feat(charging): provide the charging stations within a certain area

.gitignore

@@ -65,4 +65,4 @@ buildNumber.properties
 *.log
 credentials.cached
 *.lcs
-.tiles
+.tiles

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

@@ -20,6 +20,7 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.TrafficLightGroupUnit;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.TrafficManagementCenterUnit;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.communication.ReceivedV2xMessage;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.electric.providers.ChargingStationIndex;
 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.perception.DefaultLidarSensorModule;
@@ -55,6 +56,7 @@
 import org.eclipse.mosaic.interactions.traffic.VehicleUpdates;
 import org.eclipse.mosaic.interactions.trafficsigns.VehicleSeenTrafficSignsUpdate;
 import org.eclipse.mosaic.interactions.vehicle.VehicleRouteRegistration;
+import org.eclipse.mosaic.lib.geo.GeoPoint;
 import org.eclipse.mosaic.lib.objects.electricity.ChargingStationData;
 import org.eclipse.mosaic.lib.objects.environment.EnvironmentEvent;
 import org.eclipse.mosaic.lib.objects.traffic.InductionLoopInfo;
@@ -158,6 +160,12 @@ public ApplicationAmbassador(AmbassadorParameter ambassadorParameter) {
             SimulationKernel.SimulationKernel.setCentralPerceptionComponent(centralPerceptionComponent);
         }
 
+        if (SimulationKernel.SimulationKernel.chargingStationIndex == null) {
+            // use same bucketsize as TrafficLightTree (see: CPercetion.java) (bucketsize := number of direct children per tree node)
+            ChargingStationIndex chargingStationIndex = new ChargingStationIndex();
+            SimulationKernel.SimulationKernel.setChargingStationIndex(chargingStationIndex);
+        }
+
         // add all application jar files
         addJarFiles();
     }
@@ -368,6 +376,9 @@ private void process(final ServerRegistration serverRegistration) {
 
     private void process(final ChargingStationRegistration chargingStationRegistration) {
         UnitSimulator.UnitSimulator.registerChargingStation(chargingStationRegistration);
+        String id = chargingStationRegistration.getMapping().getName();
+        GeoPoint position = chargingStationRegistration.getMapping().getPosition();
+        SimulationKernel.SimulationKernel.getChargingStationIndex().addChargingStation(id, position);
     }
 
     private void process(final TrafficLightRegistration trafficLightRegistration) {
@@ -449,6 +460,8 @@ private void process(final ChargingStationUpdate chargingStationUpdate) {
         final AbstractSimulationUnit simulationUnit =
                 UnitSimulator.UnitSimulator.getUnitFromId(chargingStationData.getName());
 
+        SimulationKernel.SimulationKernel.getChargingStationIndex().updateChargingStation(chargingStationData);
+
         if (simulationUnit == null) {
             return;
         }

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

@@ -47,6 +47,9 @@ public enum ErrorRegister {
     SIMULATION_KERNEL_CentralNavigationComponentAlreadySet(0x01000029, "The CentralNavigationComponent was already set."),
     SIMULATION_KERNEL_CentralPerceptionComponentNotSet(0x01000200, "The CentralPerceptionComponent was not set."),
     SIMULATION_KERNEL_CentralPerceptionComponentAlreadySet(0x01000201, "The CentralPerceptionComponent was already set."),
+    SIMULATION_KERNEL_ChargingStationIndexAlreadySet(0x01000202, "The ChargingStationIndex was already set"),
+    SIMULATION_KERNEL_ChargingStationIndexNotSet(0x01000203, "The ChargingStationIndex was not set"),
+
     // 0x01000030 to 0x0100003F unit simulator
     UNIT_SIMULATOR_IdAlreadyAssigned(0x01000030, "The id is already assigned."),
     UNIT_SIMULATOR_IdFromUnitIsNotInMap(0x01000031, "The unit with the id couldn't be found."),

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

@@ -16,6 +16,7 @@
 package org.eclipse.mosaic.fed.application.ambassador;
 
 import org.eclipse.mosaic.fed.application.ambassador.simulation.AbstractSimulationUnit;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.electric.providers.ChargingStationIndex;
 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.perception.EnvironmentBasicSensorModule;
@@ -94,6 +95,8 @@ public enum SimulationKernel {
      */
     transient CentralPerceptionComponent centralPerceptionComponent;
 
+    transient ChargingStationIndex chargingStationIndex;
+
     /**
      * Map containing all the routes with the corresponding edge-id's.
      */
@@ -259,6 +262,22 @@ public void setCentralPerceptionComponent(CentralPerceptionComponent centralPerc
         this.centralPerceptionComponent = centralPerceptionComponent;
     }
 
