[add] multiple commits merged

# Conflicts:
#	docs/wiki/config/config.yml
#	src/main/scala/scim/Main.scala
#	src/main/scala/scim/archive/Elements.scala
#	src/main/scala/scim/archive/GroundTruth.scala
#	src/main/scala/scim/datastruct/Configuration.scala
#	src/main/scala/scim/lib/Concurrency.scala

docs/wiki/config/config.md

@@ -3,7 +3,7 @@
 ## Simulation
 
 * `duration`:`int` - number of simulation ticks, after which everything will be reset to the initial configuration
-* `tickfactor`:`int` - used to artificially add ticks by repeating the result of a simulation tick by the given value
+* `tickfactor`:`int` - used to artificially add ticks by repeating the calculation of a simulation tick by the given value
 * `loop`:`bool` - loop the simulation
 * `loopcount`:`int` - amount of loops, `0` for infinite
 
@@ -59,7 +59,7 @@ Elements:
       * `end`:`int` _[optional]_ - last simulation tick before this function is inactive  
       Alternative condensed of `timeline` notation as `array`: `[start, end]`
       Alternative condensed of `value` notation as `array`: `[start, value or None, ...]`
-* `delta`:`array` _[optional]_ - function to calculate `value` of the next simulation tick, only called if no value is defined for the next tick. Result is saved as new `value` and passed again to the function for the next tick. If no function is given, the `value` remains
+* `delta`:`array` _[optional]_ - function to calculate `value` of the next simulation tick, overwrites any existing value. Result is saved as new `value` and passed again to the function for the next tick. If no function is given, the `value` remains
   * `name`:`String` - name of the function. Needs to exist at compile time in a map: `["name" -> (value: double, parentValue: double, args: ...) => double]`
   * `args`:`array` - arguments passed to the function in addition to the `value`
   * `timeline`:`array` - sets simulation tick when this function is active and turns inactive.

docs/wiki/config/config.yml

@@ -1,8 +1,14 @@
 simulation:
   duration: 500
   tickfactor: 10
-  loop: true
+  runs: 20
-  loopcount: 20
+  parCell: 0
+  parCellThreads: 5
+  parGroup: 0
+  parGroupThreads: 5
+  parSensor: 0
+  parSensorThreads: 5
+
 
 sensors:
   - group: temperature
@@ -16,27 +22,27 @@ sensors:
         end: [3, 3]
         count: 30
 
-groundtruth:
+  - group: faultyTemp
+    parent: temperature
+    cells:
+      - [1, 2, 10]
+
+groundtruths:
   - group: temperature
     truth:
-      - value: 11
+      - value: 11.0
         timeline:
           - start: 0
             end: 120
           - [240, 360]
     delta:
       - name: factor
-        args:
+        args: {factor: 1.1}
-          - 1.1
         timeline:
-          - start: 60
+          - start: 20
-            end: 120
+            end: 95
-    cells:
+      - [170, randomValue, {arg: true}]
-      - [0, 2, 10]
+
-    blocks:
-      - start: [8, 1]
-        end: [3, 3]
-        count: 50
   - group: humidity
     parent: temperature
     truth:
@@ -44,27 +50,18 @@ groundtruth:
       - [30, 0.6]
       - [50, None]
     delta:
-      - [10, None, []]
+      - [10, None]
-      - [30, addValuePercent, [0.03, 0.8]]
+      - [30, addValuePercent, {jitterA: 0.03, jitterB: 0.8}]
-      - [50, humidFromTemp, []]
+      - [50, humidFromTemp]
-    blocks:
-      - start: [15, 15]
-        end: [17, 17]
-        percent: 0.8
 
-behaviour:
+behaviours:
   - group: temperature
     sharedObject: objectTemp
     functions:
       - name: randomValue
-        args:
+        args: {a: 40, b: 80}
-          - 40
+        timeline:
-          - 80
+          - start: 44
-        duration:
+            end: 166
-          - start: 60
+      - [100, normalValue, {v: 2}]
-      - [100, normalValue, [2]]
+      - [120, addValuePercent, {}]
-      - [120, None, []]
-    blocks:
-      - start: [5,6]
-        end: [8,9]
-        percent: 1.0

src/main/scala/scim/Library.scala

@@ -4,6 +4,7 @@ package lib
 // java imports
 import java.io.{File, FileInputStream}
 
+
 // scala imports
 import scala.collection.convert.wrapAll._
 import scala.collection.mutable
@@ -13,13 +14,13 @@ import scala.collection.JavaConverters._
 import org.yaml.snakeyaml.Yaml
 
 package object printUtil {
-  def indentCollection(s: String) : String = {
+  def indentCollection(s: String): String = {
     var indent = 0
     var skip = false
     var bracket = false
     var output = ""
 
-    def closureIndentCollection(c: Char) : Unit = {
+    def closureIndentCollection(c: Char): Unit = {
       if(c == '(') {
         indent += 1
         output += "(\n" + "\t" * indent
@@ -44,8 +45,39 @@ package object printUtil {
   }
 }
 
