure instance
      */
     public int getTimeSyncPort() {
         return timeSyncPort;
     }
 
     /**
-     * Sets the time synchronization port of the infrastructure node
+     * Sets the time synchronization port of the infrastructure instance
      * 
      * @param timeSyncPort the port to set
      */
     public void setTimeSyncPort(int timeSyncPort) {
         this.timeSyncPort = timeSyncPort;
     }
+
+    /**
+     * Returns the simulated interaction port of the infrastructure instance.
+     * 
+     * @return int simulated interaction port of the infrastructure instance.
+     */
+    public int getSimulatedInteractionPort() {
+        return simulatedInteractionPort;
+    }
+
 
     /**
-     * Creates a DatagramSocket object and binds it to this infrastructure
-     * instance's receive message port
+     * Sets the simulated interaction port of the infrastructure instance.
      * 
-     * @throws IOException if there is an issue with the underlying socket object or
-     *                     methods
+     * @param simulatedInteractionPort int simulated interaction port of the infrastructure
+     * instance.
+     */
+    public void setSimulatedInteractionPort(int simulatedInteractionPort) {
+        this.simulatedInteractionPort = simulatedInteractionPort;
+    }
+
+
+    /**
+     * Returns list of Sensor/Detectors registered to this infrastructure instance.
+     * 
+     * @return list of detectors registered to infrastructure instance.
+     */
+    public List<Detector> getSensors() {
+        return sensors;
+    }
+
+
+    /**
+     * Sets list of Sensors/Detectors registered to infrastructure instance.
+     * 
+     * @param sensors list of detectors registered to infrastructure instance.
+     */
+    public void setSensors(List<Detector> sensors) {
+        this.sensors = sensors;
+    }
+
+
+    /**
+     * Method that returns boolean value based on whether any registered Sensor/Detector
+     * in the sensor list has a sensorId equivalent to the passed parameter.
+     * 
+     * @param sensorId sensor ID to search for 
+     * @return true if sensor with sensor ID exists in sensor list. False otherwise.
      */
-    public void bind() throws IOException {
-        rxMsgsSocket = new DatagramSocket();
+    public boolean containsSensor(String sensorId) {
+        for (Detector sensor : sensors) {
+            if (sensor.getSensorId().equals(sensorId) ) {
+                return true;
+            } 
+        }
+        return false;
+    }
+
+    /**
+     * Creates a DatagramSocket object
+     * 
+     * @throws IOException if there is an issue with the underlying socket object
+     */
+    public void connect() throws IOException {
+        socket = new DatagramSocket();
     }
 
     /**
@@ -167,27 +236,52 @@ public void bind() throws IOException {
      * @throws IOException If there is an issue with the underlying socket object or
      *                     methods
      */
-    public void sendMsgs(byte[] data) throws IOException {
-        if (rxMsgsSocket == null) {
-            throw new IllegalStateException("Attempted to send data before opening socket");
-        }
-        DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, rxMessagePort);
-        rxMsgsSocket.send(packet);
+    public void sendV2xMsg(byte[] data) throws IOException {
+        sendPacket(data, rxMessagePort);
+    }
 
+    /**
+     * Sends time sync data to the Infrastrucutre Instance Time Sync port.
+     * 
+     * @param data The binary data to transmit
+     * @throws IOException If there is an issue with the underlying socket object or methods
+     */
+    public void sendTimeSyncMsg(InfrastructureTimeMessage message) throws IOException {
+        sendPacket(toJsonBytes(message), timeSyncPort);
+    }
+
+    /**
+     * Helper method to serialize message into JSON and encode as bytes.
+     * 
+     * @param message java object containing message information
+     * @return bytes encoded from JSON string representation of object.
+     */
+    private byte[] toJsonBytes(Object message) {
+        Gson gson = new Gson();
+        return gson.toJson(message).getBytes();
     }
 
     /**
-     * Sends time sync data to the Infrastructure Device communications interface configured at construction time.
+     * Sends time sync data to the Infrastrucutre Instance Simulated Interaction port.
+     * 
      * @param data The binary data to transmit
      * @throws IOException If there is an issue with the underlying socket object or methods
      */
-    public void sendTimeSyncMsgs(byte[] data) throws IOException {
-        if (rxMsgsSocket == null) {
+    public void sendDetection(DetectedObject detectedObject) throws IOException {
+        sendPacket(toJsonBytes(detectedObject), simulatedInteractionPort);
+    }
+    /**
+     * Method to send byte data to specified port using the infrastructure instance Datagramsocket.
+     * 
+     * @param data byte data to send using Datagramsocket.
+     * @param port in integer format to send Datagram to.
+     * @throws IOException
+     */
+    private void sendPacket(byte[] data, int port) throws IOException {
+         if (socket == null) {
             throw new IllegalStateException("Attempted to send data before opening socket");
         }
-
-        DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, timeSyncPort);
-        rxMsgsSocket.send(packet);
-
+        DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, port);
+        socket.send(packet);
     }
 }