+    public void setChargingStationIndex(ChargingStationIndex chargingStationIndex) {
+        if (this.chargingStationIndex != null) {
+            throw new RuntimeException(ErrorRegister.SIMULATION_KERNEL_ChargingStationIndexAlreadySet.toString());
+        }
+
+        this.chargingStationIndex = chargingStationIndex;
+    }
+
+    public ChargingStationIndex getChargingStationIndex() {
+        if (this.chargingStationIndex == null) {
+            throw new RuntimeException(ErrorRegister.SIMULATION_KERNEL_ChargingStationIndexNotSet.toString());
+        }
+
+        return this.chargingStationIndex;
+    }
+
     public CentralPerceptionComponent getCentralPerceptionComponent() {
         if (centralPerceptionComponent == null) {
             throw new RuntimeException(ErrorRegister.SIMULATION_KERNEL_CentralPerceptionComponentNotSet.toString());

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

@@ -16,15 +16,21 @@
 package org.eclipse.mosaic.fed.application.ambassador.simulation;
 
 import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.electric.objects.ChargingStationObject;
 import org.eclipse.mosaic.fed.application.app.api.ElectricVehicleApplication;
 import org.eclipse.mosaic.fed.application.app.api.os.ElectricVehicleOperatingSystem;
 import org.eclipse.mosaic.interactions.electricity.VehicleChargingDenial;
 import org.eclipse.mosaic.interactions.electricity.VehicleChargingStartRequest;
 import org.eclipse.mosaic.interactions.electricity.VehicleChargingStopRequest;
+import org.eclipse.mosaic.lib.geo.GeoCircle;
 import org.eclipse.mosaic.lib.geo.GeoPoint;
+import org.eclipse.mosaic.lib.objects.electricity.ChargingStationData;
 import org.eclipse.mosaic.lib.objects.vehicle.BatteryData;
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleType;
 
+import java.util.List;
+import java.util.stream.Collectors;
+
 /**
  * This class represents an electric vehicle in the application simulator. It extends {@link VehicleUnit}
  * with further functionality.
@@ -103,4 +109,10 @@ public void sendChargingStopRequest() {
         );
         sendInteractionToRti(vehicleChargingStopRequest);
     }
+
+    public List<ChargingStationData> getChargingStationsInArea(GeoCircle searchArea) {
+        return SimulationKernel.SimulationKernel.getChargingStationIndex().getChargingStationsInCircle(searchArea)
+                .stream().map(ChargingStationObject::getChargingStationData)
+                .toList();
+    }
 }

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/electric/objects/ChargingStationObject.java

@@ -0,0 +1,106 @@
+/*
+ * Copyright (c) 2025 Fraunhofer FOKUS and others. All rights reserved.
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information regarding copyright ownership.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *
+ * Contact: [email protected]
+ */
+
+package org.eclipse.mosaic.fed.application.ambassador.simulation.electric.objects;
+
+import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.PointBoundingBox;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.SpatialObject;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.SpatialObjectBoundingBox;
+import org.eclipse.mosaic.lib.geo.CartesianPoint;
+import org.eclipse.mosaic.lib.objects.electricity.ChargingStationData;
+
+import org.apache.commons.lang3.builder.EqualsBuilder;
+import org.apache.commons.lang3.builder.HashCodeBuilder;
+
+public class ChargingStationObject extends SpatialObject<ChargingStationObject> {
+    /**
+     * The data object that stores all static and dynamic information of the charging station.
+     */
+    private ChargingStationData chargingStationData;
+
+    /**
+     * The bounding box of a charging station is represented by a single point.
+     */
+    private transient PointBoundingBox boundingBox;
+
+    public ChargingStationObject(String id) {
+        super(id);
+    }
+
+    public ChargingStationObject setChargingStationData(ChargingStationData chargingStationData) {
+        this.chargingStationData = chargingStationData;
+        return this;
+    }
+
+    public ChargingStationData getChargingStationData() {
+        return chargingStationData;
+    }
+
+    @Override
+    public ChargingStationObject setPosition(CartesianPoint position) {
+        cartesianPosition.set(position);
+        position.toVector3d(this);
+        return this;
+    }
+
+    @Override
+    public SpatialObjectBoundingBox getBoundingBox() {
+        if (boundingBox == null) {
+            boundingBox = new PointBoundingBox(this);
+        }
+        return boundingBox;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) {
+            return true;
+        }
+
+        if (o == null || getClass() != o.getClass()) {
+            return false;
+        }
+
+        ChargingStationObject that = (ChargingStationObject) o;
+
+        return new EqualsBuilder()
+                .appendSuper(super.equals(o))
+                .append(chargingStationData, that.chargingStationData)
+                .append(boundingBox, that.boundingBox)
+                .isEquals();
+    }
+
+    @Override
+    public int hashCode() {
+        return new HashCodeBuilder(5, 11)
+                .appendSuper(super.hashCode())
+                .append(chargingStationData)
+                .toHashCode();
+    }
+
+    /**
+     * Returns a hard copy of the {@link ChargingStationObject}, this should be used
+     * when the data of a perceived traffic light is to be altered or stored in memory.
+     *
+     * @return a copy of the {@link ChargingStationObject}
+     */
+    @Override
+    public ChargingStationObject copy() {
+        return new ChargingStationObject(getId())
+                .setChargingStationData(chargingStationData)
+                .setPosition(getProjectedPosition());
+
+    }
+}

