Merge branch '3-add-lateral-resolution-as-parameter-to-sumo_config' into 'master'

added setmaxspeedlateral command and implementation

Closes #3

See merge request ezcar2x/ns3/traci!4

model/traci-commands.h

@@ -366,6 +366,43 @@ private:
 };
 
 
+class SetMaxSpeedLateral : public Command
+{
+public:
+
+  SetMaxSpeedLateral(std::string vehicle, double speed)
+    : m_vehicle (vehicle), m_speed (speed)
+  {
+  }
+
+private:
+
+  int DoGetId () const override
+  {
+    return libsumo::CMD_SET_VEHICLE_VARIABLE;
+  }
+
+  int DoGetDataLength () const override
+  {
+    return
+	1 + CodingTraits<std::string>::Size (m_vehicle) +
+	1 + CodingTraits<double>::Size (m_speed);
+  }
+
+  bool DoSerializeData (BufferType& buffer) const override
+  {
+    CodingTraits<UByte>::Append (buffer, libsumo::VAR_MAXSPEED_LAT);
+    CodingTraits<std::string>::Append (buffer, m_vehicle);
+    CodingTraits<UByte>::Append (buffer, CodingTraits<double>::IDENTIFIER);
+    CodingTraits<double>::Append (buffer, m_speed);
+    return true;
+  }
+
+  std::string m_vehicle;
+  double m_speed;
+};
+
+
 class MoveToXY : public Command
 {
 public:

model/traci-vehicle.cc

@@ -33,7 +33,8 @@ Vehicle::Vehicle (Ptr<TraCi> traci, std::string id)
     m_position (m_traci, id),
     m_length (m_traci, id), m_width (m_traci, id), m_height (m_traci, id),
     m_speed (m_traci, id), m_speed_lateral (m_traci, id), m_maxSpeed (m_traci, id),
-    m_heading (m_traci, id), m_acceleration (m_traci, id), m_color (m_traci, id)
+    m_heading (m_traci, id), m_acceleration (m_traci, id),
+    m_lane_idx (m_traci, id), m_road_id (m_traci, id), m_color (m_traci, id)
 {
 }
 
@@ -143,6 +144,18 @@ Vehicle::GetAcceleration (bool forceReload) const
   return m_acceleration.GetValue (forceReload);
 }
 
+int
+Vehicle::GetLaneIndex (bool forceReload) const
+{
+  return m_lane_idx.GetValue (forceReload);
+}
+
+std::string
+Vehicle::GetRoadID (bool forceReload) const
+{
+  return m_road_id.GetValue (forceReload);
+}
+
 Color
 Vehicle::GetColor (bool forceReload) const
 {
@@ -175,6 +188,15 @@ Vehicle::setSpeed (double speed)
     m_traci->ExecuteCommand (my_command, my_result);
 }
 
+void
+Vehicle::setMaxSpeedLateral (double max_speed)
+{
+    NS_LOG_INFO("TraCiVehicle: Sending SetMaxSpeedLateral to vehicle "+m_id+" : max_speed = "+std::to_string(max_speed));
+    traci::command::SetMaxSpeedLateral my_command(m_id, max_speed);
+    traci::result::NoResult my_result;
+    m_traci->ExecuteCommand (my_command, my_result);
+}
+
 void
 Vehicle::slowDown (double speed, double duration)
 {

model/traci-vehicle.h

@@ -145,6 +145,14 @@ public:
   double
   GetAcceleration (bool forceReload = false) const;
 
+  //! Get current lane idx
+  int
+  GetLaneIndex (bool forceReload = false) const;
+
+  //! Get current road id
+  std::string
+  GetRoadID (bool forceReload = false) const;
+
   Color
   GetColor (bool forceReload = false) const;
 
@@ -213,6 +221,15 @@ public:
   void
   setSpeed (double speed);
   
+  /*!
+   * @brief set maximum lateral speed of the specified vehicle.
+   *
+   * Parameters:
+   * - new max speed to set
+   */
+  void
+  setMaxSpeedLateral (double max_speed);
+
   /*!
    * @brief gradually change the speed over given duration.
    *
@@ -253,6 +270,8 @@ private:
   CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_MAXSPEED> m_maxSpeed;
   CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_ANGLE> m_heading;
   CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_ACCELERATION> m_acceleration;
+  CachedVariable<int, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_LANE_INDEX> m_lane_idx;
+  CachedVariable<std::string, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_ROAD_ID> m_road_id;
   CachedVariable<Color, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_COLOR> m_color;
 };