SUMO - Simulation of Urban MObility
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TraCIServerAPI_Vehicle.cpp
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1 /****************************************************************************/
11 // APIs for getting/setting vehicle values via TraCI
12 /****************************************************************************/
13 // SUMO, Simulation of Urban MObility; see http://sumo.sourceforge.net/
14 // Copyright (C) 2001-2013 DLR (http://www.dlr.de/) and contributors
15 /****************************************************************************/
16 //
17 // This file is part of SUMO.
18 // SUMO is free software: you can redistribute it and/or modify
19 // it under the terms of the GNU General Public License as published by
20 // the Free Software Foundation, either version 3 of the License, or
21 // (at your option) any later version.
22 //
23 /****************************************************************************/
24 
25 
26 // ===========================================================================
27 // included modules
28 // ===========================================================================
29 #ifdef _MSC_VER
30 #include <windows_config.h>
31 #else
32 #include <config.h>
33 #endif
34 
35 #ifndef NO_TRACI
36 
37 #include <microsim/MSNet.h>
39 #include <microsim/MSVehicle.h>
40 #include <microsim/MSLane.h>
41 #include <microsim/MSEdge.h>
50 #include "TraCIConstants.h"
52 #include "TraCIServerAPI_Vehicle.h"
54 
55 #ifdef CHECK_MEMORY_LEAKS
56 #include <foreign/nvwa/debug_new.h>
57 #endif // CHECK_MEMORY_LEAKS
58 
59 
60 // ===========================================================================
61 // used namespaces
62 // ===========================================================================
63 using namespace traci;
64 
65 
66 
67 std::map<std::string, std::vector<MSLane*> > TraCIServerAPI_Vehicle::gVTDMap;
68 
69 // ===========================================================================
70 // method definitions
71 // ===========================================================================
72 bool
74  tcpip::Storage& outputStorage) {
75  // variable & id
76  int variable = inputStorage.readUnsignedByte();
77  std::string id = inputStorage.readString();
78  // check variable
79  if (variable != ID_LIST && variable != VAR_SPEED && variable != VAR_SPEED_WITHOUT_TRACI && variable != VAR_POSITION && variable != VAR_ANGLE
80  && variable != VAR_ROAD_ID && variable != VAR_LANE_ID && variable != VAR_LANE_INDEX
81  && variable != VAR_TYPE && variable != VAR_ROUTE_ID && variable != VAR_COLOR
82  && variable != VAR_LANEPOSITION
83  && variable != VAR_CO2EMISSION && variable != VAR_COEMISSION && variable != VAR_HCEMISSION && variable != VAR_PMXEMISSION
84  && variable != VAR_NOXEMISSION && variable != VAR_FUELCONSUMPTION && variable != VAR_NOISEEMISSION
85  && variable != VAR_PERSON_NUMBER
86  && variable != VAR_EDGE_TRAVELTIME && variable != VAR_EDGE_EFFORT
87  && variable != VAR_ROUTE_VALID && variable != VAR_EDGES
88  && variable != VAR_SIGNALS
89  && variable != VAR_LENGTH && variable != VAR_MAXSPEED && variable != VAR_VEHICLECLASS
90  && variable != VAR_SPEED_FACTOR && variable != VAR_SPEED_DEVIATION && variable != VAR_EMISSIONCLASS
91  && variable != VAR_WIDTH && variable != VAR_MINGAP && variable != VAR_SHAPECLASS
92  && variable != VAR_ACCEL && variable != VAR_DECEL && variable != VAR_IMPERFECTION
93  && variable != VAR_TAU && variable != VAR_BEST_LANES && variable != DISTANCE_REQUEST
94  && variable != ID_COUNT
95  ) {
96  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Get Vehicle Variable: unsupported variable specified", outputStorage);
97  }
98  // begin response building
99  tcpip::Storage tempMsg;
100  // response-code, variableID, objectID
102  tempMsg.writeUnsignedByte(variable);
103  tempMsg.writeString(id);
104  // process request
105  if (variable == ID_LIST || variable == ID_COUNT) {
106  std::vector<std::string> ids;
108  for (MSVehicleControl::constVehIt i = c.loadedVehBegin(); i != c.loadedVehEnd(); ++i) {
109  if ((*i).second->isOnRoad()) {
110  ids.push_back((*i).first);
111  }
112  }
113  if (variable == ID_LIST) {
115  tempMsg.writeStringList(ids);
116  } else {
118  tempMsg.writeInt((int) ids.size());
119  }
120  } else {
122  if (sumoVehicle == 0) {
123  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Vehicle '" + id + "' is not known", outputStorage);
124  }
125  MSVehicle* v = dynamic_cast<MSVehicle*>(sumoVehicle);
126  if (v == 0) {
127  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Vehicle '" + id + "' is not a micro-simulation vehicle", outputStorage);
128  }
129  const bool onRoad = v->isOnRoad();
130  switch (variable) {
131  case VAR_SPEED:
133  tempMsg.writeDouble(onRoad ? v->getSpeed() : INVALID_DOUBLE_VALUE);
134  break;
138  break;
139  case VAR_POSITION:
141  tempMsg.writeDouble(onRoad ? v->getPosition().x() : INVALID_DOUBLE_VALUE);
142  tempMsg.writeDouble(onRoad ? v->getPosition().y() : INVALID_DOUBLE_VALUE);
143  break;
144  case VAR_ANGLE:
146  tempMsg.writeDouble(onRoad ? v->getAngle() : INVALID_DOUBLE_VALUE);
147  break;
148  case VAR_ROAD_ID:
150  tempMsg.writeString(onRoad ? v->getLane()->getEdge().getID() : "");
151  break;
152  case VAR_LANE_ID:
154  tempMsg.writeString(onRoad ? v->getLane()->getID() : "");
155  break;
156  case VAR_LANE_INDEX:
158  if (onRoad) {
159  const std::vector<MSLane*>& lanes = v->getLane()->getEdge().getLanes();
160  tempMsg.writeInt((int)std::distance(lanes.begin(), std::find(lanes.begin(), lanes.end(), v->getLane())));
161  } else {
162  tempMsg.writeInt(INVALID_INT_VALUE);
163  }
164  break;
165  case VAR_TYPE:
167  tempMsg.writeString(v->getVehicleType().getID());
168  break;
169  case VAR_ROUTE_ID:
171  tempMsg.writeString(v->getRoute().getID());
172  break;
173  case VAR_COLOR:
174  tempMsg.writeUnsignedByte(TYPE_COLOR);
175  tempMsg.writeUnsignedByte(v->getParameter().color.red());
176  tempMsg.writeUnsignedByte(v->getParameter().color.green());
177  tempMsg.writeUnsignedByte(v->getParameter().color.blue());
178  tempMsg.writeUnsignedByte(v->getParameter().color.alpha());
179  break;
180  case VAR_LANEPOSITION:
182  tempMsg.writeDouble(onRoad ? v->getPositionOnLane() : INVALID_DOUBLE_VALUE);
183  break;
184  case VAR_CO2EMISSION:
187  break;
188  case VAR_COEMISSION:
191  break;
192  case VAR_HCEMISSION:
195  break;
196  case VAR_PMXEMISSION:
199  break;
200  case VAR_NOXEMISSION:
203  break;
204  case VAR_FUELCONSUMPTION:
207  break;
208  case VAR_NOISEEMISSION:
211  break;
212  case VAR_PERSON_NUMBER:
