Eclipse SUMO - Simulation of Urban MObility
MSFCDExport.cpp
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1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3// Copyright (C) 2012-2023 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
21// Realises dumping Floating Car Data (FCD) Data
22/****************************************************************************/
23#include <config.h>
24
30#include <libsumo/Helper.h>
34#include <microsim/MSEdge.h>
35#include <microsim/MSLane.h>
36#include <microsim/MSGlobals.h>
37#include <microsim/MSNet.h>
38#include <microsim/MSVehicle.h>
43#include "MSFCDExport.h"
44
45
46// ===========================================================================
47// method definitions
48// ===========================================================================
49void
50MSFCDExport::write(OutputDevice& of, SUMOTime timestep, bool elevation) {
52 const SUMOTime period = string2time(oc.getString("device.fcd.period"));
53 const SUMOTime begin = string2time(oc.getString("device.fcd.begin"));
54 if ((period > 0 && (timestep - begin) % period != 0) || timestep < begin) {
55 return;
56 }
57 const long long int mask = MSDevice_FCD::getWrittenAttributes();
58 const bool maskSet = oc.isSet("fcd-output.attributes");
59 const bool useGeo = oc.getBool("fcd-output.geo");
60 const bool signals = oc.getBool("fcd-output.signals") || (maskSet && of.useAttribute(SUMO_ATTR_SIGNALS, mask));
61 const bool writeAccel = oc.getBool("fcd-output.acceleration") || (maskSet && of.useAttribute(SUMO_ATTR_ACCELERATION, mask));
62 const bool writeDistance = oc.getBool("fcd-output.distance") || (maskSet && of.useAttribute(SUMO_ATTR_DISTANCE, mask));
63 const double maxLeaderDistance = oc.getFloat("fcd-output.max-leader-distance");
64 std::vector<std::string> params = oc.getStringVector("fcd-output.params");
67 const double radius = oc.getFloat("device.fcd.radius");
68 const bool filter = MSDevice_FCD::getEdgeFilter().size() > 0;
69 const bool shapeFilter = MSDevice_FCD::hasShapeFilter();
70 std::set<const Named*> inRadius;
71 if (radius > 0) {
72 // collect all vehicles in radius around equipped vehicles
73 for (MSVehicleControl::constVehIt it = vc.loadedVehBegin(); it != vc.loadedVehEnd(); ++it) {
74 const SUMOVehicle* veh = it->second;
75 if (isVisible(veh) && hasOwnOutput(veh, filter, shapeFilter)) {
76 PositionVector shape;
77 shape.push_back(veh->getPosition());
80 }
81 }
82 }
83
84 of.openTag("timestep").writeAttr(SUMO_ATTR_TIME, time2string(timestep));
85 for (MSVehicleControl::constVehIt it = vc.loadedVehBegin(); it != vc.loadedVehEnd(); ++it) {
86 const SUMOVehicle* veh = it->second;
87 const MSVehicle* microVeh = dynamic_cast<const MSVehicle*>(veh);
88 const MSBaseVehicle* baseVeh = dynamic_cast<const MSBaseVehicle*>(veh);
89 if (isVisible(veh)) {
90 const bool hasOutput = hasOwnOutput(veh, filter, shapeFilter, (radius > 0 && inRadius.count(veh) > 0));
91 if (hasOutput) {
92 Position pos = veh->getPosition();
93 if (useGeo) {
96 }
98 of.writeAttr(SUMO_ATTR_ID, veh->getID());
99 of.writeOptionalAttr(SUMO_ATTR_X, pos.x(), mask);
100 of.writeOptionalAttr(SUMO_ATTR_Y, pos.y(), mask);
102 if (elevation) {
103 of.writeOptionalAttr(SUMO_ATTR_Z, pos.z(), mask);
104 }
109 if (microVeh != nullptr) {
110 of.writeOptionalAttr(SUMO_ATTR_LANE, microVeh->getLane()->getID(), mask);
111 } else {
