Finshed offlaoding

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/benefit/BenefitEstimatorType.java

@@ -21,5 +21,5 @@
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.benefit;
 
 public enum BenefitEstimatorType {
-	DECISION_BASED, INTERSECTION
+	DECISION_BASED, INTERSECTION, VALUE_BASED, VALUE_ONLY
 }

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/costs/DefaultVehicularPropertyCostEstimator.java

@@ -28,10 +28,13 @@ import java.util.Set;
 
 import de.tudarmstadt.maki.simonstrator.api.component.pubsub.Notification;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.BumpProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.FogProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.HazardProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.JamProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.LocationBasedEnvironmentProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RainProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.TrafficSignProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.EnvironmentInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.RoadInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetwork;
@@ -52,12 +55,16 @@ public class DefaultVehicularPropertyCostEstimator implements VehicularPropertyC
 	public double calculateCostsIfKnown(Class<? extends RoadProperty> pProperty) {
 		if (pProperty.equals(JamProperty.class)) {
 			return 5 * Math.pow(10, 2);
-		} else if (pProperty.equals(BumpProperty.class)) {
-			return 0;
+		} else if (pProperty.equals(RainProperty.class)) {
+			return 1;
+		} else if (pProperty.equals(FogProperty.class)) {
+			return 1;
 		} else if (pProperty.equals(HazardProperty.class)) {
-			return Math.pow(10, 4);
+			return Math.pow(10, 3);
+		} else if (pProperty.equals(TrafficSignProperty.class)) {
+			return 10;
 		}
-		return 0.01;
+		return 10;
 	}
 
 	@Override

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/data/properties/AbstractRoadProperty.java

@@ -91,9 +91,9 @@ public abstract class AbstractRoadProperty implements RoadProperty, AggregatedPr
 	@Override
 	public int hashCode() {
 		if (_location != null) {
-			return _location.hashCode();
+			return _location.hashCode() * 31 + Long.hashCode(getDetectionDate());
 		} else {
-			return _edge.hashCode();
+			return _edge.hashCode() * 31 + Long.hashCode(getDetectionDate());
 		}
 	}
 

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/generator/JamPropertyGenerator.java

@@ -20,6 +20,8 @@
 
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.generator;
 
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.PropertyBenefitEstimatorFactory;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.costs.VehicularPropertyCostEstimator;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.JamProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
@@ -29,7 +31,11 @@ public class JamPropertyGenerator implements RoadPropertyGenerator {
 
 	@Override
 	public RoadProperty generateProperty(Location pLocation, RoadNetworkEdge pEdge) {
-		return new JamProperty(pLocation, pEdge, true, pEdge.getMaxSpeed() * 0.5);
+		double travelTime = (pEdge.getLength() / pEdge.getMaxSpeed());
+		double newTravelTime = ((VehicularPropertyCostEstimator) PropertyBenefitEstimatorFactory
+				.getPropertyBenefitEstimator()).calculateCostsIfKnown(JamProperty.class) + travelTime;
+		double newSpeed = pEdge.getLength() / newTravelTime;
+		return new JamProperty(pLocation, pEdge, true, newSpeed);
 	}
 
 	@Override

src/de/tudarmstadt/maki/simonstrator/api/component/sensor/environment/plugin/JamEnvironmentSensorPlugin.java

@@ -22,8 +22,10 @@
 package de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.plugin;
 
 import java.util.ArrayList;
+import java.util.HashSet;
 import java.util.List;
 import java.util.Random;
+import java.util.Set;
 
 import de.tudarmstadt.maki.simonstrator.api.Host;
 import de.tudarmstadt.maki.simonstrator.api.Randoms;
@@ -51,6 +53,8 @@ public class JamEnvironmentSensorPlugin implements EnvironmentSensorPlugin {
 
 	private double _accuracy;
 
+	private double _range = 200;
+
 	private static Random _random = Randoms.getRandom(JamEnvironmentSensorPlugin.class);
 
 	@XMLConfigurableConstructor({ "accuracy" })
@@ -63,6 +67,10 @@ public class JamEnvironmentSensorPlugin implements EnvironmentSensorPlugin {
 		_host = pHost;
 	}
 