214  tempMsg.writeInt(v->getPersonNumber());
215  break;
216  case VAR_EDGE_TRAVELTIME: {
217  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
218  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Retrieval of travel time requires a compound object.", outputStorage);
219  }
220  if (inputStorage.readInt() != 2) {
221  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Retrieval of travel time requires time, and edge as parameter.", outputStorage);
222  }
223  // time
224  SUMOTime time = 0;
225  if (!server.readTypeCheckingInt(inputStorage, time)) {
226  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Retrieval of travel time requires the referenced time as first parameter.", outputStorage);
227  }
228  // edge
229  std::string edgeID;
230  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
231  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Retrieval of travel time requires the referenced edge as second parameter.", outputStorage);
232  }
233  MSEdge* edge = MSEdge::dictionary(edgeID);
234  if (edge == 0) {
235  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
236  }
237  // retrieve
239  SUMOReal value;
240  if (!v->getWeightsStorage().retrieveExistingTravelTime(edge, 0, time, value)) {
242  } else {
243  tempMsg.writeDouble(value);
244  }
245 
246  }
247  break;
248  case VAR_EDGE_EFFORT: {
249  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
250  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Retrieval of travel time requires a compound object.", outputStorage);
251  }
252  if (inputStorage.readInt() != 2) {
253  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Retrieval of travel time requires time, and edge as parameter.", outputStorage);
254  }
255  // time
256  SUMOTime time = 0;
257  if (!server.readTypeCheckingInt(inputStorage, time)) {
258  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Retrieval of effort requires the referenced time as first parameter.", outputStorage);
259  }
260  // edge
261  std::string edgeID;
262  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
263  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Retrieval of effort requires the referenced edge as second parameter.", outputStorage);
264  }
265  MSEdge* edge = MSEdge::dictionary(edgeID);
266  if (edge == 0) {
267  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
268  }
269  // retrieve
271  SUMOReal value;
272  if (!v->getWeightsStorage().retrieveExistingEffort(edge, 0, time, value)) {
274  } else {
275  tempMsg.writeDouble(value);
276  }
277 
278  }
279  break;
280  case VAR_ROUTE_VALID: {
281  std::string msg;
282  tempMsg.writeUnsignedByte(TYPE_UBYTE);
283  tempMsg.writeUnsignedByte(v->hasValidRoute(msg));
284  }
285  break;
286  case VAR_EDGES: {
287  const MSRoute& r = v->getRoute();
289  tempMsg.writeInt(r.size());
290  for (MSRouteIterator i = r.begin(); i != r.end(); ++i) {
291  tempMsg.writeString((*i)->getID());
292  }
293  }
294  break;
295  case VAR_SIGNALS:
297  tempMsg.writeInt(v->getSignals());
298  break;
299  case VAR_BEST_LANES: {
301  tcpip::Storage tempContent;
302  unsigned int cnt = 0;
303  tempContent.writeUnsignedByte(TYPE_INTEGER);
304  const std::vector<MSVehicle::LaneQ>& bestLanes = onRoad ? v->getBestLanes() : std::vector<MSVehicle::LaneQ>();
305  tempContent.writeInt((int) bestLanes.size());
306  ++cnt;
307  for (std::vector<MSVehicle::LaneQ>::const_iterator i = bestLanes.begin(); i != bestLanes.end(); ++i) {
308  const MSVehicle::LaneQ& lq = *i;
309  tempContent.writeUnsignedByte(TYPE_STRING);
310  tempContent.writeString(lq.lane->getID());
311  ++cnt;
312  tempContent.writeUnsignedByte(TYPE_DOUBLE);
313  tempContent.writeDouble(lq.length);
314  ++cnt;
315  tempContent.writeUnsignedByte(TYPE_DOUBLE);
316  tempContent.writeDouble(lq.nextOccupation);
317  ++cnt;
318  tempContent.writeUnsignedByte(TYPE_BYTE);
319  tempContent.writeByte(lq.bestLaneOffset);
320  ++cnt;
321  tempContent.writeUnsignedByte(TYPE_UBYTE);
322  lq.allowsContinuation ? tempContent.writeUnsignedByte(1) : tempContent.writeUnsignedByte(0);
323  ++cnt;
324  std::vector<std::string> bestContIDs;
325  for (std::vector<MSLane*>::const_iterator j = lq.bestContinuations.begin(); j != lq.bestContinuations.end(); ++j) {
326  bestContIDs.push_back((*j)->getID());
327  }
328  tempContent.writeUnsignedByte(TYPE_STRINGLIST);
329  tempContent.writeStringList(bestContIDs);
330  ++cnt;
331  }
332  tempMsg.writeInt((int) cnt);
333  tempMsg.writeStorage(tempContent);
334  }
335  break;
336  case DISTANCE_REQUEST:
337  if (!commandDistanceRequest(server, inputStorage, tempMsg, v)) {
338  return false;
339  }
340  break;
341  default:
343  break;
344  }
345  }
346  server.writeStatusCmd(CMD_GET_VEHICLE_VARIABLE, RTYPE_OK, "", outputStorage);
347  server.writeResponseWithLength(outputStorage, tempMsg);
348  return true;
349 }
350 
351 
352 bool
354  tcpip::Storage& outputStorage) {
355  std::string warning = ""; // additional description for response
356  // variable
357  int variable = inputStorage.readUnsignedByte();
358  if (variable != CMD_STOP && variable != CMD_CHANGELANE
359  && variable != CMD_SLOWDOWN && variable != CMD_CHANGETARGET
360  && variable != VAR_ROUTE_ID && variable != VAR_ROUTE
361  && variable != VAR_EDGE_TRAVELTIME && variable != VAR_EDGE_EFFORT
362  && variable != CMD_REROUTE_TRAVELTIME && variable != CMD_REROUTE_EFFORT
363  && variable != VAR_SIGNALS && variable != VAR_MOVE_TO
364  && variable != VAR_LENGTH && variable != VAR_MAXSPEED && variable != VAR_VEHICLECLASS
365  && variable != VAR_SPEED_FACTOR && variable != VAR_SPEED_DEVIATION && variable != VAR_EMISSIONCLASS
366  && variable != VAR_WIDTH && variable != VAR_MINGAP && variable != VAR_SHAPECLASS
367  && variable != VAR_ACCEL && variable != VAR_DECEL && variable != VAR_IMPERFECTION
368  && variable != VAR_TAU
369  && variable != VAR_SPEED && variable != VAR_SPEEDSETMODE && variable != VAR_COLOR
370  && variable != ADD && variable != REMOVE
371  && variable != VAR_MOVE_TO_VTD
372  ) {
373  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Change Vehicle State: unsupported variable specified", outputStorage);
374  }
375  // id
376  std::string id = inputStorage.readString();
377  const bool shouldExist = variable != ADD;
379  if (sumoVehicle == 0) {
380  if (shouldExist) {
381  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Vehicle '" + id + "' is not known", outputStorage);
382  }
383  }
384  MSVehicle* v = dynamic_cast<MSVehicle*>(sumoVehicle);
385  if (v == 0 && shouldExist) {
386  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Vehicle '" + id + "' is not a micro-simulation vehicle", outputStorage);