112 of.writeOptionalAttr(SUMO_ATTR_EDGE, veh->getEdge()->getID(), mask);
113 }
115 if (microVeh != nullptr) {
116 if (signals) {
118 }
119 if (writeAccel) {
123 }
124 }
125 }
126 if (writeDistance) {
127 double lanePos = veh->getPositionOnLane();
128 if (microVeh != nullptr && microVeh->getLane()->isInternal()) {
129 lanePos = microVeh->getRoute().getDistanceBetween(0, lanePos, microVeh->getEdge(), &microVeh->getLane()->getEdge(),
130 true, microVeh->getRoutePosition());
131 }
132 of.writeOptionalAttr(SUMO_ATTR_DISTANCE, veh->getEdge()->getDistanceAt(lanePos), mask);
133 }
136 if (microVeh != nullptr) {
138 }
139 if (maxLeaderDistance >= 0 && microVeh != nullptr) {
140 std::pair<const MSVehicle* const, double> leader = microVeh->getLeader(maxLeaderDistance);
141 if (leader.first != nullptr) {
142 of.writeOptionalAttr(SUMO_ATTR_LEADER_ID, toString(leader.first->getID()), mask);
143 of.writeOptionalAttr(SUMO_ATTR_LEADER_SPEED, toString(leader.first->getSpeed()), mask);
144 of.writeOptionalAttr(SUMO_ATTR_LEADER_GAP, toString(leader.second + microVeh->getVehicleType().getMinGap()), mask);
145 } else {
149 }
150 }
151 for (const std::string& key : params) {
152 std::string error;
153 const std::string value = baseVeh->getPrefixedParameter(key, error);
154 if (value != "") {
156 }
157 }
158 of.closeTag();
159 }
160 // write persons and containers
161 const MSEdge* edge = microVeh == nullptr ? veh->getEdge() : &veh->getLane()->getEdge();
162
163 const std::vector<MSTransportable*>& persons = veh->getPersons();
164 for (MSTransportable* person : persons) {
165 writeTransportable(of, edge, person, veh, filter, shapeFilter, inRadius.count(person) > 0, SUMO_TAG_PERSON, useGeo, elevation, mask);
166 }
167 const std::vector<MSTransportable*>& containers = veh->getContainers();
168 for (MSTransportable* container : containers) {
169 writeTransportable(of, edge, container, veh, filter, shapeFilter, inRadius.count(container) > 0, SUMO_TAG_CONTAINER, useGeo, elevation, mask);
170 }
171 }
172 }
173 if (net->hasPersons() && net->getPersonControl().hasTransportables()) {
174 // write persons
175 MSEdgeControl& ec = net->getEdgeControl();
176 const MSEdgeVector& edges = ec.getEdges();
177 for (MSEdgeVector::const_iterator e = edges.begin(); e != edges.end(); ++e) {
178 if (filter && MSDevice_FCD::getEdgeFilter().count(*e) == 0) {
179 continue;
180 }
181 const std::vector<MSTransportable*>& persons = (*e)->getSortedPersons(timestep);
182 for (MSTransportable* person : persons) {
183 writeTransportable(of, *e, person, nullptr, filter, shapeFilter, inRadius.count(person) > 0, SUMO_TAG_PERSON, useGeo, elevation, mask);
184 }
185 }
186 }
187 if (net->hasContainers() && net->getContainerControl().hasTransportables()) {
188 // write containers
189 MSEdgeControl& ec = net->getEdgeControl();
190 const std::vector<MSEdge*>& edges = ec.getEdges();
191 for (std::vector<MSEdge*>::const_iterator e = edges.begin(); e != edges.end(); ++e) {
192 if (filter && MSDevice_FCD::getEdgeFilter().count(*e) == 0) {
193 continue;
194 }
195 const std::vector<MSTransportable*>& containers = (*e)->getSortedContainers(timestep);
196 for (MSTransportable* container : containers) {
197 writeTransportable(of, *e, container, nullptr, filter, shapeFilter, inRadius.count(container) > 0, SUMO_TAG_CONTAINER, useGeo, elevation, mask);
198 }
199 }
200 }
201 of.closeTag();
202}
203
204bool
