Eclipse SUMO - Simulation of Urban MObility
Domain.h
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1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3// Copyright (C) 2012-2022 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// C++ TraCI client API implementation
22/****************************************************************************/
23#pragma once
24#include <config.h>
25
26#include <vector>
27#include <limits>
28#include <map>
29#include <string>
30#include <stdexcept>
31#include <sstream>
32#include <memory>
34#include <libtraci/Connection.h>
36
37
38#define LIBTRACI_SUBSCRIPTION_IMPLEMENTATION(CLASS, DOMAIN) \
39const int CLASS::DOMAIN_ID(libsumo::CMD_GET_##DOMAIN##_VARIABLE); \
40void CLASS::subscribe(const std::string& objectID, const std::vector<int>& varIDs, double begin, double end, const libsumo::TraCIResults& params) { \
41 libtraci::Connection::getActive().subscribe(libsumo::CMD_SUBSCRIBE_##DOMAIN##_VARIABLE, objectID, begin, end, -1, -1, varIDs, params); \
42} \
43\
44void CLASS::unsubscribe(const std::string& objectID) { \
45 subscribe(objectID, std::vector<int>()); \
46} \
47\
48void CLASS::subscribeContext(const std::string& objectID, int domain, double dist, const std::vector<int>& varIDs, double begin, double end, const libsumo::TraCIResults& params) { \
49 libtraci::Connection::getActive().subscribe(libsumo::CMD_SUBSCRIBE_##DOMAIN##_CONTEXT, objectID, begin, end, domain, dist, varIDs, params); \
50} \
51\
52void CLASS::unsubscribeContext(const std::string& objectID, int domain, double dist) { \
53 subscribeContext(objectID, domain, dist, std::vector<int>()); \
54} \
55\
56const libsumo::SubscriptionResults CLASS::getAllSubscriptionResults() { \
57 return libtraci::Connection::getActive().getAllSubscriptionResults(libsumo::RESPONSE_SUBSCRIBE_##DOMAIN##_VARIABLE); \
58} \
59\
60const libsumo::TraCIResults CLASS::getSubscriptionResults(const std::string& objectID) { \
61 return libtraci::Connection::getActive().getAllSubscriptionResults(libsumo::RESPONSE_SUBSCRIBE_##DOMAIN##_VARIABLE)[objectID]; \
62} \
63\
64const libsumo::ContextSubscriptionResults CLASS::getAllContextSubscriptionResults() { \
65 return libtraci::Connection::getActive().getAllContextSubscriptionResults(libsumo::RESPONSE_SUBSCRIBE_##DOMAIN##_CONTEXT); \
66} \
67\
68const libsumo::SubscriptionResults CLASS::getContextSubscriptionResults(const std::string& objectID) { \
69 return libtraci::Connection::getActive().getAllContextSubscriptionResults(libsumo::RESPONSE_SUBSCRIBE_##DOMAIN##_CONTEXT)[objectID]; \
70} \
71\
72void CLASS::subscribeParameterWithKey(const std::string& objectID, const std::string& key, double beginTime, double endTime) { \
73 subscribe(objectID, std::vector<int>({libsumo::VAR_PARAMETER_WITH_KEY}), beginTime, endTime, libsumo::TraCIResults {{libsumo::VAR_PARAMETER_WITH_KEY, std::make_shared<libsumo::TraCIString>(key)}}); \
74}
75
76
77#define LIBTRACI_PARAMETER_IMPLEMENTATION(CLASS, DOMAIN) \
78std::string \
79CLASS::getParameter(const std::string& objectID, const std::string& param) { \
80 tcpip::Storage content; \
81 content.writeByte(libsumo::TYPE_STRING); \
82 content.writeString(param); \
83 return Dom::getString(libsumo::VAR_PARAMETER, objectID, &content); \
84} \
85\
86void \
87CLASS::setParameter(const std::string& objectID, const std::string& key, const std::string& value) { \
88 tcpip::Storage content; \
89 content.writeUnsignedByte(libsumo::TYPE_COMPOUND); \
90 content.writeInt(2); \
91 content.writeUnsignedByte(libsumo::TYPE_STRING); \
92 content.writeString(key); \
93 content.writeUnsignedByte(libsumo::TYPE_STRING); \
94 content.writeString(value); \
95 Connection::getActive().doCommand(libsumo::CMD_SET_##DOMAIN##_VARIABLE, libsumo::VAR_PARAMETER, objectID, &content); \
96} \
97\
98const std::pair<std::string, std::string> \
99CLASS::getParameterWithKey(const std::string& objectID, const std::string& key) { \
100 return std::make_pair(key, getParameter(objectID, key)); \
101}
102
103
104// ===========================================================================
105// class and type definitions
106// ===========================================================================
107namespace libtraci {
108template<int GET, int SET>
109class Domain {
110public:
111 static tcpip::Storage& get(int var, const std::string& id, tcpip::Storage* add = nullptr, int expectedType = libsumo::TYPE_COMPOUND) {
112 tcpip::Storage& result = libtraci::Connection::getActive().doCommand(GET, var, id, add);
113 libtraci::Connection::getActive().check_commandGetResult(result, GET, expectedType);
114 return result;
115 }
116
117 static int getUnsignedByte(int var, const std::string& id, tcpip::Storage* add = nullptr) {
118 return get(var, id, add, libsumo::TYPE_UBYTE).readUnsignedByte();