387  }
388  switch (variable) {
389  case CMD_STOP: {
390  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
391  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Stop needs a compound object description.", outputStorage);
392  }
393  if (inputStorage.readInt() != 4) {
394  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Stop needs a compound object description of four items.", outputStorage);
395  }
396  // read road map position
397  std::string roadId;
398  if (!server.readTypeCheckingString(inputStorage, roadId)) {
399  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The first stop parameter must be the edge id given as a string.", outputStorage);
400  }
401  double pos = 0;
402  if (!server.readTypeCheckingDouble(inputStorage, pos)) {
403  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The second stop parameter must be the position along the edge given as a double.", outputStorage);
404  }
405  int laneIndex = 0;
406  if (!server.readTypeCheckingByte(inputStorage, laneIndex)) {
407  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The third stop parameter must be the lane index given as a byte.", outputStorage);
408  }
409  // waitTime
410  SUMOTime waitTime = 0;
411  if (!server.readTypeCheckingInt(inputStorage, waitTime)) {
412  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "The fourth stop parameter must be the waiting time given as an integer.", outputStorage);
413  }
414  // check
415  if (pos < 0) {
416  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Position on lane must not be negative", outputStorage);
417  }
418  // get the actual lane that is referenced by laneIndex
419  MSEdge* road = MSEdge::dictionary(roadId);
420  if (road == 0) {
421  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Unable to retrieve road with given id", outputStorage);
422  }
423  const std::vector<MSLane*>& allLanes = road->getLanes();
424  if ((laneIndex < 0) || laneIndex >= (int)(allLanes.size())) {
425  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "No lane existing with such id on the given road", outputStorage);
426  }
427  // Forward command to vehicle
428  if (!v->addTraciStop(allLanes[laneIndex], pos, 0, waitTime)) {
429  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Vehicle is too close or behind the stop on " + allLanes[laneIndex]->getID(), outputStorage);
430  }
431  }
432  break;
433  case CMD_CHANGELANE: {
434  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
435  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Lane change needs a compound object description.", outputStorage);
436  }
437  if (inputStorage.readInt() != 2) {
438  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Lane change needs a compound object description of two items.", outputStorage);
439  }
440  // Lane ID
441  int laneIndex = 0;
442  if (!server.readTypeCheckingByte(inputStorage, laneIndex)) {
443  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The first lane change parameter must be the lane index given as a byte.", outputStorage);
444  }
445  // stickyTime
446  SUMOTime stickyTime = 0;
447  if (!server.readTypeCheckingInt(inputStorage, stickyTime)) {
448  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The second lane change parameter must be the duration given as an integer.", outputStorage);
449  }
450  if ((laneIndex < 0) || (laneIndex >= (int)(v->getEdge()->getLanes().size()))) {
451  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "No lane existing with given id on the current road", outputStorage);
452  }
453  // Forward command to vehicle
454  std::vector<std::pair<SUMOTime, unsigned int> > laneTimeLine;
455  laneTimeLine.push_back(std::make_pair(MSNet::getInstance()->getCurrentTimeStep(), laneIndex));
456  laneTimeLine.push_back(std::make_pair(MSNet::getInstance()->getCurrentTimeStep() + stickyTime, laneIndex));
457  v->getInfluencer().setLaneTimeLine(laneTimeLine);
459  *v->getEdge(), v->getLaneIndex());
461  }
462  break;
463  case CMD_SLOWDOWN: {
464  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
465  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Slow down needs a compound object description.", outputStorage);
466  }
467  if (inputStorage.readInt() != 2) {
468  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Slow down needs a compound object description of two items.", outputStorage);
469  }
470  double newSpeed = 0;
471  if (!server.readTypeCheckingDouble(inputStorage, newSpeed)) {
472  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The first slow down parameter must be the speed given as a double.", outputStorage);
473  }
474  if (newSpeed < 0) {
475  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Speed must not be negative", outputStorage);
476  }
477  SUMOTime duration = 0;
478  if (!server.readTypeCheckingInt(inputStorage, duration)) {
479  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The second slow down parameter must be the duration given as an integer.", outputStorage);
480  }
481  if (duration < 0) {
482  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid time interval", outputStorage);
483  }
484  std::vector<std::pair<SUMOTime, SUMOReal> > speedTimeLine;
485  speedTimeLine.push_back(std::make_pair(MSNet::getInstance()->getCurrentTimeStep(), v->getSpeed()));
486  speedTimeLine.push_back(std::make_pair(MSNet::getInstance()->getCurrentTimeStep() + duration, newSpeed));
487  v->getInfluencer().setSpeedTimeLine(speedTimeLine);
488  }
489  break;
490  case CMD_CHANGETARGET: {
491  std::string edgeID;
492  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
493  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Change target requires a string containing the id of the new destination edge as parameter.", outputStorage);
494  }
495  const MSEdge* destEdge = MSEdge::dictionary(edgeID);
496  if (destEdge == 0) {
497  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Can not retrieve road with ID " + edgeID, outputStorage);
498  }
499  // build a new route between the vehicle's current edge and destination edge
500  MSEdgeVector newRoute;
501  const MSEdge* currentEdge = v->getEdge();
503  currentEdge, destEdge, (const MSVehicle * const) v, MSNet::getInstance()->getCurrentTimeStep(), newRoute);
504  // replace the vehicle's route by the new one
505  if (!v->replaceRouteEdges(newRoute)) {
506  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Route replacement failed for " + v->getID(), outputStorage);
507  }
508  }
509  break;
510  case VAR_ROUTE_ID: {
511  std::string rid;
512  if (!server.readTypeCheckingString(inputStorage, rid)) {