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/electric/providers/ChargingStationIndex.java

@@ -0,0 +1,106 @@
+/*
+ * Copyright (c) 2025 Fraunhofer FOKUS and others. All rights reserved.
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information regarding copyright ownership.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *
+ * Contact: [email protected]
+ */
+
+package org.eclipse.mosaic.fed.application.ambassador.simulation.electric.providers;
+
+import org.eclipse.mosaic.fed.application.ambassador.simulation.electric.objects.ChargingStationObject;
+import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.SpatialObjectAdapter;
+import org.eclipse.mosaic.lib.geo.GeoCircle;
+import org.eclipse.mosaic.lib.geo.GeoPoint;
+import org.eclipse.mosaic.lib.objects.electricity.ChargingStationData;
+import org.eclipse.mosaic.lib.spatial.KdTree;
+import org.eclipse.mosaic.lib.spatial.SpatialTreeTraverser;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * A {@link ChargingStationIndex} holds Charging Stations in a tree structure, sorted by their position.
+ * The tree is initialized and gets updated lazily when a search is performed.
+ */
+  public class ChargingStationIndex {
+    private final int bucketSize;
+
+    /**
+     * Stores {@link ChargingStationObject}s for fast removal and position update.
+     */
+    final Map<String, ChargingStationObject> indexedChargingStations = new HashMap<>();
+
+    private KdTree<ChargingStationObject> chargingStationTree;
+
+    private SpatialTreeTraverser.InRadius<ChargingStationObject> treeTraverser;
+
+    private boolean needsTreeUpdate = false;
+
+    public ChargingStationIndex(int bucketSize) {
+        this.bucketSize = bucketSize;
+    }
+
+    /**
+     * Inits a {@link ChargingStationIndex} with default bucket size of 20.
+     * Bucket size describes the item capacity of one tree node.
+     */
+    public ChargingStationIndex() {
+        this.bucketSize = 20;
+    }
+
+    /**
+     * Adds a Charging Station to the tree.
+     * Be sure to add {@link ChargingStationData} using updateChargingStation(ChargingStationData chargingStationData).
+     *
+     * The CS is inserted into the tree when it is queried (e.g. getChargingStationsInCircle(...) or getNumberOfChargingStations(...))
+     * @param id
+     * @param position
+     */
+    public void addChargingStation(String id, GeoPoint position) {
+        needsTreeUpdate = true;
+        indexedChargingStations.computeIfAbsent(id, ChargingStationObject::new)
+                .setPosition(position.toCartesian());
+    }
+
+    /**
+     * Replaces the stations data object.
+     */
+    public void updateChargingStation(ChargingStationData chargingStationData) {
+        indexedChargingStations.get(chargingStationData.getName())
+                .setChargingStationData(chargingStationData);
+    }
+
+    private void updateSearchTree() {
+        if (!needsTreeUpdate) {
+            return;
+        }
+
+        List<ChargingStationObject> allChargingStations = new ArrayList<>(indexedChargingStations.values());
+        chargingStationTree = new KdTree<>(new SpatialObjectAdapter<>(), allChargingStations, bucketSize);
+        treeTraverser = new SpatialTreeTraverser.InRadius<>();
+        needsTreeUpdate = false;
+    }
+
+    public List<ChargingStationObject> getChargingStationsInCircle(GeoCircle circle) {
+        updateSearchTree();
+        treeTraverser.setup(circle.getCenter().toVector3d(), circle.getRadius());
+        treeTraverser.traverse(chargingStationTree);
+        return treeTraverser.getResult();
+    }
+
+    public int getNumberOfChargingStations() {
+        updateSearchTree();
+        return chargingStationTree.getRoot().size();
+    }
+
+}

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/app/api/os/ElectricVehicleOperatingSystem.java

@@ -15,8 +15,11 @@
 
 package org.eclipse.mosaic.fed.application.app.api.os;
 
+import org.eclipse.mosaic.lib.geo.GeoCircle;
+import org.eclipse.mosaic.lib.objects.electricity.ChargingStationData;
 import org.eclipse.mosaic.lib.objects.vehicle.BatteryData;
 
+import java.util.List;
 import javax.annotation.Nullable;
 
 /**
@@ -45,4 +48,11 @@ public interface ElectricVehicleOperatingSystem extends VehicleOperatingSystem {
      * Sends a request to stop charging the battery of the vehicle.
      */
     void sendChargingStopRequest();
+
+    /**
+     * Locate all charging stations in the provided area.
+     *
+     * @param searchArea The area where the charging stations are searched
+     */
+    List<ChargingStationData> getChargingStationsInArea(GeoCircle searchArea);
 }