119 }
120
121 static int getByte(int var, const std::string& id, tcpip::Storage* add = nullptr) {
122 return get(var, id, add, libsumo::TYPE_BYTE).readByte();
123 }
124
125 static int getInt(int var, const std::string& id, tcpip::Storage* add = nullptr) {
126 return get(var, id, add, libsumo::TYPE_INTEGER).readInt();
127 }
128
129 static double getDouble(int var, const std::string& id, tcpip::Storage* add = nullptr) {
130 return get(var, id, add, libsumo::TYPE_DOUBLE).readDouble();
131 }
132
133 static libsumo::TraCIPositionVector getPolygon(int var, const std::string& id, tcpip::Storage* add = nullptr) {
134 tcpip::Storage& result = get(var, id, add, libsumo::TYPE_POLYGON);
136 int size = result.readUnsignedByte();
137 if (size == 0) {
138 size = result.readInt();
139 }
140 for (int i = 0; i < size; ++i) {
142 p.x = result.readDouble();
143 p.y = result.readDouble();
144 p.z = 0.;
145 ret.value.push_back(p);
146 }
147 return ret;
148 }
149
150 static libsumo::TraCIPosition getPos(int var, const std::string& id, tcpip::Storage* add = nullptr, const bool isGeo = false) {
151 tcpip::Storage& result = get(var, id, add, isGeo ? libsumo::POSITION_LON_LAT : libsumo::POSITION_2D);
153 p.x = result.readDouble();
154 p.y = result.readDouble();
155 return p;
156 }
157
158 static libsumo::TraCIPosition getPos3D(int var, const std::string& id, tcpip::Storage* add = nullptr, const bool isGeo = false) {
159 tcpip::Storage& result = get(var, id, add, isGeo ? libsumo::POSITION_LON_LAT_ALT : libsumo::POSITION_3D);
161 p.x = result.readDouble();
162 p.y = result.readDouble();
163 p.z = result.readDouble();
164 return p;
165 }
166
167 static std::string getString(int var, const std::string& id, tcpip::Storage* add = nullptr) {
168 return get(var, id, add, libsumo::TYPE_STRING).readString();
169 }
170
171 static std::vector<std::string> getStringVector(int var, const std::string& id, tcpip::Storage* add = nullptr) {
172 return get(var, id, add, libsumo::TYPE_STRINGLIST).readStringList();
173 }
174
175 static std::vector<double> getDoubleVector(int var, const std::string& id, tcpip::Storage* add = nullptr) {
176 return get(var, id, add, libsumo::TYPE_DOUBLELIST).readDoubleList();
177 }
178
179 static libsumo::TraCIColor getCol(int var, const std::string& id, tcpip::Storage* add = nullptr) {
180 tcpip::Storage& result = get(var, id, add, libsumo::TYPE_COLOR);
182 c.r = (unsigned char)result.readUnsignedByte();
183 c.g = (unsigned char)result.readUnsignedByte();
184 c.b = (unsigned char)result.readUnsignedByte();
185 c.a = (unsigned char)result.readUnsignedByte();
186 return c;
187 }
188
189 static libsumo::TraCIStage getTraCIStage(int var, const std::string& id, tcpip::Storage* add = nullptr) {
190 tcpip::Storage& result = get(var, id, add);
192 result.readInt(); // components
193 s.type = StoHelp::readTypedInt(result);
195 s.line = StoHelp::readTypedString(result);
199 s.cost = StoHelp::readTypedDouble(result);
206 return s;
207 }
208
209 static void set(int var, const std::string& id, tcpip::Storage* add) {
210 libtraci::Connection::getActive().doCommand(SET, var, id, add);
211 }
212
213 static void setInt(int var, const std::string& id, int value) {
214 tcpip::Storage content;
216 content.writeInt(value);
217 set(var, id, &content);
218 }
219
220 static void setDouble(int var, const std::string& id, double value) {
221 tcpip::Storage content;
223 content.writeDouble(value);
224 set(var, id, &content);
225 }
226
227 static void setString(int var, const std::string& id, const std::string& value) {
228 tcpip::Storage content;
230 content.writeString(value);
231 set(var, id, &content);
232 }
233
234 static void setStringVector(int var, const std::string& id, const std::vector<std::string>& value) {
235 tcpip::Storage content;
237 content.writeStringList(value);
238 set(var, id, &content);
239 }
240
241 static void setCol(int var, const std::string& id, const libsumo::TraCIColor value) {
242 tcpip::Storage content;
244 content.writeUnsignedByte(value.r);
245 content.writeUnsignedByte(value.g);
246 content.writeUnsignedByte(value.b);
247 content.writeUnsignedByte(value.a);
248 set(var, id, &content);
249 }
250
251};
252
253}
static std::vector< std::string > readTypedStringList(tcpip::Storage &ret, const std::string &error="")
Definition: StorageHelper.h:78
static int readTypedInt(tcpip::Storage &ret, const std::string &error="")
Definition: StorageHelper.h:50
static std::string readTypedString(tcpip::Storage &ret, const std::string &error="")
Definition: StorageHelper.h:71
static double readTypedDouble(tcpip::Storage &ret, const std::string &error="")
Definition: StorageHelper.h:64
std::string intended
id of the intended vehicle for public transport ride
Definition: TraCIDefs.h:545
int type
The type of stage (walking, driving, ...)