513  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The route id must be given as a string.", outputStorage);
514  }
515  const MSRoute* r = MSRoute::dictionary(rid);
516  if (r == 0) {
517  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The route '" + rid + "' is not known.", outputStorage);
518  }
519  if (!v->replaceRoute(r)) {
520  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Route replacement failed for " + v->getID(), outputStorage);
521  }
522  }
523  break;
524  case VAR_ROUTE: {
525  std::vector<std::string> edgeIDs;
526  if (!server.readTypeCheckingStringList(inputStorage, edgeIDs)) {
527  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "A route must be defined as a list of edge ids.", outputStorage);
528  }
529  std::vector<const MSEdge*> edges;
530  MSEdge::parseEdgesList(edgeIDs, edges, "<unknown>");
531  if (!v->replaceRouteEdges(edges)) {
532  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Route replacement failed for " + v->getID(), outputStorage);
533  }
534  }
535  break;
536  case VAR_EDGE_TRAVELTIME: {
537  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
538  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time requires a compound object.", outputStorage);
539  }
540  int parameterCount = inputStorage.readInt();
541  if (parameterCount == 4) {
542  // begin time
543  SUMOTime begTime = 0, endTime = 0;
544  if (!server.readTypeCheckingInt(inputStorage, begTime)) {
545  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 4 parameters requires the begin time as first parameter.", outputStorage);
546  }
547  // begin time
548  if (!server.readTypeCheckingInt(inputStorage, endTime)) {
549  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 4 parameters requires the end time as second parameter.", outputStorage);
550  }
551  // edge
552  std::string edgeID;
553  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
554  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 4 parameters requires the referenced edge as third parameter.", outputStorage);
555  }
556  MSEdge* edge = MSEdge::dictionary(edgeID);
557  if (edge == 0) {
558  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
559  }
560  // value
561  double value = 0;
562  if (!server.readTypeCheckingDouble(inputStorage, value)) {
563  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 4 parameters requires the travel time as double as fourth parameter.", outputStorage);
564  }
565  // retrieve
566  v->getWeightsStorage().addTravelTime(edge, begTime, endTime, value);
567  } else if (parameterCount == 2) {
568  // edge
569  std::string edgeID;
570  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
571  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 2 parameters requires the referenced edge as first parameter.", outputStorage);
572  }
573  MSEdge* edge = MSEdge::dictionary(edgeID);
574  if (edge == 0) {
575  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
576  }
577  // value
578  double value = 0;
579  if (!server.readTypeCheckingDouble(inputStorage, value)) {
580  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 2 parameters requires the travel time as second parameter.", outputStorage);
581  }
582  // retrieve
583  while (v->getWeightsStorage().knowsTravelTime(edge)) {
585  }
586  v->getWeightsStorage().addTravelTime(edge, 0, SUMOTime_MAX, value);
587  } else if (parameterCount == 1) {
588  // edge
589  std::string edgeID;
590  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
591  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time using 1 parameter requires the referenced edge as first parameter.", outputStorage);
592  }
593  MSEdge* edge = MSEdge::dictionary(edgeID);
594  if (edge == 0) {
595  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
596  }
597  // retrieve
598  while (v->getWeightsStorage().knowsTravelTime(edge)) {
600  }
601  } else {
602  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting travel time requires 1, 2, or 4 parameters.", outputStorage);
603  }
604  }
605  break;
606  case VAR_EDGE_EFFORT: {
607  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
608  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort requires a compound object.", outputStorage);
609  }
610  int parameterCount = inputStorage.readInt();
611  if (parameterCount == 4) {
612  // begin time
613  SUMOTime begTime = 0, endTime = 0;
614  if (!server.readTypeCheckingInt(inputStorage, begTime)) {
615  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 4 parameters requires the begin time as first parameter.", outputStorage);
616  }
617  // begin time
618  if (!server.readTypeCheckingInt(inputStorage, endTime)) {
619  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 4 parameters requires the end time as second parameter.", outputStorage);
620  }
621  // edge
622  std::string edgeID;
623  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
624  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 4 parameters requires the referenced edge as third parameter.", outputStorage);
625  }
626  MSEdge* edge = MSEdge::dictionary(edgeID);
627  if (edge == 0) {
628  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
629  }
630  // value
631  double value = 0;
632  if (!server.readTypeCheckingDouble(inputStorage, value)) {
633  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 4 parameters requires the travel time as fourth parameter.", outputStorage);
634  }
635  // retrieve
636  v->getWeightsStorage().addEffort(edge, begTime, endTime, value);
637  } else if (parameterCount == 2) {
638  // edge
639  std::string edgeID;
640  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
641  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 2 parameters requires the referenced edge as first parameter.", outputStorage);
642  }
643  MSEdge* edge = MSEdge::dictionary(edgeID);
644  if (edge == 0) {
645  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
646  }
647  // value
648  double value = 0;
649  if (!server.readTypeCheckingDouble(inputStorage, value)) {
650  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 2 parameters requires the travel time as second parameter.", outputStorage);
651  }
652  // retrieve
653  while (v->getWeightsStorage().knowsEffort(edge)) {
654  v->getWeightsStorage().removeEffort(edge);
655  }
656  v->getWeightsStorage().addEffort(edge, 0, SUMOTime_MAX, value);
657  } else if (parameterCount == 1) {
658  // edge
659  std::string edgeID;
660  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
661  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort using 1 parameter requires the referenced edge as first parameter.", outputStorage);
