feat(routing): use graphhopper to provide GTFS based public transport…

… routing (#441)

* refactor(routing): use opencsv instead of javacsv for CSV parsing from GTFS
* clean(routing): exclude unused transient libraries
* clean(routing): resolve several checkstyle problems
* clean(routing): define default navigationConfiguration
* fix(routing): fix handling of empty lines
* clean(routing): use SpeedUtils for kmh conversion
* rename Routing to VehicleRouting
* clean(routing): added note to not forget redesigning MultiModalLeg

NOTICE-THIRD-PARTY.md

@@ -101,6 +101,14 @@ GraphHopper Core (8.0)
  * Source: https://github.com/graphhopper/graphhopper/graphhopper-core
 
 
+GraphHopper Reader for Gtfs Data (8.0)
+
+ * License: Apache-2.0
+ * Maven artifact: `com.graphhopper:graphhopper-reader-gtfs:8.0`
+ * Project: https://www.graphhopper.com/graphhopper-reader-gtfs
+ * Source: https://github.com/graphhopper/graphhopper/graphhopper-reader-gtfs
+
+
 GraphHopper Web API (8.0)
 
  * License: Apache-2.0
@@ -117,6 +125,14 @@ Gson (2.10.1)
  * Source: https://github.com/google/gson/gson/
 
 
+gtfs-realtime-bindings (0.0.5)
+
+ * License: Apache-2.0
+ * Maven artifact: `io.mobilitydata.transit:gtfs-realtime-bindings:0.0.5`
+ * Project: https://github.com/MobilityData/gtfs-realtime-bindings
+ * Source: https://github.com/MobilityData/gtfs-realtime-bindings
+
+
 Guava: Google Core Libraries for Java (32.1.1-jre)
 
  * License: Apache-2.0
@@ -221,6 +237,22 @@ Logback Core Module (1.5.0)
  * Source: https://github.com/qos-ch/logback/logback-core
 
 
+mapdb (1.0.8)
+
+ * License: Apache-2.0
+ * Maven artifact: `org.mapdb:mapdb:1.0.8`
+ * Project: http://www.mapdb.org
+ * Source: https://github.com/jankotek/MapDB
+
+
+opencsv (5.9)
+
+ * License: Apache-2.0
+ * Maven artifact: `com.opencsv:opencsv:5.9`
+ * Project: http://opencsv.sf.net
+ * Source: https://sourceforge.net/p/opencsv/source/ci/master/tree/
+
+
 org.locationtech.jts:jts-core (1.19.0)
 
  * License: BSD-3-Clause (Eclipse Distribution License), Eclipse Public License, Version 2.0

bundle/src/assembly/mosaic-bundle.xml

@@ -151,6 +151,13 @@
                 <include>org.locationtech.jts:jts-core</include>
                 <!-- [END] GraphHopper dependencies -->
 
+                <!-- [START] GraphHopper PT routing dependencies -->
+                <include>com.graphhopper:graphhopper-reader-gtfs</include>
+                <include>io.mobilitydata.transit:gtfs-realtime-bindings</include>
+                <include>org.mapdb:mapdb</include>
+                <include>com.opencsv:opencsv</include>
+                <!-- [END] GraphHopper PT routing dependencies -->
+
                 <include>com.github.mwiede:jsch</include>
                 <include>com.google.protobuf:protobuf-java</include>
                 <include>org.xerial:sqlite-jdbc</include>

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

@@ -143,7 +143,8 @@ public ApplicationAmbassador(AmbassadorParameter ambassadorParameter) {
             // set the CNC (central navigation component)
             CentralNavigationComponent cnc = new CentralNavigationComponent(
                     ambassadorParameter,
-                    ambassadorConfig.navigationConfiguration
+                    Validate.notNull(ambassadorConfig.navigationConfiguration, "Field navigationConfiguration must not be null."),
+                    Validate.notNull(ambassadorConfig.publicTransportConfiguration, "Field publicTransportConfiguration must not be null.")
             );
             SimulationKernel.SimulationKernel.setCentralNavigationComponent(cnc);
         }
@@ -228,6 +229,7 @@ public void initialize(final long startTime, final long endTime) throws Internal
 
     private void shutdownSimulationUnits(Event event) {
         SimulationKernel.SimulationKernel.setCurrentSimulationTime(event.getTime());
+        SimulationKernel.SimulationKernel.getCentralNavigationComponent().close();
 
         log.debug("remaining events: {}", eventScheduler.getAllEvents());
         UnitSimulator.UnitSimulator.removeAllSimulationUnits();