+package object evalUtil {
+  def time[A](name: String, f: => A): A = {
+    val t0 = System.nanoTime()
+    val result = f
+    val t1 = System.nanoTime()
+    println(name + " Elapsed time: " + (t1 - t0) + "ns")
+    result
+  }
+}
+
+package object debugUtil {
+  sealed case class DebugType(name: String, level: Int)
+
+  object DebugType {
+    object ERROR extends DebugType("ERROR", 0)
+    object WARNING extends DebugType("WARNING", 1)
+    object MESSAGE extends DebugType("MESSAGE", 2)
+    val values = Seq(ERROR, WARNING, MESSAGE)
+  }
+  val level: Int = DebugType.ERROR.level
+
+  def currentMethodName: String = Thread.currentThread.getStackTrace()(2).getMethodName
+  def currentMethodCallerName: String = Thread.currentThread.getStackTrace()(3).getMethodName
+  private def debugPrefix(dbg: DebugType): String = {
+    dbg.name + " [" + Thread.currentThread.getStackTrace()(4).getMethodName + "]: "
+  }
+  def debug(dbg: DebugType, x: Any): Unit = if(level <= dbg.level) print(debugPrefix(dbg) + x)
+
+  def debugf(dbg: DebugType, text: String, xs: Any*): Unit = if(level <= dbg.level) printf(debugPrefix(dbg) + text, xs: _*)
+}
+
 package object convertUtil {
-  def javaArrayListToSeq(javaArray: Any) : Option[Seq[Any]] = {
+  def javaArrayListToSeq(javaArray: Any): Option[Seq[Any]] = {
     javaArray match {
       /* While LinearSeq(List) for array.length == 2 is faster than than IndexedSeq(Vector) when accessed via tail/head
        * this would convert a lot of elements to List that are accessed via foreach and not tail/head lookup
@@ -61,13 +93,19 @@ package object convertUtil {
 
 package object mapUtil {
 
-  def javaHashMapToScalaMap[K, V](javaMap: java.util.LinkedHashMap[_, _]) : Map[K, V] = {
+  def traversableToMap[A, B](traversable: Traversable[Any], getTuple: (Any) => (A, B)): Map[A, B] = {
+    // Traversable[Tuple[A, B]] can be converted via .map
+    // .foldLeft used in favor of .map().toMap as the latter needs two traversals
+    // traversable.map(e => getKey(e) -> getValue(e)).toMap
+    traversable.foldLeft(Map[A, B]()) { (m, e) => m + getTuple(e) }
+  }
+  def javaHashMapToScalaMap[K, V](javaMap: java.util.LinkedHashMap[_, _]): Map[K, V] = {
     mapAsScalaMap(javaMap).toMap.asInstanceOf[Map[K, V]]
   }
 
-  def anyToNestedMap[K](map: Any, depthLimit: Int = 100) : Map[K, Any] = {
+  def anyToNestedMap[K](map: Any, depthLimit: Int = 100): Map[K, Any] = {
 
-    def closureAnyToNestedMap(nestedValue: Any, depth: Int = 0) : Any = {
+    def closureAnyToNestedMap(nestedValue: Any, depth: Int = 0): Any = {
       if(depth > depthLimit) return nestedValue // crude way to avoid a circular map
       anyToMap[K, Any](nestedValue) match {
         case Some(nestedMap) => nestedMap.map(kv => kv._1 -> closureAnyToNestedMap(kv._2, depth + 1))
@@ -85,7 +123,7 @@ package object mapUtil {
     }
   }
 
-  def anyToMutableMap[K, V](mapAny: Any) : Option[mutable.Map[K, V]] = {
+  def anyToMutableMap[K, V](mapAny: Any): Option[mutable.Map[K, V]] = {
     // TODO: use TypeTag to work around type erasure to check for T[K, V]
     // http://squidarth.com/scala/types/2019/01/11/type-erasure-scala.html
     mapAny match {
@@ -96,7 +134,7 @@ package object mapUtil {
     }
   }
 
-  def anyToMap[K, V](mapAny: Any) : Option[Map[K, V]] = {
+  def anyToMap[K, V](mapAny: Any): Option[Map[K, V]] = {
     // TODO: use TypeTag to work around type erasure to check for T[K, V]
     // http://squidarth.com/scala/types/2019/01/11/type-erasure-scala.html
     mapAny match {
@@ -112,9 +150,14 @@ package object mapUtil {
 package object yml {
   val yaml = new Yaml
   // TODO: handle errors (invalid file/format)
-  def parse(file:String) : Map[String, Any] = {
+  def parse(file:String): Map[String, Any] = {
     val fis = new FileInputStream(new File(file))
     mapUtil.anyToNestedMap[String](yaml.load(fis))
   }
 }
 
+package object simulation {
+  import scim.datastruct._
+  // maybe change to by-name parameters? have to check performance gain
+  type SimulationBehaviour = (Cell, Time, Option[Double], Option[FunctionArgs]) => Option[Double]
+}

src/main/scala/scim/Main.scala

@@ -1,12 +1,48 @@
 package scim
 
+import scim.components.{Parser, SimulationConfigParser, Output, Simulation}
+import scim.datastruct.{Cell, FunctionArgs, SharedMemory, SimulationBehaviours, Time}
 import scim.lib._
-
+import scim.lib.simulation.SimulationBehaviour
+//package scim.components._
 object Main {
+
+  val func: (Cell, Time, Option[Double], Option[FunctionArgs]) => Option[Double] = (cell, time, truth, args) => { truth }
+  val behaviours: Map[String, SimulationBehaviour] = Map[String, SimulationBehaviour](
+    "factor" -> func,
+    "None" -> func, "addValuePercent" -> func,
+    "humidFromTemp" -> func,
+    "normalValue" -> func,
+    "randomValue" -> func)
+  val simBehavirous = SimulationBehaviours(behaviours)
+
   def main(args: Array[String]): Unit = {
     val config = "docs/wiki/config/config.yml"
     val list: Map[String, Any] = yml.parse(config)
 