662  }
663  MSEdge* edge = MSEdge::dictionary(edgeID);
664  if (edge == 0) {
665  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Referenced edge '" + edgeID + "' is not known.", outputStorage);
666  }
667  // retrieve
668  while (v->getWeightsStorage().knowsEffort(edge)) {
669  v->getWeightsStorage().removeEffort(edge);
670  }
671  } else {
672  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting effort requires 1, 2, or 4 parameters.", outputStorage);
673  }
674  }
675  break;
676  case CMD_REROUTE_TRAVELTIME: {
677  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
678  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Rerouting requires a compound object.", outputStorage);
679  }
680  if (inputStorage.readInt() != 0) {
681  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Rerouting should obtain an empty compound object.", outputStorage);
682  }
683  v->reroute(MSNet::getInstance()->getCurrentTimeStep(), MSNet::getInstance()->getRouterTT());
684  }
685  break;
686  case CMD_REROUTE_EFFORT: {
687  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
688  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Rerouting requires a compound object.", outputStorage);
689  }
690  if (inputStorage.readInt() != 0) {
691  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Rerouting should obtain an empty compound object.", outputStorage);
692  }
693  v->reroute(MSNet::getInstance()->getCurrentTimeStep(), MSNet::getInstance()->getRouterEffort());
694  }
695  break;
696  case VAR_SIGNALS: {
697  int signals = 0;
698  if (!server.readTypeCheckingInt(inputStorage, signals)) {
699  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting signals requires an integer.", outputStorage);
700  }
701  v->switchOffSignal(0x0fffffff);
702  v->switchOnSignal(signals);
703  }
704  break;
705  case VAR_MOVE_TO: {
706  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
707  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting position requires a compound object.", outputStorage);
708  }
709  if (inputStorage.readInt() != 2) {
710  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting position should obtain the lane id and the position.", outputStorage);
711  }
712  // lane ID
713  std::string laneID;
714  if (!server.readTypeCheckingString(inputStorage, laneID)) {
715  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The first parameter for setting a position must be the lane ID given as a string.", outputStorage);
716  }
717  // position on lane
718  double position = 0;
719  if (!server.readTypeCheckingDouble(inputStorage, position)) {
720  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The second parameter for setting a position must be the position given as a double.", outputStorage);
721  }
722  // process
723  MSLane* l = MSLane::dictionary(laneID);
724  if (l == 0) {
725  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Unknown lane '" + laneID + "'.", outputStorage);
726  }
727  MSEdge& destinationEdge = l->getEdge();
728  if (!v->willPass(&destinationEdge)) {
729  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Vehicle '" + laneID + "' may be set onto an edge to pass only.", outputStorage);
730  }
732  v->getLane()->removeVehicle(v);
733  while (v->getEdge() != &destinationEdge) {
734  const MSEdge* nextEdge = v->succEdge(1);
735  // let the vehicle move to the next edge
736  if (v->enterLaneAtMove(nextEdge->getLanes()[0], true)) {
738  continue;
739  }
740  }
741  l->forceVehicleInsertion(v, position);
742  }
743  break;
744  case VAR_SPEED: {
745  double speed = 0;
746  if (!server.readTypeCheckingDouble(inputStorage, speed)) {
747  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting speed requires a double.", outputStorage);
748  }
749  std::vector<std::pair<SUMOTime, SUMOReal> > speedTimeLine;
750  if (speed >= 0) {
751  speedTimeLine.push_back(std::make_pair(MSNet::getInstance()->getCurrentTimeStep(), speed));
752  speedTimeLine.push_back(std::make_pair(SUMOTime_MAX, speed));
753  }
754  v->getInfluencer().setSpeedTimeLine(speedTimeLine);
755  }
756  break;
757  case VAR_SPEEDSETMODE: {
758  int speedMode = 0;
759  if (!server.readTypeCheckingInt(inputStorage, speedMode)) {
760  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting speed mode requires an integer.", outputStorage);
761  }
762  v->getInfluencer().setConsiderSafeVelocity((speedMode & 1) != 0);
763  v->getInfluencer().setConsiderMaxAcceleration((speedMode & 2) != 0);
764  v->getInfluencer().setConsiderMaxDeceleration((speedMode & 4) != 0);
765  }
766  break;
767  case VAR_COLOR: {
768  RGBColor col;
769  if (!server.readTypeCheckingColor(inputStorage, col)) {
770  return server.writeErrorStatusCmd(CMD_SET_POLYGON_VARIABLE, "The color must be given using the according type.", outputStorage);
771  }
772  v->getParameter().color.set(col.red(), col.green(), col.blue(), col.alpha());
774  }
775  break;
776  case ADD: {
777  if (v != 0) {
778  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The vehicle " + id + " to add already exists.", outputStorage);
779  }
780  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
781  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Adding a vehicle requires a compound object.", outputStorage);
782  }
783  if (inputStorage.readInt() != 6) {
784  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Adding a vehicle needs six parameters.", outputStorage);
785  }
786  SUMOVehicleParameter vehicleParams;
787  vehicleParams.id = id;
788 
789  std::string vTypeID;
790  if (!server.readTypeCheckingString(inputStorage, vTypeID)) {
791  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "First parameter (type) requires a string.", outputStorage);
792  }
793  MSVehicleType* vehicleType = MSNet::getInstance()->getVehicleControl().getVType(vTypeID);
794  if (!vehicleType) {
795  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid type '" + vTypeID + "' for vehicle '" + id + "'", outputStorage);
796  }
797 
798  std::string routeID;
799  if (!server.readTypeCheckingString(inputStorage, routeID)) {
800  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Second parameter (route) requires a string.", outputStorage);
801  }
802  const MSRoute* route = MSRoute::dictionary(routeID);
803  if (!route) {
804  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid route '" + routeID + "' for vehicle: '" + id + "'", outputStorage);
805  }
806 
807  if (!server.readTypeCheckingInt(inputStorage, vehicleParams.depart)) {
808  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Third parameter (depart) requires an integer.", outputStorage);