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

@@ -32,14 +32,18 @@
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleRoute;
 import org.eclipse.mosaic.lib.routing.CandidateRoute;
 import org.eclipse.mosaic.lib.routing.IllegalRouteException;
-import org.eclipse.mosaic.lib.routing.Routing;
 import org.eclipse.mosaic.lib.routing.RoutingCostFunction;
 import org.eclipse.mosaic.lib.routing.RoutingParameters;
 import org.eclipse.mosaic.lib.routing.RoutingPosition;
 import org.eclipse.mosaic.lib.routing.RoutingRequest;
 import org.eclipse.mosaic.lib.routing.RoutingResponse;
+import org.eclipse.mosaic.lib.routing.VehicleRouting;
+import org.eclipse.mosaic.lib.routing.config.CPublicTransportRouting;
 import org.eclipse.mosaic.lib.routing.database.DatabaseRouting;
 import org.eclipse.mosaic.lib.routing.norouting.NoRouting;
+import org.eclipse.mosaic.lib.routing.pt.PtRouting;
+import org.eclipse.mosaic.lib.routing.pt.PtRoutingRequest;
+import org.eclipse.mosaic.lib.routing.pt.PtRoutingResponse;
 import org.eclipse.mosaic.rti.api.IllegalValueException;
 import org.eclipse.mosaic.rti.api.Interaction;
 import org.eclipse.mosaic.rti.api.InternalFederateException;
@@ -55,6 +59,7 @@
 import java.util.List;
 import java.util.Map;
 import java.util.function.Predicate;
+import javax.annotation.Nonnull;
 
 /**
  * The {@link CentralNavigationComponent} unites functionality concerned with
@@ -81,13 +86,24 @@ public class CentralNavigationComponent {
     /**
      * The IRoutingApi.
      */
-    private Routing routing;
+    private VehicleRouting vehicleRouting;
+
+
+    /**
+     * Access to Public Transport routing.
+     */
+    private PtRouting ptRouting;
 
     /**
      * The configuration for routingAPI.
      */
     private CApplicationAmbassador.CRoutingByType configuration;
 
+    /**
+     * The configuration for public transport routing.
+     */
+    private CPublicTransportRouting ptConfiguration;
+
     /**
      * Constructor for the CentralNavigationComponent.
      * Sets the logger and the configuration for navigation.
@@ -99,20 +115,22 @@ public class CentralNavigationComponent {
      */
     public CentralNavigationComponent(
             final AmbassadorParameter ambassadorParameter,
-            CApplicationAmbassador.CRoutingByType navigationConfiguration
+            @Nonnull CApplicationAmbassador.CRoutingByType navigationConfiguration,
+            @Nonnull CPublicTransportRouting publicTransportConfiguration
     ) {
         this.applicationAmbassadorParameter = ambassadorParameter;
         this.configuration = navigationConfiguration;
+        this.ptConfiguration = publicTransportConfiguration;
     }
 
     /**
      * This method initializes the {@link CentralNavigationComponent}. It is called
      * by the {@link ApplicationAmbassador}.
-     * The {@link #routing} will be created and initialized and other simulators will be informed
+     * The {@link #vehicleRouting} will be created and initialized and other simulators will be informed
      * using a {@link VehicleRoutesInitialization} interaction.
      *
      * @param rtiAmbassador the ambassador of the run time infrastructure
-     * @throws InternalFederateException if the {@link #routing} couldn't be initialized or the
+     * @throws InternalFederateException if the {@link #vehicleRouting} couldn't be initialized or the
      *                                   {@link VehicleRoutesInitialization} interaction couldn't be send to the rti
      */
     public void initialize(RtiAmbassador rtiAmbassador) throws InternalFederateException {
@@ -121,14 +139,17 @@ public void initialize(RtiAmbassador rtiAmbassador) throws InternalFederateExcep
         try {
             this.log.info("Initializing CNC-Navigation");
 
-            routing = createFromType(this.configuration != null ? this.configuration.type : null);
-            routing.initialize(configuration, applicationAmbassadorParameter.configuration.getParentFile());
+            vehicleRouting = createFromType(configuration.type);
+            vehicleRouting.initialize(configuration, applicationAmbassadorParameter.configuration.getParentFile());
+
+            ptRouting = new PtRouting();
+            ptRouting.initialize(ptConfiguration, applicationAmbassadorParameter.configuration.getParentFile());
 
             this.log.info("CNC - Navigation-System initialized");
 
             try {
-                final Map<String, VehicleRoute> routeMap = routing.getRoutesFromDatabaseForMessage();
-                for (var routeEntry: routeMap.entrySet()) {
+                final Map<String, VehicleRoute> routeMap = vehicleRouting.getRoutesFromDatabaseForMessage();
+                for (var routeEntry : routeMap.entrySet()) {
                     SimulationKernel.SimulationKernel.registerRoute(routeEntry.getKey(), routeEntry.getValue());
                 }
 