-    println(printUtil.indentCollection(list.toString()).toString)
+    new SimulationConfigParser(list, simBehavirous).parse()
+    // println(printUtil.indentCollection(list.toString()).toString)
+    //new Test2().run()
+    val parlist: Map[String, Int] = Map("a" -> 1, "b" -> 1, "c" -> 1, "d" -> 1)
+    val v: Vector[Int] = Vector(1,2,3,4,5,6,7)
+
+    //lib.evalUtil.time("par", parlist.par.map({_ => Thread.sleep(10); 2}))
+    //lib.evalUtil.time("ser", parlist.map({_ => Thread.sleep(10); 2}))
+
+  }
+
+  def startSimulation(): Unit = {
+    val config = new Parser().parse("docs/wiki/config/config.yml", simBehavirous).get
+    val sharedMemory = config.sharedMemory
+    val output = new Output(sharedMemory)
+    val outputThread = new Thread(output)
+    val simulator = new Simulation(config)
+
+    for(_ <- 0 to sharedMemory.config.runs) {
+      outputThread.start()
+      simulator.start()
+      outputThread.join()
+    }
+
   }
 }

src/main/scala/scim/archive/Elements.scala

@@ -0,0 +1,19 @@
+package scim.archive
+
+// child elements level 2
+case class Coordinate(x: Int, y: Int)
+case class FunctionArgs(args: Map[String, Any])
+case class FunctionId(id: Int, name: String)
+case class TimeLine(start: Int, end: Option[Int])
+
+// child elements level 1
+case class Group(id: Int, name: String)
+case class Block(start: Coordinate, end: Coordinate, count: Int)
+case class Truth(value: Option[Double], timeline: TimeLine)
+case class Function(function: FunctionId, args: Option[FunctionArgs], timeLine: TimeLine)
+
+// root elements
+case class Simulation(duration: Int, tickfactor: Int, loop: Boolean, loopcount: Int)
+case class Sensor(group: Group, blocks: Vector[Block])
+case class GroundTruth(group: Group, parent: Option[GroundTruth], truths: Vector[Truth], deltas: Option[Vector[Function]])
+case class Behaviour(group: Group, parent: Option[Behaviour], functions: Option[Vector[Function]])

src/main/scala/scim/archive/GroundTruth.scala

@@ -0,0 +1,27 @@
+package scim.archive
+
+case class Handler(config: Configuration, data: Data)
+case class BufferHandler() {
+
+}
+case class Data() {
+  //val buffer = Map[Position, (BufferHandler, ArraySeq[(Time, Truth)])]()
+}
+
+
+//object SimBuffer {
+//  def apply[A](v: A*): SimBuffer[A] = new SimBuffer(v)
+//  def apply[A](): SimBuffer[A] = new SimBuffer[A]()
+//}
+
+//class SimBuffer[A] (buffer: ArraySeq[A], handler: BufferHandler) {
+//  var bufferd: Int = 1
+//  def get(time: Time): A = {
+//
+//  }
+//}
+case class Configuration()
+
+case class GroundTruth(handler: Handler, config: Configuration, data: Data)
+
+case class GroundTruths(groundTruths: Map[Group, GroundTruth])

src/main/scala/scim/archive/Simulation.scala

@@ -0,0 +1,21 @@
+package scim.datastruct
+
+import scala.collection.mutable
+
+//case class Coordinate(x: Int, y: Int)
+//case class World(size: Int) // implements trait def getPosition(coord: Coordinate): Position; def getCoordinate(pos: Position): Coordinate
+//case class Position(pos: Int)
+//case class Time(tick: Int)
+//case class Truth(truth: Option[Double])
+//case class FunctionArgs(args: Map[String, Any])
+//case class Function(function: (Truth, Position, Time, FunctionArgs) => Option[Double], args: FunctionArgs)
+//case class Group(id: Int, name: String)
+//
+//case class GroundTruths(truth: Map[Group, mutable.ArraySeq[(Time, Truth)]]) // implements trait def getTruth(group: Group, pos: Position): Option[Double]
+//case class Result(truth: Map[Group, List[(Time, Truth)]]) // implements trait def getTruth(group: Group, pos: Position): Option[Double]
+//case class Behaviours(function: Map[Group, List[(Time, Option[Function])]]) // implement trait def run(truth: Truth, pos: Position, time: Time): Option[Double]
+//case class Sensor(group: Group, count: Int)
+//case class Cells(cells: Map[Position, Vector[Sensor]])
+//case class Sensors(sensors: Map[Group, Vector[(Position, Int)]]) // implement trait def sim(time: Time): Option[Double]
+//case class Simulation(groundTruths: GroundTruths, behaviours: Behaviours, cells: Cells)
+

src/main/scala/scim/components/Output.scala

@@ -0,0 +1,13 @@
+package scim.components
+
+import scim.datastruct.SharedMemory
+
+class Output(sharedMemory: SharedMemory) extends Runnable {
+  def run(): Unit = {
+    outputData()
+  }
+
+  def outputData(): Unit = {
+
+  }
+}