206 return veh->isOnRoad() || veh->isParking() || veh->isRemoteControlled();
207}
208
209bool
210MSFCDExport::hasOwnOutput(const SUMOVehicle* veh, bool filter, bool shapeFilter, bool isInRadius) {
211 return ((!filter || MSDevice_FCD::getEdgeFilter().count(veh->getEdge()) > 0)
212 && (!shapeFilter || MSDevice_FCD::shapeFilter(veh))
213 && ((veh->getDevice(typeid(MSDevice_FCD)) != nullptr) || isInRadius));
214}
215
216bool
217MSFCDExport::hasOwnOutput(const MSTransportable* p, bool filter, bool shapeFilter, bool isInRadius) {
218 return ((!filter || MSDevice_FCD::getEdgeFilter().count(p->getEdge()) > 0)
219 && (!shapeFilter || MSDevice_FCD::shapeFilter(p))
220 && ((p->getDevice(typeid(MSTransportableDevice_FCD)) != nullptr) || isInRadius));
221}
222
223void
225 bool filter, bool shapeFilter, bool inRadius,
226 SumoXMLTag tag, bool useGeo, bool elevation, long long int mask) {
227 if (!hasOwnOutput(p, filter, shapeFilter, inRadius)) {
228 return;
229 }
230 Position pos = p->getPosition();
231 if (useGeo) {
234 }
235 of.openTag(tag);
236 of.writeAttr(SUMO_ATTR_ID, p->getID());
237 of.writeOptionalAttr(SUMO_ATTR_X, pos.x(), mask);
238 of.writeOptionalAttr(SUMO_ATTR_Y, pos.y(), mask);
239 if (elevation) {
240 of.writeOptionalAttr(SUMO_ATTR_Z, pos.z(), mask);
241 }
245 of.writeOptionalAttr(SUMO_ATTR_EDGE, e->getID(), mask);
246 of.writeOptionalAttr(SUMO_ATTR_SLOPE, e->getLanes()[0]->getShape().slopeDegreeAtOffset(p->getEdgePos()), mask);
247 of.writeOptionalAttr(SUMO_ATTR_VEHICLE, v == nullptr ? "" : v->getID(), mask);
248 of.closeTag();
249}
250
251
252/****************************************************************************/
long long int SUMOTime
Definition: GUI.h:36
std::vector< MSEdge * > MSEdgeVector
Definition: MSEdge.h:73
SUMOTime string2time(const std::string &r)
convert string to SUMOTime
Definition: SUMOTime.cpp:46
std::string time2string(SUMOTime t, bool humanReadable)
convert SUMOTime to string (independently of global format setting)
Definition: SUMOTime.cpp:69
SumoXMLTag
Numbers representing SUMO-XML - element names.
@ SUMO_TAG_VEHICLE
description of a vehicle
@ SUMO_TAG_CONTAINER
@ SUMO_TAG_PERSON
@ SUMO_ATTR_LANE
@ SUMO_ATTR_SPEED
@ SUMO_ATTR_Y
@ SUMO_ATTR_Z
@ SUMO_ATTR_EDGE
@ SUMO_ATTR_X
@ SUMO_ATTR_POSITION_LAT
@ SUMO_ATTR_ODOMETER
@ SUMO_ATTR_SIGNALS
@ SUMO_ATTR_LEADER_GAP
@ SUMO_ATTR_ACCELERATION_LAT
@ SUMO_ATTR_SLOPE
@ SUMO_ATTR_ANGLE
@ SUMO_ATTR_ACCELERATION
@ SUMO_ATTR_LEADER_SPEED
@ SUMO_ATTR_DISTANCE
@ SUMO_ATTR_VEHICLE
@ SUMO_ATTR_TYPE
@ SUMO_ATTR_ID
@ SUMO_ATTR_SPEED_LAT
@ SUMO_ATTR_LEADER_ID
@ SUMO_ATTR_POSITION
@ SUMO_ATTR_TIME
trigger: the time of the step
int gPrecision
the precision for floating point outputs
Definition: StdDefs.cpp:26
int gPrecisionGeo
Definition: StdDefs.cpp:27
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
Definition: ToString.h:46
static const GeoConvHelper & getFinal()
the coordinate transformation for writing the location element and for tracking the original coordina...
void cartesian2geo(Position &cartesian) const
Converts the given cartesian (shifted) position to its geo (lat/long) representation.
static double naviDegree(const double angle)
Definition: GeomHelper.cpp:192
double getAccelerationLat() const
return the lateral speed of the current lane change maneuver
double getSpeedLat() const
return the lateral speed of the current lane change maneuver
The base class for microscopic and mesoscopic vehicles.
