/* -*- Mode:C++; c-file-style:"gnu"; indent-tabs-mode:nil; -*- */
/*
* Copyright (c) 2017 Fraunhofer ESK
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation;
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* Author: Karsten Roscher <karsten.roscher@esk.fraunhofer.de>
*/
#ifndef TRACI_VEHICLE_H
#define TRACI_VEHICLE_H
#include <tuple>
#include <ns3/node.h>
#include <ns3/simple-ref-count.h>
#include <ns3/vector.h>
#include <ns3/assert.h>
#include "traci.h"
#include "traci-types.h"
#include "traci-cached-variable.h"
namespace ns3
{
namespace traci
{
/*!
* @brief Class representing a single vehicle on the TraCI host.
*
* This class will cache all values to reduce the network traffic if
* values are required multiple times at different places.
*/
class Vehicle : public SimpleRefCount<Vehicle>
{
public:
/*!
* @brief Create a new vehicle with the provided id.
* @param traci Link to the TraCI host
* @param id Id of the object on the TraCI host
*/
Vehicle (Ptr<TraCi> traci, std::string id);
/*!
* @brief Get the id of the object
* @return Id of the object
*/
std::string
GetId () const;
/*!
* @brief Get the assigned traci instance
* @return Traci instance used
*/
Ptr<TraCi>
GetTraCi () const;
/*!
* @brief Set the node this vehicle is attached to
* @param node Node the vehicle is attached to
*/
void
SetNode (Ptr<Node> node);
/*!
* @brief Get the node this vehicle is attached to (if any)
* @return Pointer to the node this vehicle is attached to, null if not attached
*/
Ptr<Node>
GetNode () const;
/*
* Specific value getters
*/
/*!
* @brief Get the position of the object (center of front bumper)
* @param forceReload Force reload from the TraCI host if true
* @return Position of the object
*/
Vector
GetPosition (bool forceReload = false) const;
//! Get the 2D position of the object (center of front bumper)
Vector2D
GetPosition2d (bool forceReload = false) const;
/*!
* @brief Get the position of the vehicle center
*
* The center will be calculated in x/y dimensions, the z coordinate
* is left untouched
*
* @param forceReload Force reload from TraCI host if true
* @return Position of the vehicle center
*/
Vector
GetCenterPosition (bool forceReload = false) const;
//! Get length in meters
double
GetLength (bool forceReload = false) const;
//! Get width in meters
double
GetWidth (bool forceReload = false) const;
//! Get height in meters
double
GetHeight (bool forceReload = false) const;
//! Get speed in m/s
double
GetSpeed (bool forceReload = false) const;
//! Get max speed in m/s
double
GetMaxSpeed (bool forceReload = false) const;
//! Get lateral speed in m/s
double
GetSpeedLateral (bool forceReload = false) const;
//! Get max lateral speed in m/s
double
GetMaxSpeedLateral (bool forceReload = false) const;
//! Get current heading
Heading
GetHeading (bool forceReload = false) const;
//! Get velocity vector
Vector
GetVelocity (bool forceReload = false) const;
//! Get current acceleration
double
GetAcceleration (bool forceReload = false) const;
//! Get max acceleration
double
GetMaxAcceleration (bool forceReload = false) const;
//! Get max deceleration
double
GetMaxDeceleration (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;
//! Get current route id
std::string
GetRouteID (bool forceReload = false) const;
//! Get route, edge list
std::vector<std::string>
GetRoute (bool forceReload = false) const;
Color
GetColor (bool forceReload = false) const;
/*
* Specific value setters
*/
void
SetColor (const Color& color);
/*
* Generic get/set
*/
/*!
* @brief Get the value of a vehicle variable from the TraCI host.
*
* This is a fallback method if no specific Get* method is available.
*
* @param variable Variable code for the request.
* @tparam Expected return type.
*
* @return Requested variable value.
*
* @throw ...
*/
template<typename ResultType>
ResultType
GetVariable (int variable);
/*!
* @brief Set the value of a vehicle variable with the TraCI host.
*
* This is a fallback method if no specific Set* method is available.
*
* @param variable Variable code for the request
* @param value Variable content for the request
* @param type Identifier of the data type (optional, if omitted default for template type is used)
* @tparam Type of the variable
*
* @throw ...
*/
template<typename VariableType>
void
SetVariable (int variable, VariableType value);
/*!
* @brief change lane of the specified vehicle over given duration.
*
* Parameters:
* - ID of the lange to change to
* - duration for the change
* - if the provided ID signals a relative lane chance
*/
void
changeLane (int laneID, double duration);
/*!
* @brief set speed of the specified vehicle.
*
* Parameters:
* - new speed to set
*/
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.
*
* Parameters:
* - new speed to set
* - duration for the change
*/
void
slowDown (double speed, double duration);
/*!
* @brief set new position for vehicle.
*
* Parameters:
* - ID of the road
* - ID of the lange to change to
* - x coordinate
* - y coordinate
* - angle (if default value, then use the angle of the edge)
*/
void
moveToXY (std::string edgeID, int laneID, double x, double y, double angle=-1000000.0);
/*!
* @brief set route for vehicle.
*
* The first edge in the list has to be the one that the vehicle is at at the moment.
*
* Parameters:
* - new edgeId list
*/
void
setRoute (std::vector<std::string> edgeIdList);
private:
Ptr<TraCi> m_traci; // link to the traci instance
std::string m_id; // id of the object
Ptr<Node> m_node; // node this vehicle is attached to
// Cached variables
CachedVariable<Position3D, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_POSITION3D> m_position;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_LENGTH, true> m_length;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_WIDTH, true> m_width;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_HEIGHT, true> m_height;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_SPEED> m_speed;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_SPEED_LAT> m_speedLateral;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_MAXSPEED> m_maxSpeed;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_MAXSPEED> m_maxSpeedLateral;
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<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_ACCEL> m_maxAcceleration;
CachedVariable<double, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_DECEL> m_maxDeceleration;
CachedVariable<int, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_LANE_INDEX> m_laneIdx;
CachedVariable<std::string, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_ROAD_ID> m_roadId;
CachedVariable<std::string, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_ROUTE_ID> m_routeId;
CachedVariable<std::vector<std::string>, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_EDGES> m_route;
CachedVariable<Color, libsumo::CMD_GET_VEHICLE_VARIABLE, libsumo::VAR_COLOR> m_color;
};
/*
* Implementation of the template based methods
*/
template<typename ResultType>
ResultType
Vehicle::GetVariable (int variable)
{
NS_ASSERT (m_traci);
return m_traci->GetVariable<ResultType>(libsumo::CMD_GET_VEHICLE_VARIABLE, variable, m_id);
}
template<typename VariableType>
void
Vehicle::SetVariable (int variable, VariableType value)
{
NS_ASSERT (m_traci);
m_traci->SetVariable<VariableType>(libsumo::CMD_SET_VEHICLE_VARIABLE, variable, value, m_id);
}
}
}
#endif // TRACI_VEHICLE_H