src/main/scala/scim/components/Parser.scala

@@ -0,0 +1,226 @@
+package scim.components
+
+import scim.datastruct.{Behaviour, BehaviourVector, Cell, Configuration, FunctionArgs, Group, SensorCount, SharedMemory, SimulationBehaviours, SimulationConfig, Time, Truth}
+import scim.lib.ConcurrentBroadcast.BroadcastObject
+import scim.lib.debugUtil.{DebugType, debugf}
+import scim.lib.mapUtil.traversableToMap
+import scim.lib.simulation.SimulationBehaviour
+import scim.lib.yml
+
+import scala.collection.mutable
+
+class Parser() {
+  def parse(file: String, simulationBehaviours: SimulationBehaviours): Option[Configuration] = {
+    val parser = new SimulationConfigParser(yml.parse(file), simulationBehaviours)
+    parser.parse()
+    None // FIXME: this should return something
+  }
+
+}
+
+
+// when creating (Group, Sensor, Option[GroundTruth]), keep ref in Map[Group, Sensor, Option[GroundTruth]] for all, to find
+// root group via group.parent (while !isempty get next) (maybe tree instead)
+
+// for cells s-> create Map[Group, Map[Cell, Count]]
+// for gt g-> create Map[Group, GroundTruth]
+// for behaviour b-> create Map[Group, Behaviour]
+// sensors = s.map(kv => (kv._1, kv._2.map(kv2 => (kv2._1, SENSOR, TRUTH)))
+// sensors.foreach(kv => kv._1
+
+class SimulationConfigParser(input: Map[String, Any], simulationBehaviours: SimulationBehaviours) {
+  private val config: SimulationConfig = parseSimulationConfig(input("simulation").asInstanceOf[Map[String, Any]])
+  private val groups = mutable.Map[String, Group]().empty
+  private val sensorList = mutable.Map[Group, Map[Cell, SensorCount]]().empty
+  private val behaviourListSensor = mutable.Map[Group, Behaviour]().empty
+  private val behaviourListGroundTruth = mutable.Map[Group, Behaviour]().empty
+  private val groundTruthValues = mutable.Map[Time, mutable.Map[Group, Truth]]() // FIXME: are not parsed correctly
+  // this will throw if the map doesn't contain what it should
+  @throws(classOf[Exception])
+  def parse(): Unit = {
+
+    val sensors = input("sensors").asInstanceOf[Vector[Map[String, Any]]]
+    val groundTruths = input("groundtruths").asInstanceOf[Vector[Map[String, Any]]]
+    val behaviours = input("behaviours").asInstanceOf[Vector[Map[String, Any]]]
+
+    sensors.foreach(sensor => parseSensor(sensor))
+    behaviours.foreach(behaviour => parseBehaviour(behaviour))
+    groundTruths.foreach(groundTruth => parseGroundTruth(groundTruth))
+    // TODO: insert dummy sensors if none exists at cells of the parent group where this group exists
+    Unit
+  }
+
+  private def parseSimulationConfig(configInput: Map[String, Any]): SimulationConfig = {
+    val config = configInput.asInstanceOf[Map[String, Int]]
+    val duration = config("duration")
+    val runs = config("runs")
+    val tickfactor = if(config.contains("tickfactor")) config("tickfactor") else 1
+    val parCell = if(config.contains("parCell")) config("parCell") else 0
+    val parCellThreads = if(config.contains("parCellThreads")) config("parCellThreads") else 5
+    val parGroup = if(config.contains("parGroup")) config("parGroup") else 0
+    val parGroupThreads = if(config.contains("parGroupThreads")) config("parGroupThreads") else 5
+    val parSensor = if(config.contains("parSensor")) config("parSensor") else 0
+    val parSensorThreads = if(config.contains("parSensorThreads")) config("parSensorThreads") else 5
+    SimulationConfig(duration, runs, tickfactor, parCell, parCellThreads, parGroup, parGroupThreads, parSensor, parSensorThreads)
+  }
+
+  private def parseSensor(sensor: Map[String, Any]): Unit = {
+    val groupString = sensor("group").asInstanceOf[String]
+    val parentString: Option[String] = if(sensor.contains("parent")) Some(sensor("parent").asInstanceOf[String]) else None
+    val cells: Map[Cell, SensorCount] = parseCells(sensor("cells").asInstanceOf[Vector[Any]])
+    val group = Group(groupString, parentString)
+    if(!groups.contains(groupString)) {
+      groups(groupString) = group
+      sensorList(group) = cells
+    } else {
+      debugf(DebugType.WARNING, "Duplicate Sensors in Group [%s]. Ignoring Sensor: %s", groupString, sensor.toString())
+    }
+  }
+
+  private def parseCells(cells: Vector[Any]): Map[Cell, SensorCount] = {
+    val parseCell = (cell: Any) => cell match {
+      case cell: Vector[_] => val cellVector = cell.asInstanceOf[Vector[Int]]
+        (Cell(cellVector(0), cellVector(1)), SensorCount(cellVector(2)))
+      case cell: Map[_, _] => val cellMap = cell.asInstanceOf[Map[String, Int]]
+        (Cell(cellMap("x"), cellMap("y")), SensorCount(cellMap("count")))
+      case _ => throw new Exception("Invalid Cell: " + cell.toString)
+    }
+    traversableToMap[Cell, SensorCount](cells, parseCell)
+  }
+
+  private def parseTimeLineElement(timeLineElement: Any): (Int, Option[Int]) = {
+    timeLineElement match {
+      case timeLineElement: Vector[_] => val elementVector = timeLineElement.asInstanceOf[Vector[Int]]
+        (elementVector(1), if(timeLineElement.contains(2)) Some(elementVector(2)) else None)
+      case timeLineElement: Map[_, _] => val elementMap = timeLineElement.asInstanceOf[Map[String, Int]]
+        (elementMap("start"), if(elementMap.contains("end")) Some(elementMap("end")) else None)
+    }
+  }
+
+  private def parseFunction(functions: Vector[Any]): Behaviour = {
+    val parseFunctionHelper = (function: Any) => {
+      var funcPointer: Option[(SimulationBehaviour, Option[FunctionArgs])] = None
+      function match {
+        case function: Vector[_] => {
+          val start: Int = function(0).asInstanceOf[Int]
+          // val end: Option[Int] = None // Not used
+          val name: String = function(1).asInstanceOf[String]
+          val args: Option[FunctionArgs] = if (function.contains(3)) Some(FunctionArgs(function(2).asInstanceOf[Map[String, Any]])) else None
+          if (!simulationBehaviours.get(name).isEmpty) funcPointer = Some((simulationBehaviours.get(name).get, args))
+          Map[Int, Option[(SimulationBehaviour, Option[FunctionArgs])]](start -> funcPointer)
+        }
+        case function: Map[_, _] => {