809  }
810  if (vehicleParams.depart < 0) {
811  const int proc = static_cast<int>(-vehicleParams.depart);
812  if (proc >= static_cast<int>(DEPART_DEF_MAX)) {
813  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid departure time.", outputStorage);
814  }
815  vehicleParams.departProcedure = (DepartDefinition)proc;
816  }
817 
818  double pos;
819  if (!server.readTypeCheckingDouble(inputStorage, pos)) {
820  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Fourth parameter (position) requires a double.", outputStorage);
821  }
822  vehicleParams.departPos = pos;
823  if (vehicleParams.departPos < 0) {
824  const int proc = static_cast<int>(-vehicleParams.departPos);
825  if (proc >= static_cast<int>(DEPART_POS_DEF_MAX)) {
826  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid departure position.", outputStorage);
827  }
828  vehicleParams.departPosProcedure = (DepartPosDefinition)proc;
829  } else {
830  vehicleParams.departPosProcedure = DEPART_POS_GIVEN;
831  }
832 
833  double speed;
834  if (!server.readTypeCheckingDouble(inputStorage, speed)) {
835  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Fifth parameter (speed) requires a double.", outputStorage);
836  }
837  vehicleParams.departSpeed = speed;
838  if (vehicleParams.departSpeed < 0) {
839  const int proc = static_cast<int>(-vehicleParams.departSpeed);
840  if (proc >= static_cast<int>(DEPART_SPEED_DEF_MAX)) {
841  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid departure speed.", outputStorage);
842  }
843  vehicleParams.departSpeedProcedure = (DepartSpeedDefinition)proc;
844  } else {
846  }
847 
848  if (!server.readTypeCheckingByte(inputStorage, vehicleParams.departLane)) {
849  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Sixth parameter (lane) requires a byte.", outputStorage);
850  }
851 
852  if (vehicleParams.departLane < 0) {
853  const int proc = static_cast<int>(-vehicleParams.departLane);
854  if (proc >= static_cast<int>(DEPART_LANE_DEF_MAX)) {
855  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Invalid departure lane.", outputStorage);
856  }
857  vehicleParams.departLaneProcedure = (DepartLaneDefinition)proc;
858  } else {
859  vehicleParams.departLaneProcedure = DEPART_LANE_GIVEN;
860  }
861 
863  *params = vehicleParams;
864  try {
865  SUMOVehicle* vehicle = MSNet::getInstance()->getVehicleControl().buildVehicle(params, route, vehicleType);
866  MSNet::getInstance()->getVehicleControl().addVehicle(vehicleParams.id, vehicle);
868  } catch (ProcessError& e) {
869  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, e.what(), outputStorage);
870  }
871  }
872  break;
873  case REMOVE: {
874  int why = 0;
875  if (!server.readTypeCheckingByte(inputStorage, why)) {
876  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Removing a vehicle requires a byte.", outputStorage);
877  }
879  switch (why) {
880  case REMOVE_TELEPORT:
882  break;
883  case REMOVE_PARKING:
885  break;
886  case REMOVE_ARRIVED:
888  break;
889  case REMOVE_VAPORIZED:
891  break;
894  break;
895  default:
896  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Unknown removal status.", outputStorage);
897  }
898  if (v->hasDeparted()) {
899  v->onRemovalFromNet(n);
900  if (v->getLane() != 0) {
901  v->getLane()->removeVehicle(v);
902  }
904  }
905  }
906  break;
907  case VAR_MOVE_TO_VTD: {
908  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
909  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting VTD vehicle requires a compound object.", outputStorage);
910  }
911  if (inputStorage.readInt() != 4) {
912  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Setting VTD vehicle should obtain: edgeID, lane, x, y.", outputStorage);
913  }
914  // edge ID
915  std::string edgeID;
916  if (!server.readTypeCheckingString(inputStorage, edgeID)) {
917  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The first parameter for setting a VTD vehicle must be the edge ID given as a string.", outputStorage);
918  }
919  // lane index
920  int laneNum = 0;
921  if (!server.readTypeCheckingInt(inputStorage, laneNum)) {
922  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The second parameter for setting a VTD vehicle must be lane given as an int.", outputStorage);
923  }
924  // x
925  double x = 0, y = 0;
926  if (!server.readTypeCheckingDouble(inputStorage, x)) {
927  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The third parameter for setting a VTD vehicle must be the x-position given as a double.", outputStorage);
928  }
929  // y
930  if (!server.readTypeCheckingDouble(inputStorage, y)) {
931  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "The fourth parameter for setting a VTD vehicle must be the y-position given as a double.", outputStorage);
932  }
933  // process
934  if (!v->isOnRoad()) {
935  break;
936  }
937  std::string origID = edgeID + " " + toString(laneNum);
938  if (laneNum < 0) {
939  edgeID = '-' + edgeID;
940  laneNum = -laneNum;
941  }
942  Position pos(x, y);
943 
944  Position vehPos = v->getPosition();
945  v->getBestLanes();
946  bool report = server.vtdDebug();
947  if (report) {
948  std::cout << std::endl << "begin vehicle " << v->getID() << " vehPos:" << vehPos << " lane:" << v->getLane()->getID() << std::endl;
949  }
950  if (report) {
951  std::cout << " want pos:" << pos << " edge:" << edgeID << " laneNum:" << laneNum << std::endl;
952  }
953 
954  MSEdgeVector edgesA, edgesB, edgesC;
955  MSLane* laneA, *laneB, *laneC;
956  laneA = laneB = laneC = 0;
957  SUMOReal lanePosA, lanePosB, lanePosC;
958  SUMOReal bestDistanceA, bestDistanceB, bestDistanceC;
959  bestDistanceA = bestDistanceB = bestDistanceC = 1000.;//pos.distanceSquaredTo2D(vehPos);
960  int routeOffsetA, routeOffsetB, routeOffsetC;
961  routeOffsetA = routeOffsetB = routeOffsetC = 0;
962  // case a): edge/lane is known and matches route
963  bool aFound = vtdMap_matchingEdgeLane(pos, origID, *v, server.vtdDebug(), bestDistanceA, &laneA, lanePosA, routeOffsetA, edgesA);
964  // case b): position is at route, should be somewhere near to it
965  bool bFound = vtdMap_matchingRoutePosition(pos, origID, *v, server.vtdDebug(), bestDistanceB, &laneB, lanePosB, routeOffsetB, edgesB);
966  // case c) nearest matching lane
967  bool cFound = vtdMap_matchingNearest(pos, origID, *v, server, server.vtdDebug(), bestDistanceC, &laneC, lanePosC, routeOffsetC, edgesC);
968  //
969  SUMOReal maxRouteDistance = 50;
970  if (cFound && (bestDistanceA > maxRouteDistance && bestDistanceC > maxRouteDistance)) {
971  // both route-based approach yield in a position too far away from the submitted --> new route!?