Definition: MSBaseVehicle.h:55
const MSEdge * getEdge() const
Returns the edge the vehicle is currently at.
std::string getPrefixedParameter(const std::string &key, std::string &error) const
retrieve parameters of devices, models and the vehicle itself
const MSRoute & getRoute() const
Returns the current route.
int getRoutePosition() const
return index of edge within route
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
A device which collects info on the vehicle trip (mainly on departure and arrival)
Definition: MSDevice_FCD.h:47
static const std::set< const MSEdge * > & getEdgeFilter()
Definition: MSDevice_FCD.h:83
static long long int getWrittenAttributes()
Definition: MSDevice_FCD.h:87
static bool hasShapeFilter()
is there a filter based on shapes?
Definition: MSDevice_FCD.h:102
static bool shapeFilter(const SUMOTrafficObject *veh)
checks if in polygon
Stores edges and lanes, performs moving of vehicle.
Definition: MSEdgeControl.h:81
const MSEdgeVector & getEdges() const
Returns loaded edges.
A road/street connecting two junctions.
Definition: MSEdge.h:77
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
Definition: MSEdge.h:168
double getDistanceAt(double pos) const
Returns the kilometrage/mileage at the given offset along the edge.
Definition: MSEdge.cpp:1530
static bool isVisible(const SUMOVehicle *veh)
static void writeTransportable(OutputDevice &of, const MSEdge *e, MSTransportable *p, const SUMOVehicle *v, bool filter, bool shapeFilter, bool inRadius, SumoXMLTag tag, bool useGeo, bool elevation, long long int mask)
write transportable
static bool hasOwnOutput(const SUMOVehicle *veh, bool filter, bool shapeFilter, bool isInRadius=false)
static void write(OutputDevice &of, SUMOTime timestep, bool elevation)
Writes the position and the angle of each vehicle into the given device.
Definition: MSFCDExport.cpp:50
static bool gSublane
whether sublane simulation is enabled (sublane model or continuous lanechanging)
Definition: MSGlobals.h:160
bool isInternal() const
Definition: MSLane.cpp:2456
MSEdge & getEdge() const
Returns the lane's edge.
Definition: MSLane.h:745
The simulated network and simulation perfomer.
Definition: MSNet.h:88
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
Definition: MSNet.cpp:183
virtual MSTransportableControl & getContainerControl()
Returns the container control.
Definition: MSNet.cpp:1181
bool hasContainers() const
Returns whether containers are simulated.
Definition: MSNet.h:413
bool hasPersons() const
Returns whether persons are simulated.
Definition: MSNet.h:397
MSVehicleControl & getVehicleControl()
Returns the vehicle control.
Definition: MSNet.h:380
virtual MSTransportableControl & getPersonControl()
Returns the person control.
Definition: MSNet.cpp:1172
MSEdgeControl & getEdgeControl()
Returns the edge control.
Definition: MSNet.h:423
double getDistanceBetween(double fromPos, double toPos, const MSEdge *fromEdge, const MSEdge *toEdge, bool includeInternal=true, int routePosition=0) const
Compute the distance between 2 given edges on this route, including the length of internal lanes....
Definition: MSRoute.cpp:311
bool hasTransportables() const
checks whether any transportable waits to finish her plan
A device which collects info on the vehicle trip (mainly on departure and arrival)
virtual double getEdgePos() const
Return the position on the edge.
virtual double getAngle() const
return the current angle of the transportable
virtual double getSpeed() const
the current speed of the transportable
MSTransportableDevice * getDevice(const std::type_info &type) const
Returns a device of the given type if it exists or 0.
Position getPosition(const double) const
Return current position (x/y, cartesian)
const MSEdge * getEdge() const
Returns the current edge.
The class responsible for building and deletion of vehicles.
std::map< std::string, SUMOVehicle * >::const_iterator constVehIt
Definition of the internal vehicles map iterator.
constVehIt loadedVehBegin() const
Returns the begin of the internal vehicle map.
constVehIt loadedVehEnd() const
Returns the end of the internal vehicle map.