+          val functionMap = function.asInstanceOf[Map[String, Any]]
+          val timeline: Vector[Any] = functionMap("timeline").asInstanceOf[Vector[Any]]
+          val timeLineVector: Vector[(Int, Option[Int])] = timeline.map(e => parseTimeLineElement(e))
+          val name: String = functionMap("name").asInstanceOf[String]
+          val args: Option[FunctionArgs] = if (functionMap.contains("args")) Some(FunctionArgs(functionMap("args").asInstanceOf[Map[String, Any]])) else None
+          if (!simulationBehaviours.get(name).isEmpty) funcPointer = Some((simulationBehaviours.get(name).get, args))
+          val output: mutable.Map[Int, Option[(SimulationBehaviour, Option[FunctionArgs])]] = mutable.Map()
+          timeLineVector.map(tuple => {
+            output(tuple._1) = funcPointer
+            if (!tuple._2.isEmpty) output(tuple._2.get) = None
+          })
+          output.toMap
+        }
+        case _ => throw new Exception("Invalid Function: " + function.toString)
+      }
+    }
+    val parsedFunction: mutable.Map[Int, Option[(SimulationBehaviour, Option[FunctionArgs])]] = mutable.Map().empty
+    // TODO: This will currently overwrite already assigned values; output warning
+    functions.map(function => parseFunctionHelper(function)).foreach(e => e.foreach(kv => parsedFunction(kv._1) = kv._2))
+    val timeVector: mutable.ArraySeq[Option[(SimulationBehaviour, Option[FunctionArgs])]] = new mutable.ArraySeq[Option[(SimulationBehaviour, Option[FunctionArgs])]](config.duration).map(_ => None)
+    val it = parsedFunction.toList.sortBy(_._1).iterator
+    println(parsedFunction.toList.sortBy(_._1))
+    var current = if(it.hasNext) Some(it.next) else None
+    while(!current.isEmpty) {
+      val next = if(it.hasNext) Some(it.next) else None
+      for(time <- current.get._1 to (if(!next.isEmpty) next.get._1 else config.duration - 1)) {
+        timeVector(time) = current.get._2
+      }
+      current = next
+    }
+    Behaviour(BehaviourVector(timeVector.toVector))
+  }
+
+  private def parseBehaviour(behaviourMap: Map[String, Any]): Unit = {
+    val groupString = behaviourMap("group").asInstanceOf[String]
+    // only continue parsing if sensors in this group exist
+    if(groups.contains(groupString)) {
+      val group: Group = groups(groupString)
+      if(!behaviourListSensor.contains(group)) {
+        behaviourListSensor(group) = parseFunction(behaviourMap("functions").asInstanceOf[Vector[Any]])
+      } else {
+        debugf(DebugType.WARNING, "Duplicate Sensor Behaviour in Group [%s]. Ignoring Behaviour: %s", groupString, behaviourMap.toString())
+      }
+    } else {
+      debugf(DebugType.WARNING, "Unused Sensor Behaviour, no sensor for group [%s] exists. Ignoring Behaviour: %s", groupString, behaviourMap.toString())
+    }
+  }
+
+  private def parseGroundTruth(groundTruthMap: Map[String, Any]): Unit = {
+    val groupString = groundTruthMap("group").asInstanceOf[String]
+    // only continue parsing if sensors in this group exist
+    if(groups.contains(groupString)) {
+      val group: Group = groups(groupString)
+      if(group.parent.isEmpty) {
+        if(!behaviourListGroundTruth.contains(group)) {
+          group.parent  = if(groundTruthMap.contains("parent")) Some(groundTruthMap("parent").asInstanceOf[String]) else None
+          behaviourListGroundTruth(group) = parseFunction(groundTruthMap("delta").asInstanceOf[Vector[Any]])
+        } else {
+          debugf(DebugType.WARNING, "Duplicate Ground Truth in Group [%s]. Ignoring Ground Truth: %s", groupString, groundTruthMap.toString())
+        }
+        parseTruth(groundTruthMap("truth").asInstanceOf[Vector[Any]]).map(kv => {
+          if(groundTruthValues.contains(kv._1)) {
+            groundTruthValues(kv._1)(group) = kv._2
+          } else {
+            groundTruthValues(kv._1) = mutable.Map[Group, Truth](group -> kv._2)
+          }
+        })
+      } else {
+        debugf(DebugType.WARNING, "Unused Ground Truth in Group [%s] because the Sensor has Parent [%s]. Ignoring Ground Truth: %s", groupString, group.parent.get, groundTruthMap.toString())
+      }
+    } else {
+      debugf(DebugType.WARNING, "Unused Ground Truth, no sensor for group [%s] exists. Ignoring Ground Truth: %s", groupString, groundTruthMap.toString())
+    }
+  }
+
+  private def parseTruth(truthElements: Vector[Any]): Map[Time, Truth] = {
+    val parseTruthHelper = (truthElement: Any) => {
+      truthElement match {
+        case truthObject: Vector[_] => {
+          val truth: Truth = Truth(new BroadcastObject())
+          println(truthElement)
+          val start: Int = truthObject(0).asInstanceOf[Int]
+          // val end: Option[Int] = None // Not used
+          truth.set(Some(truthObject(1).asInstanceOf[Double]))
+          Map[Time, Truth](Time(start) -> truth)
+        }
+        case truthObject: Map[_, _] => {
+          val truth: Truth = Truth(new BroadcastObject())
+          lazy val endTruth: Truth = Truth(new BroadcastObject())
+          val truthObjectMap = truthObject.asInstanceOf[Map[String, Any]]
+          val timeline: Vector[Any] = truthObjectMap("timeline").asInstanceOf[Vector[Any]]
+          val timeLineVector: Vector[(Int, Option[Int])] = timeline.map(e => parseTimeLineElement(e))
+          truth.set(Some(truthObjectMap("value").asInstanceOf[Double]))
+
+          val output: mutable.Map[Time, Truth] = mutable.Map()
+          timeLineVector.map(tuple => {
+            output(Time(tuple._1)) = truth
+            if (!tuple._2.isEmpty) {
+              endTruth.set(None)
+              output(Time(tuple._2.get)) = endTruth
+            }
+          })
+          output.toMap
+        }
+        case _ => throw new Exception("Invalid Truth: " + truthElement.toString)
+      }
+    }
+    val parsedTruth: mutable.Map[Time,Truth] = mutable.Map().empty
+    // TODO: This will currently overwrite already assigned values; output warning
+    truthElements.map(truth => parseTruthHelper(truth)).foreach(e => e.foreach(kv => parsedTruth(kv._1) = kv._2))
+    parsedTruth.toMap
+  }
+
+}