972  server.setVTDControlled(v, laneC, lanePosC, routeOffsetC, edgesC);
973  } else {
974  // use the best we have
975  if (bFound) {
976  server.setVTDControlled(v, laneB, lanePosB, routeOffsetB, edgesB);
977  } else if (aFound) {
978  server.setVTDControlled(v, laneA, lanePosA, routeOffsetA, edgesA);
979  } else if (cFound) {
980  server.setVTDControlled(v, laneC, lanePosC, routeOffsetC, edgesC);
981  } else {
982  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, "Could not map vehicle.", outputStorage);
983  }
984  }
985  }
986  break;
987  default:
988  try {
989  if (!TraCIServerAPI_VehicleType::setVariable(CMD_SET_VEHICLE_VARIABLE, variable, getSingularType(v), server, inputStorage, outputStorage)) {
990  return false;
991  }
992  } catch (ProcessError& e) {
993  return server.writeErrorStatusCmd(CMD_SET_VEHICLE_VARIABLE, e.what(), outputStorage);
994  }
995  break;
996  }
997  server.writeStatusCmd(CMD_SET_VEHICLE_VARIABLE, RTYPE_OK, warning, outputStorage);
998  return true;
999 }
1000 
1001 
1002 bool
1003 TraCIServerAPI_Vehicle::vtdMap_matchingEdgeLane(const Position& pos, const std::string& origID, MSVehicle& v, bool report,
1004  SUMOReal& bestDistance, MSLane** lane, SUMOReal& lanePos, int& routeOffset, MSEdgeVector& edges) {
1005  const std::map<std::string, std::vector<MSLane*> >& vtdMap = getOrBuildVTDMap();
1006  if (vtdMap.find(origID) == vtdMap.end()) {
1007  if (report) {
1008  std::cout << " a failed - lane not in map" << std::endl;
1009  }
1010  return false;
1011  }
1012  const std::vector<MSLane*>& lanes = vtdMap.find(origID)->second;
1013  for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end() && bestDistance > POSITION_EPS; ++i) {
1014  MSLane* l = *i;
1015  SUMOReal dist = l->getShape().distance(pos);
1016  if (report) {
1017  std::cout << " a at lane " << l->getID() << " dist:" << dist << " best:" << bestDistance << std::endl;
1018  }
1019  if (dist < bestDistance) {
1020  bestDistance = dist;
1021  *lane = l;
1022  }
1023  }
1024  MSLane* pni = *lane;
1025  while (pni != 0 && pni->getEdge().getPurpose() == MSEdge::EDGEFUNCTION_INTERNAL && pni->getIncomingLanes().size() != 0) {
1026  pni = pni->getIncomingLanes()[0].lane;
1027  }
1028  if (pni == 0 || pni->getEdge().getPurpose() == MSEdge::EDGEFUNCTION_INTERNAL) {
1029  // not found
1030  if (report) {
1031  std::cout << " a failed - no incoming lane" << std::endl;
1032  }
1033  return false;
1034  }
1035  const MSEdgeVector& tedges = v.getRoute().getEdges();
1036  MSEdgeVector::const_iterator p = std::find(tedges.begin() + v.getRoutePosition(), tedges.end(), &pni->getEdge());
1037  if (p != tedges.end()) {
1038  lanePos = MAX2(SUMOReal(0), MIN2(SUMOReal((*lane)->getLength() - POSITION_EPS), (*lane)->getShape().nearest_offset_to_point2D(pos, false)));
1039  routeOffset = std::distance(tedges.begin(), p) - v.getRoutePosition();
1040  if (report) {
1041  std::cout << " a ok lane:" << (*lane)->getID() << " lanePos:" << lanePos << " routeOffset:" << routeOffset << std::endl;
1042  }
1043  return true;
1044  }
1045  if (report) {
1046  std::cout << " a failed - route position beyond route length" << std::endl;
1047  }
1048  return false;
1049 }
1050 
1051 
1052 bool
1053 TraCIServerAPI_Vehicle::vtdMap_matchingRoutePosition(const Position& pos, const std::string& origID, MSVehicle& v, bool report,
1054  SUMOReal& bestDistance, MSLane** lane, SUMOReal& lanePos, int& routeOffset, MSEdgeVector& edges) {
1055 
1056  int lastBestRouteEdge = 0;
1057  int lastRouteEdge = 0;
1058  MSLane* bestRouteLane = 0;
1059  const std::vector<MSLane*>& bestLaneConts = v.getBestLanesContinuation(v.getLane());
1060  for (std::vector<MSLane*>::const_iterator i = bestLaneConts.begin(); i != bestLaneConts.end() && bestDistance > POSITION_EPS; ++i) {
1061  MSEdge& e = (*i)->getEdge();
1062  if (i != bestLaneConts.begin() && e.getPurpose() != MSEdge::EDGEFUNCTION_INTERNAL) {
1063  ++lastRouteEdge;
1064  }
1065  const std::vector<MSLane*>& lanes = e.getLanes();
1066  for (std::vector<MSLane*>::const_iterator k = lanes.begin(); k != lanes.end() && bestDistance > POSITION_EPS; ++k) {
1067  MSLane* cl = *k;
1068  SUMOReal dist = cl->getShape().distance(pos);
1069  if (report) {
1070  std::cout << " b at lane " << cl->getID() << " dist:" << dist << " best:" << bestDistance << std::endl;
1071  }
1072  if (dist < bestDistance) {
1073  bestDistance = dist;
1074  *lane = cl;
1075  lastBestRouteEdge = lastRouteEdge;
1077  bestRouteLane = *i;
1078  } else {
1079  bestRouteLane = *lane;
1080  }
1081  }
1082  }
1083  }
1084  if (bestRouteLane == 0) {
1085  if (report) {
1086  std::cout << " b failed - no best route lane" << std::endl;
1087  }
1088  return false;
1089  }
1090  lanePos = MAX2(SUMOReal(0), MIN2(SUMOReal(bestRouteLane->getLength() - POSITION_EPS), bestRouteLane->getShape().nearest_offset_to_point2D(pos, false)));
1091  routeOffset = lastBestRouteEdge;
1092  if (report) {
1093  std::cout << " b ok lane " << bestRouteLane->getID() << " lanePos:" << lanePos << " best:" << lastBestRouteEdge << std::endl;
1094  }
1095  return true;
1096 }
1097 
1098 
1099 bool
1100 TraCIServerAPI_Vehicle::vtdMap_matchingNearest(const Position& pos, const std::string& origID, MSVehicle& v, traci::TraCIServer& server, bool report,
1101  SUMOReal& bestDistance, MSLane** lane, SUMOReal& lanePos, int& routeOffset, MSEdgeVector& edges) {
1102  unsigned int r = 0;
1103  SUMOReal minDist = 1 << (11);
1104  MSLane* minDistLane = 0;
1105  MSLane* nameMatchingLane = 0;
1106  SUMOReal minDistNameMatchingLane = 1 << (11);
1107  for (; minDistLane == 0 && r < 10 && nameMatchingLane == 0; ++r) {
1108  std::set<std::string> into;
1109  PositionVector shape;
1110  shape.push_back(pos);
1111  server.collectObjectsInRange(CMD_GET_EDGE_VARIABLE, shape, 1 << r, into);
1112  for (std::set<std::string>::const_iterator j = into.begin(); j != into.end(); ++j) {
1113  MSEdge* e = MSEdge::dictionary(*j);
1114  const std::vector<MSLane*>& lanes = e->getLanes();
1115  for (std::vector<MSLane*>::const_iterator k = lanes.begin(); k != lanes.end(); ++k) {
1116  MSLane* lane = *k;
1117  SUMOReal dist = lane->getShape().distance(pos);
1118  if (lane->knowsParameter("origId")) {
1119  if (lane->getParameter("origId", "") == origID) {
1120  if (dist < minDistNameMatchingLane) {