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:77
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:5620
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
Definition: MSVehicle.h:517
int getSignals() const
Returns the signals.
Definition: MSVehicle.h:1182
std::pair< const MSVehicle *const, double > getLeader(double dist=0) const
Returns the leader of the vehicle looking for a fixed distance.
Definition: MSVehicle.cpp:6356
const MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:584
const std::string & getID() const
Returns the name of the vehicle type.
Definition: MSVehicleType.h:91
double getMinGap() const
Get the free space in front of vehicles of this class.
const std::string & getID() const
Returns the id.
Definition: Named.h:74
A storage for options typed value containers)
Definition: OptionsCont.h:89
bool isSet(const std::string &name, bool failOnNonExistant=true) const
Returns the information whether the named option is set.
double getFloat(const std::string &name) const
Returns the double-value of the named option (only for Option_Float)
std::string getString(const std::string &name) const
Returns the string-value of the named option (only for Option_String)
bool getBool(const std::string &name) const
Returns the boolean-value of the named option (only for Option_Bool)
const StringVector & getStringVector(const std::string &name) const
Returns the list of string-value of the named option (only for Option_StringVector)
static OptionsCont & getOptions()
Retrieves the options.
Definition: OptionsCont.cpp:60
Static storage of an output device and its base (abstract) implementation.
Definition: OutputDevice.h:61
OutputDevice & writeAttr(const SumoXMLAttr attr, const T &val)
writes a named attribute
Definition: OutputDevice.h:254
OutputDevice & openTag(const std::string &xmlElement)
Opens an XML tag.
bool closeTag(const std::string &comment="")
Closes the most recently opened tag and optionally adds a comment.
void setPrecision(int precision=gPrecision)
Sets the precision or resets it to default.
bool useAttribute(const SumoXMLAttr attr, long long int attributeMask) const
Definition: OutputDevice.h:259
OutputDevice & writeOptionalAttr(const SumoXMLAttr attr, const T &val, long long int attributeMask)
writes a named attribute unless filtered
Definition: OutputDevice.h:271
A point in 2D or 3D with translation and scaling methods.
Definition: Position.h:37
double x() const
Returns the x-position.
Definition: Position.h:55
double z() const
Returns the z-position.
Definition: Position.h:65
double y() const
Returns the y-position.
Definition: Position.h:60
A list of positions.
virtual const MSVehicleType & getVehicleType() const =0
Returns the object's "vehicle" type.
virtual double getSlope() const =0
Returns the slope of the road at object's position in degrees.
virtual const MSLane * getLane() const =0
Returns the lane the object is currently at.
virtual double getSpeed() const =0
Returns the object's current speed.
virtual Position getPosition(const double offset=0) const =0
Return current position (x/y, cartesian)
virtual const MSEdge * getEdge() const =0
Returns the edge the object is currently at.
virtual double getPositionOnLane() const =0
Get the object's position along the lane.
Representation of a vehicle.
Definition: SUMOVehicle.h:62
virtual const std::vector< MSTransportable * > & getContainers() const =0
retrieve riding containers
virtual double getLateralPositionOnLane() const =0
Get the vehicle's lateral position on the lane.
virtual double getOdometer() const =0
Returns the distance that was already driven by this vehicle.
virtual bool isOnRoad() const =0
Returns the information whether the vehicle is on a road (is simulated)
virtual const std::vector< MSTransportable * > & getPersons() const =0
retrieve riding persons
virtual bool isParking() const =0
Returns the information whether the vehicle is parked.
virtual bool isRemoteControlled() const =0
Returns the information whether the vehicle is fully controlled via TraCI.
virtual MSVehicleDevice * getDevice(const std::type_info &type) const =0
Returns a device of the given type if it exists or 0.
virtual double getAngle() const =0
Get the vehicle's angle.
static std::string escapeXML(const std::string &orig, const bool maskDoubleHyphen=false)
Replaces the standard escapes by their XML entities.
static void collectObjectsInRange(int domain, const PositionVector &shape, double range, std::set< const Named * > &into)
Definition: Helper.cpp:814
TRACI_CONST int CMD_GET_VEHICLE_VARIABLE
TRACI_CONST int CMD_GET_PERSON_VARIABLE