src/main/scala/scim/components/Simulation.scala

@@ -0,0 +1,56 @@
+package scim.components
+
+import scim.datastruct.{Behaviour, BehaviourVector, Cell, Configuration, FunctionArgs, GroundTruth, Group, Sensor, Time}
+import scim.lib.simulation.SimulationBehaviour
+
+class Simulation(config: Configuration) {
+  private val sharedMemory = config.sharedMemory
+  private val cells = config.cells
+  val timeVector = Vector.tabulate(sharedMemory.config.duration)(t => Time(t))
+
+  def start(): Unit = {
+    if(sharedMemory.config.parCell != 0 && cells.size >= sharedMemory.config.parCell ) {
+      val cellList = cells.par
+      cellList.tasksupport = sharedMemory.config.cellThreadPool
+      timeVector.foreach(time => cellList.foreach(cell => simGroups(time, cell._1, cell._2)))
+    } else {
+      timeVector.foreach(time => cells.foreach(cell => simGroups(time, cell._1, cell._2)))
+    }
+  }
+
+  private def simGroups(time: Time, cell: Cell, groups: Map[Group, List[(Group, Sensor, Option[GroundTruth])]]): Unit = {
+    // TODO: possible optimisation (see text below)
+    // this can be further optimised as a child is only dependent on its parents ground truth and could run
+    // at the same time as the parent in a different thread. This would allow the child to start running as soon
+    // as the ground truth is calculated in the parent and doesn't have have to wait for the sensors to finish.
+    // Any subsequent children can start in the same manner, when their parent is done with the ground truth.
+    // --
+    // other possibility:
+    // run simulateGT foreach first, then run simulateSensor foreach (dont know if there is much benefit tho)
+    if(sharedMemory.config.parGroup != 0 && cells.size >= sharedMemory.config.parGroup ) {
+      val groupList = groups.par
+      groupList.tasksupport = sharedMemory.config.groupThreadPool
+      groupList.foreach(group => group._2.foreach(element => simulate(time, cell, element)))
+    } else {
+      groups.foreach(group => group._2.foreach(element => simulate(time, cell, element)))
+    }
+  }
+
+  private def simulate(time: Time, cell: Cell, element: (Group, Sensor, Option[GroundTruth])): Unit = {
+    val group = element._1
+    val sensor = element._2
+    val groundTruth = element._3
+    // simulate the ground truth if required
+    if(!groundTruth.isEmpty) {
+      groundTruth.get.simulate(cell,group, time, sharedMemory)
+    } else if (group.parent.isEmpty) {
+      // calc default ground truth if none was defined and no parent given which is None
+      // this ensures a value when the sensor accesses the gt and prevents a deadlock
+      val v: Vector[Option[(SimulationBehaviour, Option[FunctionArgs])]] = Vector.fill(sharedMemory.config.duration)(None)
+      GroundTruth(Some(Behaviour(BehaviourVector(v)))).simulate(cell, group, time, sharedMemory)
+    }
+    // simulate the sensor
+    sensor.simulate(cell, group, time, sharedMemory)
+  }
+
+}