1121  minDistNameMatchingLane = dist;
1122  nameMatchingLane = lane;
1123  }
1124  }
1125  }
1126  if (dist < minDist) {
1127  minDist = dist;
1128  minDistLane = lane;
1129  }
1130  }
1131  }
1132  }
1133  *lane = nameMatchingLane != 0 ? nameMatchingLane : minDistLane;
1134  if (lane == 0) {
1135  if (report) {
1136  std::cout << " c failed - no matching lane" << std::endl;
1137  }
1138  return false;
1139  }
1140  lanePos = (*lane)->interpolateGeometryPosToLanePos((*lane)->getShape().nearest_offset_to_point2D(pos, false));
1141  if (*lane == v.getLane()) {
1142  routeOffset = 0;
1143  if (report) {
1144  std::cout << " c ok, on same lane" << std::endl;
1145  }
1146  return true;
1147  }
1148  MSEdge& destinationEdge = (*lane)->getEdge();
1149  MSEdge* routePos = &destinationEdge;
1150  while (routePos->getPurpose() == MSEdge::EDGEFUNCTION_INTERNAL) {
1151  routePos = &routePos->getLanes()[0]->getLogicalPredecessorLane()->getEdge();
1152  }
1153  r = 0;
1154  const MSRoute& route = v.getRoute();
1155  unsigned int c = v.getRoutePosition();
1156  unsigned int l = (int)route.getEdges().size();
1157  unsigned int rindex = 0;
1158  bool found = false;
1159  while (!found && ((int)(c - r) >= 0 || c + r < l)) {
1160  if ((int)(c - r) >= 0 && route[c - r] == routePos) {
1161  rindex = c - r;
1162  found = true;
1163  }
1164  if (c + r < l && route[c + r] == routePos) {
1165  rindex = c + r;
1166  found = true;
1167  }
1168  ++r;
1169  }
1170  if (found) {
1171  // the matching lane is part of the route
1172  routeOffset = rindex - v.getRoutePosition();
1173  if (report) {
1174  std::cout << " c ok, on a different edge of same route" << std::endl;
1175  }
1176  return true;
1177  }
1178  // build new route
1179  MSLane* firstLane = *lane;
1180  if (destinationEdge.getPurpose() != MSEdge::EDGEFUNCTION_INTERNAL) {
1181  edges.push_back(&destinationEdge);
1182  } else {
1183  firstLane = (*lane)->getLogicalPredecessorLane();
1184  edges.push_back(&firstLane->getEdge());
1185  }
1186  const MSLinkCont& lc = firstLane->getLinkCont();
1187  if (lc.size() != 0 && lc[0]->getLane() != 0) {
1188  edges.push_back(&lc[0]->getLane()->getEdge());
1189  }
1190  if (report) {
1191  std::cout << " c ok, on a different route" << std::endl;
1192  }
1193  return true;
1194 }
1195 
1196 
1197 bool
1199  tcpip::Storage& outputStorage, const MSVehicle* v) {
1200  if (inputStorage.readUnsignedByte() != TYPE_COMPOUND) {
1201  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Retrieval of distance requires a compound object.", outputStorage);
1202  }
1203  if (inputStorage.readInt() != 2) {
1204  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Retrieval of distance requires position and distance type as parameter.", outputStorage);
1205  }
1206 
1207  Position pos;
1208  std::pair<const MSLane*, SUMOReal> roadPos;
1209 
1210  // read position
1211  int posType = inputStorage.readUnsignedByte();
1212  switch (posType) {
1213  case POSITION_ROADMAP:
1214  try {
1215  std::string roadID = inputStorage.readString();
1216  roadPos.second = inputStorage.readDouble();
1217  roadPos.first = TraCIServerAPI_Simulation::getLaneChecking(roadID, inputStorage.readUnsignedByte(), roadPos.second);
1218  pos = roadPos.first->getShape().positionAtOffset(roadPos.second);
1219  } catch (TraCIException& e) {
1220  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, e.what(), outputStorage);
1221  }
1222  break;
1223  case POSITION_2D:
1224  case POSITION_3D: {
1225  const double p1x = inputStorage.readDouble();
1226  const double p1y = inputStorage.readDouble();
1227  pos.set(p1x, p1y);
1228  }
1229  if (posType == POSITION_3D) {
1230  inputStorage.readDouble(); // z value is ignored
1231  }
1233  break;
1234  default:
1235  return server.writeErrorStatusCmd(CMD_GET_VEHICLE_VARIABLE, "Unknown position format used for distance request", outputStorage);
1236  }
1237 
1238  // read distance type
1239  int distType = inputStorage.readUnsignedByte();
1240 
1241  SUMOReal distance = INVALID_DOUBLE_VALUE;
1242  if (v->isOnRoad()) {
1243  if (distType == REQUEST_DRIVINGDIST) {
1244  distance = v->getRoute().getDistanceBetween(v->getPositionOnLane(), roadPos.second,
1245  v->getEdge(), &roadPos.first->getEdge());
1246  if (distance == std::numeric_limits<SUMOReal>::max()) {
1247  distance = INVALID_DOUBLE_VALUE;
1248  }
1249  } else {
1250  // compute air distance (default)
1251  distance = v->getPosition().distanceTo(pos);
1252  }
1253  }
1254  // write response command
1255  outputStorage.writeUnsignedByte(TYPE_DOUBLE);
1256  outputStorage.writeDouble(distance);
1257  return true;
1258 }
1259 
1260 
1261 // ------ helper functions ------
1262 bool
1263 TraCIServerAPI_Vehicle::getPosition(const std::string& id, Position& p) {
1264  MSVehicle* v = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(id));
1265  if (v == 0) {
1266  return false;
1267  }
1268  p = v->getPosition();
1269  return true;
1270 }
1271 
1272 
1275  const MSVehicleType& oType = veh->getVehicleType();
1276  std::string newID = oType.getID().find('@') == std::string::npos ? oType.getID() + "@" + veh->getID() : oType.getID();
1277  MSVehicleType* type = MSVehicleType::build(newID, &oType);
1278  static_cast<MSVehicle*>(veh)->replaceVehicleType(type);
1279  return *type;
1280 }
1281 
1282 
1283 #include <microsim/MSEdgeControl.h>
1284 
1285 const std::map<std::string, std::vector<MSLane*> >&
1287  if (gVTDMap.size() == 0) {
1288  const std::vector<MSEdge*>& edges = MSNet::getInstance()->getEdgeControl().getEdges();
1289  for (std::vector<MSEdge*>::const_iterator i = edges.begin(); i != edges.end(); ++i) {
1290  const std::vector<MSLane*>& lanes = (*i)->getLanes();
1291  for (std::vector<MSLane*>::const_iterator j = lanes.begin(); j != lanes.end(); ++j) {
1292  if ((*j)->knowsParameter("origId")) {
1293  std::string origID = (*j)->getParameter("origId", "");
1294  if (gVTDMap.find(origID) == gVTDMap.end()) {
1295  gVTDMap[origID] = std::vector<MSLane*>();
1296  }
1297  gVTDMap[origID].push_back(*j);
1298  }
1299  }
1300  }
1301  if (gVTDMap.size() == 0) {
1302  gVTDMap["unknown"] = std::vector<MSLane*>();
1303  }
1304  }
1305  return gVTDMap;
1306 }
1307 
1308 
1309 #endif
1310 
1311 
1312 /****************************************************************************/
1313