+	public void setRange(double pRange) {
+		_range = pRange;
+	}
+
 	@Override
 	public List<EnvironmentProperty> getEnvironmentProperties() {
 		if (_sis == null) {
@@ -74,22 +82,45 @@ public class JamEnvironmentSensorPlugin implements EnvironmentSensorPlugin {
 		}
 		
 		try {
+			List<RoadNetworkEdge> investigated = new ArrayList<>();
 			RoadNetworkEdge edge = _sis.get().localState(SiSTypes.ROAD_EDGE, SiSRequest.NONE);
+			investigated.add(edge);
+
+			for (int i = 0; i < 2; i++) {
+				Set<RoadNetworkEdge> toBeAdded = new HashSet<>();
+				for (RoadNetworkEdge roadNetworkEdge : investigated) {
+					toBeAdded.add(roadNetworkEdge);
+					toBeAdded.addAll(roadNetworkEdge.getAccessibleEdges());
+					toBeAdded.addAll(roadNetworkEdge.getAccessibleEdges());
+				}
+				investigated = new ArrayList<>(toBeAdded);
+			}
+
 			Location location = _sis.get().localState(SiSTypes.PHY_LOCATION, SiSRequest.NONE);
-			boolean jammed = false;
-			for (RoadProperty roadProperty : edge.getActiveProperties()) {
-				if (roadProperty instanceof JamProperty) {
-					if (((JamProperty) roadProperty).isJammed()) {
-						jammed = true;
+
+			List<EnvironmentProperty> properties = new ArrayList<>();
+			for (RoadNetworkEdge roadNetworkEdge : investigated) {
+				boolean jammed = false;
+				Location eventLocation = null;
+				RoadNetworkEdge eventEdge = null;
+				for (RoadProperty roadProperty : roadNetworkEdge.getActiveProperties()) {
+					if (roadProperty instanceof JamProperty) {
+						if (((JamProperty) roadProperty).isJammed()) {
+							jammed = true;
+						}
+						eventLocation = roadProperty.getLocation();
+						eventEdge = roadProperty.getEdge();
 					}
 				}
+				if (_random.nextDouble() >= _accuracy) {
+					jammed = !jammed;
+				}
+
+				if (eventLocation != null && location.distanceTo(eventLocation) <= _range) {
+					EnvironmentProperty property = new JamProperty(eventLocation, eventEdge, jammed);
+					properties.add(property);
+				}
 			}
-			if (_random.nextDouble() >= _accuracy) {
-				jammed = !jammed;
-			}
-			List<EnvironmentProperty> properties = new ArrayList<>();
-			EnvironmentProperty property = new JamProperty(location, edge, jammed);
-			properties.add(property);
 			return properties;
 		} catch (InformationNotAvailableException e) {
 			throw new AssertionError(SiSTypes.ROAD_EDGE + " and " + SiSTypes.PHY_LOCATION + " are required!");
@@ -103,7 +134,9 @@ public class JamEnvironmentSensorPlugin implements EnvironmentSensorPlugin {
 
 	@Override
 	public JamEnvironmentSensorPlugin clone() throws CloneNotSupportedException {
-		return new JamEnvironmentSensorPlugin(_accuracy);
+		JamEnvironmentSensorPlugin jamEnvironmentSensorPlugin = new JamEnvironmentSensorPlugin(_accuracy);
+		jamEnvironmentSensorPlugin.setRange(_range);
+		return jamEnvironmentSensorPlugin;
 	}
 
 	public void setAccuracy(double pAccuracy) {

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/VehicleDecisionComponent.java

@@ -24,6 +24,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 import de.tudarmstadt.maki.simonstrator.api.component.HostComponent;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.Environment;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.RoadInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.RoadNetworkRoute;
 
@@ -32,6 +33,11 @@ public interface VehicleDecisionComponent extends HostComponent {
 
 	BenefitBasedRoute getOptimalRoute(RoadNetworkRoute pInvestigatedRoute, List<RoadInformation> knownInformation);
 