Definition: TraCIDefs.h:529
std::string destStop
The id of the destination stop.
Definition: TraCIDefs.h:535
double length
length in m
Definition: TraCIDefs.h:543
double travelTime
duration of the stage in seconds
Definition: TraCIDefs.h:539
double departPos
position on the lane when starting the stage
Definition: TraCIDefs.h:549
std::string description
arbitrary description string
Definition: TraCIDefs.h:553
std::string line
The line or the id of the vehicle type.
Definition: TraCIDefs.h:533
double cost
effort needed
Definition: TraCIDefs.h:541
double depart
intended depart time for public transport ride or INVALID_DOUBLE_VALUE
Definition: TraCIDefs.h:547
std::vector< std::string > edges
The sequence of edges to travel.
Definition: TraCIDefs.h:537
double arrivalPos
position on the lane when ending the stage
Definition: TraCIDefs.h:551
std::string vType
The vehicle type when using a private car or bike.
Definition: TraCIDefs.h:531
int check_commandGetResult(tcpip::Storage &inMsg, int command, int expectedType=-1, bool ignoreCommandId=false) const
Validates the result state of a command.
Definition: Connection.cpp:305
static Connection & getActive()
Definition: Connection.h:55
tcpip::Storage & doCommand(int command, int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Connection.cpp:328
static void setDouble(int var, const std::string &id, double value)
Definition: Domain.h:220
static libsumo::TraCIPosition getPos(int var, const std::string &id, tcpip::Storage *add=nullptr, const bool isGeo=false)
Definition: Domain.h:150
static void setCol(int var, const std::string &id, const libsumo::TraCIColor value)
Definition: Domain.h:241
static std::vector< double > getDoubleVector(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:175
static std::vector< std::string > getStringVector(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:171
static int getUnsignedByte(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:117
static void setStringVector(int var, const std::string &id, const std::vector< std::string > &value)
Definition: Domain.h:234
static libsumo::TraCIColor getCol(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:179
static std::string getString(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:167
static int getInt(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:125
static libsumo::TraCIStage getTraCIStage(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:189
static libsumo::TraCIPositionVector getPolygon(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:133
static void set(int var, const std::string &id, tcpip::Storage *add)
Definition: Domain.h:209
static libsumo::TraCIPosition getPos3D(int var, const std::string &id, tcpip::Storage *add=nullptr, const bool isGeo=false)
Definition: Domain.h:158
static double getDouble(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:129
static void setInt(int var, const std::string &id, int value)
Definition: Domain.h:213
static void setString(int var, const std::string &id, const std::string &value)
Definition: Domain.h:227
static tcpip::Storage & get(int var, const std::string &id, tcpip::Storage *add=nullptr, int expectedType=libsumo::TYPE_COMPOUND)
Definition: Domain.h:111
static int getByte(int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Domain.h:121
virtual std::string readString()
Definition: storage.cpp:180
virtual void writeString(const std::string &s)
Definition: storage.cpp:197
virtual void writeInt(int)
Definition: storage.cpp:321
virtual void writeDouble(double)
Definition: storage.cpp:354
virtual int readUnsignedByte()
Definition: storage.cpp:155
virtual void writeStringList(const std::vector< std::string > &s)
Definition: storage.cpp:247
virtual void writeUnsignedByte(int)
Definition: storage.cpp:165
virtual int readByte()
Definition: storage.cpp:128
virtual std::vector< std::string > readStringList()
Definition: storage.cpp:211
virtual double readDouble()
Definition: storage.cpp:362
virtual int readInt()
Definition: storage.cpp:311
virtual std::vector< double > readDoubleList()
Definition: storage.cpp:229
TRACI_CONST int TYPE_COLOR
TRACI_CONST int POSITION_3D
TRACI_CONST int TYPE_COMPOUND
TRACI_CONST int TYPE_UBYTE
TRACI_CONST int POSITION_2D
TRACI_CONST int TYPE_POLYGON
TRACI_CONST int TYPE_STRINGLIST
TRACI_CONST int TYPE_INTEGER
TRACI_CONST int POSITION_LON_LAT
TRACI_CONST int TYPE_DOUBLELIST
TRACI_CONST int TYPE_DOUBLE
TRACI_CONST int TYPE_BYTE
TRACI_CONST int POSITION_LON_LAT_ALT
TRACI_CONST int TYPE_STRING
A 3D-position.
Definition: TraCIDefs.h:172
A list of positions.
Definition: TraCIDefs.h:215
std::vector< TraCIPosition > value
Definition: TraCIDefs.h:225