src/main/scala/scim/datastruct/Configuration.scala

@@ -0,0 +1,132 @@
+package scim.datastruct
+
+import scim.lib.ConcurrentBroadcast.BroadcastObject
+import scim.lib.simulation._
+import scala.collection.parallel.ForkJoinTaskSupport
+
+// configuration
+//case class Configuration(simulation: Simulation, sensors: Vector[Sensor], groundTruths: Vector[GroundTruth], behaviours: Vector[Behaviour])
+
+case class Time(time: Int){
+  def prev: Time = { Time(time - 1) }
+  def start: Boolean = { time == 0 }
+  def get: Int = { time }
+}
+
+case class SharedMemory( sensor: Map[Time, Map[SensorID, SensorResult]],
+                         groundTruth: Map[Cell, Map[Time, Map[Group, Truth]]],
+                         config: SimulationConfig) {
+  def getTruth(cell: Cell, time: Time, group: Group): Truth = {
+    groundTruth(cell)(time)(group)
+  }
+  def getResult(time: Time): Map[SensorID, SensorResult] = {
+    sensor(time)
+  }
+}
+
+abstract class BroadcastHandler[A](broadcastObject: BroadcastObject[A]) {
+  def get: A = {
+    broadcastObject.watch()
+  }
+  def set(newValue: A): Unit = {
+    broadcastObject.broadcast(newValue)
+  }
+  def exists: Boolean = {
+    !broadcastObject.peak().isEmpty
+  }
+}
+case class SimulationBehaviours(functions: Map[String, SimulationBehaviour]) {
+  def get(name: String): Option[SimulationBehaviour] = {
+    if(functions.contains(name)) Some(functions(name)) else None
+  }
+}
+
+case class SimulationConfig(duration: Int, runs: Int, tickfactor: Int = 1,
+                            parCell: Int = 0, parCellThreads: Int = 5,
+                            parGroup: Int = 0, parGroupThreads: Int = 5,
+                            parSensor: Int = 0, parSensorThreads: Int = 5) {
+  val cellThreadPool: ForkJoinTaskSupport = new ForkJoinTaskSupport(new scala.concurrent.forkjoin.ForkJoinPool(parCellThreads))
+  val groupThreadPool: ForkJoinTaskSupport = new ForkJoinTaskSupport(new scala.concurrent.forkjoin.ForkJoinPool(parGroupThreads))
+  val sensorThreadPool: ForkJoinTaskSupport = new ForkJoinTaskSupport(new scala.concurrent.forkjoin.ForkJoinPool(parSensorThreads))
+  // TODO: give truth their own threadpool and parallize the calculation
+}
+case class SensorResult(result: BroadcastObject[(Group, Cell, Option[Double])]) extends BroadcastHandler(result)
+case class SensorID(group: Group, Id: Int)
+case class Duration(simDuration: Int)
+case class TickFactor(factor: Int) // processed when parsing configuration, artifically place timings
+case class Cell(x: Int, y: Int)
+case class Group(name: String, parentIn: Option[String] = None){
+  // FIXME: use parent as get function and parent.set as setter to make var private
+  var parent: Option[String]  = parentIn // have to make this mutable to reassign it during parsing
+  def getParentOrThis: Group = {
+    if(parent.isEmpty) {
+      this
+    } else {
+      Group(parent.get)
+    }
+  }
+
+}
+case class Truth(value: BroadcastObject[Option[Double]]) extends BroadcastHandler(value)
+case class FunctionArgs(args: Map[String, Any])
+// passing the group and therefore the behaviour during the simulation adds additional processing costs during runtime.
+// Benefit would be fewer sensor objects.
+
+case class BehaviourVector(function: Vector[Option[(SimulationBehaviour, Option[FunctionArgs])]],
+                           defaultFunc: SimulationBehaviour = (_: Cell, _: Time, v: Option[Double], _: Option[FunctionArgs]) => v,
+                           defaultArgs: Option[FunctionArgs] = None){
+  def get(t: Time): (SimulationBehaviour, Option[FunctionArgs]) = {
+    function(t.time).getOrElse((defaultFunc, defaultArgs))
+  }
+}
+
+case class Behaviour(behaviour: BehaviourVector){
+  def run(time: Time, cell: Cell, truth: Truth): Option[Double] = {
+    val functionTuple = behaviour.get(time)
+    val function = functionTuple._1
+    val args = functionTuple._2
+    // TODO: add try catch, to prevent crash in case the args are wrong
+    function(cell, time, truth.get, args)
+  }
+}
+
+case class GroundTruth(behaviour: Option[Behaviour]) {
+  def simulate(cell: Cell, group: Group, time: Time, sharedMemory: SharedMemory): Unit = {
+    val result = sharedMemory.getTruth(cell, time, group.getParentOrThis)
+    // only calculate a new ground truth if a behaviour is defined
+    if(!behaviour.isEmpty) {
+      val prevTruth = sharedMemory.getTruth(cell, time.prev, group)
+      result.set(behaviour.get.run(time, cell, prevTruth))
+    } else {
+      result.set(None)
+    }
+  }
+}
+
+case class Sensor(behaviour: Behaviour, count: SensorCount) {
+  def simulate(cell: Cell, group: Group, time: Time, sharedMemory: SharedMemory): Unit = {
+    val truth = sharedMemory.getTruth(cell, time, group.getParentOrThis)
+    val result = sharedMemory.getResult(time)
+    if(sharedMemory.config.parSensor != 0 && count.count >= sharedMemory.config.parSensor ) {
+      val sensorList = count.getVector.par
+      sensorList.tasksupport = sharedMemory.config.sensorThreadPool
+      sensorList.foreach(i => result(SensorID(group, i)).set((group, cell, behaviour.run(time, cell, truth))))
+    } else {
+      count.getVector.foreach(i => result(SensorID(group, i)).set((group, cell, behaviour.run(time, cell, truth))))
+    }
+  }
+}
+
+// calculate 1 full tick at a time
+// a group may depend on others within a cell
+// a cell does not depend on others within a group
+// a sensor and ground truth are unique within a group in a cell
+case class SensorCount(count: Int) {
+  def getVector: Vector[Int] = {
+      Vector.tabulate(count)(e => e)
+  }
+}
+
+
+case class Configuration(cells: Map[Cell, Map[Group, List[(Group, Sensor, Option[GroundTruth])]]], sharedMemory: SharedMemory)
+