+	default BenefitBasedRoute getOptimalRoute(RoadNetworkRoute pInvestigatedRoute,
+			List<RoadInformation> knownInformation, Environment pEnvironment) {
+		return getOptimalRoute(pInvestigatedRoute, knownInformation);
+	}
+
 	default BenefitBasedRoute getOptimalRoute(RoadNetworkRoute pInvestigatedRoute, RoadInformation knownInformation) {
 		List<RoadInformation> known = new ArrayList<>();
 		known.add(knownInformation);

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/hybrid/VehicularSender.java

@@ -21,6 +21,7 @@
 package de.tudarmstadt.maki.simonstrator.api.component.vehicular.hybrid;
 
 import de.tudarmstadt.maki.simonstrator.api.component.HostComponent;
+import de.tudarmstadt.maki.simonstrator.api.component.pubsub.attribute.Topic;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.LocationBasedEnvironmentProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.vehicular.information.EnvironmentInformation;
 
@@ -30,4 +31,6 @@ public interface VehicularSender extends HostComponent {
 	boolean sendViaCellular(EnvironmentInformation<? extends LocationBasedEnvironmentProperty> pInformation);
 
 	boolean sendLocally(EnvironmentInformation<? extends LocationBasedEnvironmentProperty> pInformation);
+
+	Topic getLocalTopic();
 }

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/information/RoadInformation.java

@@ -24,6 +24,7 @@ package de.tudarmstadt.maki.simonstrator.api.component.vehicular.information;
 import java.util.List;
 
 import de.tudarmstadt.maki.simonstrator.api.Time;
+import de.tudarmstadt.maki.simonstrator.api.common.Transmitable;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.aggregation.AggregationInformation;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.AggregatedProperty;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.environment.data.properties.RoadProperty;
@@ -35,7 +36,7 @@ import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.Road
  *
  */
 public class RoadInformation extends EnvironmentInformation<RoadProperty>
-		implements VehicularPointInformation<RoadProperty>, AggregatedInformation, Cloneable {
+		implements VehicularPointInformation<RoadProperty>, AggregatedInformation, Cloneable, Transmitable {
 	private boolean _local = false;
 
 	public RoadInformation(RoadProperty pEnvironment) {
@@ -132,7 +133,7 @@ public class RoadInformation extends EnvironmentInformation<RoadProperty>
 
 	@Override
 	public RoadInformation clone() {
-		RoadInformation roadInformation = new RoadInformation(getValue());
+		RoadInformation roadInformation = new RoadInformation(getValue().clone());
 		for (AvailableInformationAttributes attribute : AvailableInformationAttributes.values()) {
 			if (hasAttribute(attribute)) {
 				roadInformation.setAttribute(attribute, getAttribute(attribute));
@@ -141,4 +142,9 @@ public class RoadInformation extends EnvironmentInformation<RoadProperty>
 		roadInformation._local = _local;
 		return roadInformation;
 	}
+
+	@Override
+	public int getTransmissionSize() {
+		return 250;
+	}
 }

src/de/tudarmstadt/maki/simonstrator/api/component/vehicular/roadnetwork/RoadNetworkEdge.java

@@ -108,7 +108,7 @@ public class RoadNetworkEdge {
 			}
 		}
 
-		setMaxSpeed(maxSpeed);
+		changeEdgeMaxSpeed(maxSpeed);
 	}
 
 	/**
@@ -342,11 +342,8 @@ public class RoadNetworkEdge {
 	public double calculateAdditionalCostIfKnown(RoadProperty pProperty) throws AssertionError {
 		double additionalCost = 0;
 
-		if (pProperty != null && pProperty.getValue().equals(false)) {
-			System.out.println();
-		}
-
-		if (pProperty != null && !propertyEquals(pProperty, pProperty.getDefaultProperty())) {
+		if (pProperty != null && pProperty.getDefaultProperty() != null
+				&& !propertyEquals(pProperty, pProperty.getDefaultProperty())) {
 			if (pProperty.getEdge().equals(this)) {
 				PropertyBenefitEstimator benefitEstimator = PropertyBenefitEstimatorFactory
 						.getPropertyBenefitEstimator();