@@ -147,6 +168,12 @@ public void initialize(RtiAmbassador rtiAmbassador) throws InternalFederateExcep
         }
     }
 
+    public void close() {
+        if (ptRouting != null) {
+            ptRouting.close();
+        }
+    }
+
     /**
      * Returns an unmodifiable view of all routes known to the {@link SimulationKernel}.
      *
@@ -156,15 +183,15 @@ public Map<String, VehicleRoute> getAllRoutes() {
         return SimulationKernel.SimulationKernel.getRoutes();
     }
 
-    Routing createFromType(String type) throws InternalFederateException {
+    VehicleRouting createFromType(String type) throws InternalFederateException {
         if (type == null || "database".equalsIgnoreCase(type) || "graphhopper".equalsIgnoreCase(type)) {
             return new DatabaseRouting();
         } else if ("no-routing".equalsIgnoreCase(type)) {
             return new NoRouting();
         } else {
             try {
                 Class<?> routingImplClass = Class.forName(type);
-                return (Routing) routingImplClass.getConstructor().newInstance();
+                return (VehicleRouting) routingImplClass.getConstructor().newInstance();
             } catch (Exception e) {
                 String msg = "Could not create Routing instance from type '" + type + "'.";
                 InternalFederateException ex = new InternalFederateException(msg, e);
@@ -183,7 +210,7 @@ Routing createFromType(String type) throws InternalFederateException {
      *                       for.
      */
     RoutingResponse findRoutes(RoutingRequest routingRequest) {
-        return routing.findRoutes(routingRequest);
+        return vehicleRouting.findRoutes(routingRequest);
     }
 
     /**
@@ -220,7 +247,7 @@ public VehicleRoute switchRoute(VehicleData vehicleData, CandidateRoute rawRoute
                 return requestStaticRouteChange(vehicleData, knownRoute, currentRoute, time);
             } else {
                 // generate a new route
-                VehicleRoute route = routing.createRouteForRTI(rawRoute);
+                VehicleRoute route = vehicleRouting.createRouteForRTI(rawRoute);
 
                 // propagate the new route
                 try {
@@ -268,7 +295,7 @@ private VehicleRoute requestStaticRouteChange(VehicleData vehicleData, VehicleRo
     GeoPoint getTargetPositionOfRoute(String routeId) {
         if (getAllRoutes().containsKey(routeId)) {
             String lastConnectionId = Iterables.getLast(getAllRoutes().get(routeId).getConnectionIds(), null);
-            return routing.getConnection(lastConnectionId).getEndNode().getPosition();
+            return vehicleRouting.getConnection(lastConnectionId).getEndNode().getPosition();
         } else {
             return null;
         }
@@ -283,19 +310,30 @@ GeoPoint getTargetPositionOfRoute(String routeId) {
     public GeoPoint getSourcePositionOfRoute(String routeId) {
         if (getAllRoutes().containsKey(routeId)) {
             String firstConnectionId = Iterables.getFirst(getAllRoutes().get(routeId).getConnectionIds(), null);
-            return routing.getConnection(firstConnectionId).getStartNode().getPosition();
+            return vehicleRouting.getConnection(firstConnectionId).getStartNode().getPosition();
         } else {
             return null;
         }
     }
 
+    /**
+     * Find a public transport route from a provided position to a provided target position at a specific request time.
+     *
+     * @param routingRequest A {@link PtRoutingRequest} that contains
+     *                       the origin, the end, the request time, and additional
+     *                       routing parameters to calculate the public transport route.
+     */
+    PtRoutingResponse findPtRoute(PtRoutingRequest routingRequest) {
+        return ptRouting.findPtRoute(routingRequest);
+    }
+
     /**
      * Provides the current routing API implementation.
      *
-     * @return The {@link Routing}.
+     * @return The {@link VehicleRouting}.
      */
-    public Routing getRouting() {
-        return routing;
+    public VehicleRouting getRouting() {
+        return vehicleRouting;
     }
 
     /**
@@ -305,7 +343,7 @@ public Routing getRouting() {
      * @return A {@link GeoPoint} representing the position of the node.
      */
     private GeoPoint getPositionOfNode(String nodeId) {
-        return routing.getNode(nodeId).getPosition();
+        return vehicleRouting.getNode(nodeId).getPosition();
     }
 