src/main/scala/scim/lib/Concurrency.scala

@@ -0,0 +1,229 @@
+package scim.lib
+
+import java.util.Calendar
+import java.util.concurrent.Executors
+import java.util.concurrent.locks.{Condition, Lock, ReentrantReadWriteLock}
+
+import scala.collection.mutable
+
+object ScalaLocks {
+
+  class ScalaReadLock(lock: Lock) {
+    def apply[A](read: => A): A = {
+      lock.lock()
+      try read finally {
+        lock.unlock()
+      }
+    }
+  }
+
+  class ScalaWriteLock(lock: Lock) {
+    def apply[A](write: () => A): Unit = {
+      lock.lock()
+      try write() finally {
+        lock.unlock()
+      }
+    }
+  }
+
+  class ScalaReadWriteLock(lock: Lock) {
+    def apply[A](readWrite: () => A): A = {
+      lock.lock()
+      try readWrite() finally {
+        lock.unlock()
+      }
+    }
+  }
+
+  class ScalaConditionalReadLock(readLock: ReentrantReadWriteLock.ReadLock, writeLock: ReentrantReadWriteLock.WriteLock, signal: Condition) {
+    private val scalaWriteLock = new ScalaWriteLock(writeLock)
+
+    // condition and read should not change any mutable state
+    def apply[A](condition: => Boolean, read: => A): A = {
+      readLock.lock() // block writer
+      if(!condition) {
+        readLock.unlock() // unblock writer
+        // acquire write lock, await signal and release it
+        scalaWriteLock (() => {
+          while(!condition) {
+            signal.await()
+          }
+          // block the writer before releasing write lock
+          readLock.lock()
+        })
+      }
+      try read finally {
+        readLock.unlock()
+      }
+    }
+  }
+
+}
+
+object ConcurrentBroadcast {
+
+  class BroadcastObject[A]() {
+
+    import ScalaLocks._
+
+    private val javaLock = new ReentrantReadWriteLock()
+    private val javaReadLock = javaLock.readLock()
+    private val javaWriteLock = javaLock.writeLock()
+
+    private val signal = javaWriteLock.newCondition()
+    private val conditionalReadLock = new ScalaConditionalReadLock(javaReadLock, javaWriteLock, signal)
+    private val readWriteLock = new ScalaReadWriteLock(javaWriteLock)
+    private val writeLock = new ScalaWriteLock(javaWriteLock)
+    private val readLock = new ScalaReadLock(javaReadLock)
+
+    private var value: Option[A] = None
+
+    // NON-BLOCKING: check if value has been set, write new value and return if it was overwritten
+    def broadcast(newValue: A): Unit = {
+      writeLock(() => {
+        value = Some(newValue)
+        signal.signalAll()
+      })
+    }
+
+    // NON-BLOCKING: check if value has been set, write new value and return if it was overwritten
+    def broadcastOverwrite(newValue: A): Boolean = {
+      readWriteLock(() => {
+        val result = value.isEmpty
+        value = Some(newValue)
+        signal.signalAll()
+        result
+      })
+    }
+
+    // BLOCKING: watch value, block until it is set, then return it
+    def watch(): A = {
+      conditionalReadLock(!value.isEmpty, value.get)
+    }
+
+    // NON-BLOCKING: returns value as Option
+    def peak(): Option[A] = {
+      readLock {
+        value
+      }
+    }
+
+  }
+
+  abstract class Broadcast[A](stream: mutable.ArraySeq[BroadcastObject[A]]) extends Runnable {
+    override def run(): Unit = {
+      access(stream)
+    }
+    def access(stream: mutable.ArraySeq[BroadcastObject[A]])
+  }
+
+  // Trait is just used to rename the function (maybe a bit redundant)
+  trait Watcher[A] extends Broadcast[A] {
+    override def access(stream: mutable.ArraySeq[BroadcastObject[A]]): Unit = { watch(stream) }
+    def watch(stream: mutable.ArraySeq[BroadcastObject[A]])
+  }
+
+  trait Broadcaster[A] extends Broadcast[A] {
+    override def access(stream: mutable.ArraySeq[BroadcastObject[A]]): Unit = { broadcast(stream) }
+    def broadcast(stream: mutable.ArraySeq[BroadcastObject[A]])
+  }
+
+}
+
+
+class Test2 {
+  import scim.lib.ConcurrentBroadcast._
+
+  private val stream: mutable.ArraySeq[BroadcastObject[Int]] = new mutable.ArraySeq[Int](5).map(_ => new BroadcastObject[Int])
+
+  class Producer(stream: mutable.ArraySeq[BroadcastObject[Int]]) extends Broadcast[Int](stream) with Broadcaster[Int] {
+    def a(): Unit = {
+      stream.foreach(element => {element.broadcast(1); Thread.sleep(1000)})
+    }
+
+    override def broadcast(stream: mutable.ArraySeq[BroadcastObject[Int]]): Unit = {
+      val f: (Int, Int) => Int = (x, y) => x + y
+      var previous: Int = 0
+      stream.foreach(element => {
+        previous = f(previous, 2)
+        element.broadcast(previous)
+      })
+    }
+  }
+
+  class Watcher(id: Int, stream: mutable.ArraySeq[BroadcastObject[Int]]) extends Runnable {
+    def run(): Unit = {
+      stream.foreach(element => { Thread.sleep(id); println(id + ": " + element.watch() + " - " + Calendar.getInstance().getTime()) })
+    }
+  }
+
+  def run(): Unit = {
+    val threadPool = Executors.newFixedThreadPool(4)
+    val producer = new Producer(stream)
+    val watcher = new Watcher(0,stream)
+    val watcher2 = new Watcher(3000,stream)
+
+    val p = new Thread(producer)
+
+    val t = new Thread(watcher)
+    val t2 = new Thread(watcher2)
+    println("start producer")
+    p.start()
+    println("start watcher")
+    t.start()
+    t2.start()
+    println("join producer")
+    p.join()
+    println("join watcher")
+    t.join()
+    t2.join()
+    println("done")
+
+
+  }
+
+}
+
+class Test {
+  import scim.lib.ConcurrentBroadcast.BroadcastObject
+
+  private val stream: mutable.ArraySeq[BroadcastObject[Int]] = new mutable.ArraySeq[Int](5).map(_ => new BroadcastObject[Int])
+
+  class Producer(stream: mutable.ArraySeq[BroadcastObject[Int]]) extends Runnable {
+    def run(): Unit = {
+      stream.foreach(element => {element.broadcast(1); Thread.sleep(1000)})
+    }
+  }
+
+  class Watcher(id: Int, stream: mutable.ArraySeq[BroadcastObject[Int]]) extends Runnable {
+    def run(): Unit = {
+      stream.foreach(element => { Thread.sleep(id); println(id + ": " + element.watch() + " - " + Calendar.getInstance().getTime()) })
+    }
+  }
+
+  def run(): Unit = {
+    val threadPool = Executors.newFixedThreadPool(4)
+    val producer = new Producer(stream)
+    val watcher = new Watcher(0,stream)
+    val watcher2 = new Watcher(3000,stream)
+
+    val p = new Thread(producer)
+
+    val t = new Thread(watcher)
+    val t2 = new Thread(watcher2)
+    println("start producer")
+    p.start()
+    println("start watcher")
+    t.start()
+    t2.start()
+    println("join producer")
+    p.join()
+    println("join watcher")
+    t.join()
+    t2.join()
+    println("done")
+
+
+  }
+
+}