     /**
@@ -315,7 +353,7 @@ private GeoPoint getPositionOfNode(String nodeId) {
      * @return the length of the connection in [m]
      */
     double getLengthOfConnection(String connectionId) {
-        return routing.getConnection(connectionId).getLength();
+        return vehicleRouting.getConnection(connectionId).getLength();
     }
 
     /**
@@ -386,7 +424,7 @@ public VehicleDeparture createRouteForOdInfo(long time, OriginDestinationPair od
             final RoutingRequest request = new RoutingRequest(new RoutingPosition(sourcePoint), new RoutingPosition(targetPoint), params);
 
             // find route
-            final RoutingResponse response = routing.findRoutes(request);
+            final RoutingResponse response = vehicleRouting.findRoutes(request);
             // check if best route, matches one of the existing routes and if so choose that existing route
             if (response.getBestRoute() != null) {
                 VehicleRoute route = null;
@@ -398,7 +436,7 @@ public VehicleDeparture createRouteForOdInfo(long time, OriginDestinationPair od
                 }
                 if (route == null) {
                     try {
-                        route = routing.createRouteForRTI(response.getBestRoute());
+                        route = vehicleRouting.createRouteForRTI(response.getBestRoute());
                         propagateRoute(route, time);
                     } catch (IllegalRouteException e) {
                         log.error("[CNC.createRouteForODInfo]: Could not create route.", e);
@@ -428,7 +466,7 @@ private GeoPoint chooseGeoPointInCircle(GeoCircle origin) {
 
     /**
      * This method refines the road position depending on the
-     * implementation of the {@link Routing} interface this can have
+     * implementation of the {@link VehicleRouting} interface this can have
      * different levels of complexity.
      *
      * @param roadPosition the {@link IRoadPosition} to be refined
@@ -438,7 +476,7 @@ public IRoadPosition refineRoadPosition(IRoadPosition roadPosition) {
         if (roadPosition == null) {
             return null;
         }
-        return routing.refineRoadPosition(roadPosition);
+        return vehicleRouting.refineRoadPosition(roadPosition);
     }
 
     /**
@@ -500,7 +538,7 @@ INode getNextNodeOnRoute(String routeId, IRoadPosition roadPosition, Predicate<I
 
         List<String> nodeList = currentRoute.getNodeIds().subList(indexOfUpcomingNode, currentRoute.getNodeIds().size());
         for (String nodeId : nodeList) {
-            INode node = routing.getNode(nodeId);
+            INode node = vehicleRouting.getNode(nodeId);
             if (nodeCondition.test(node)) {
                 return node;
             }
@@ -520,7 +558,7 @@ INode getNextNodeOnRoute(String routeId, IRoadPosition roadPosition, Predicate<I
     public Collection<CandidateRoute> approximateCosts(Collection<CandidateRoute> candidateRoutes, String lastNodeId) {
         List<CandidateRoute> routesWithCosts = new ArrayList<>();
         for (CandidateRoute candidateRoute : candidateRoutes) {
-            routesWithCosts.add(routing.approximateCostsForCandidateRoute(candidateRoute, lastNodeId));
+            routesWithCosts.add(vehicleRouting.approximateCostsForCandidateRoute(candidateRoute, lastNodeId));
         }
         return routesWithCosts;
     }

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

@@ -24,7 +24,7 @@
 import org.eclipse.mosaic.lib.geo.CartesianRectangle;
 import org.eclipse.mosaic.lib.objects.trafficlight.TrafficLightGroup;
 import org.eclipse.mosaic.lib.objects.vehicle.VehicleType;
-import org.eclipse.mosaic.lib.routing.Routing;
+import org.eclipse.mosaic.lib.routing.VehicleRouting;
 import org.eclipse.mosaic.lib.routing.database.DatabaseRouting;
 import org.eclipse.mosaic.rti.api.InternalFederateException;
 
@@ -83,7 +83,7 @@ public CentralPerceptionComponent(CPerception perceptionConfiguration) {
      */
     public void initialize() throws InternalFederateException {
         try {
-            Routing routing = SimulationKernel.SimulationKernel.getCentralNavigationComponent().getRouting();
+            VehicleRouting routing = SimulationKernel.SimulationKernel.getCentralNavigationComponent().getRouting();
             // evaluate bounding box for perception
             scenarioBounds = configuration.perceptionArea == null
                     ? routing.getScenarioBounds() : configuration.perceptionArea.toCartesian();