72#define FAR_AWAY 1000.0
100 std::cout <<
" '" << veh->
getID() <<
"' on lane '" << ((
SUMOVehicle*)veh)->getLane()->getID() <<
"'\n";
102 std::cout <<
" '" << veh->
getID() <<
"' on edge '" << veh->
getEdge()->
getID() <<
"'\n";
111 const int contextDomain,
const double range) {
113 if (variables.empty()) {
115 if (j->id ==
id && j->commandId == commandId && j->contextDomain == contextDomain) {
123 std::vector<std::shared_ptr<tcpip::Storage> > parameters;
124 for (
const int var : variables) {
125 const auto& p = params.find(var);
126 if (p == params.end()) {
127 parameters.push_back(std::make_shared<tcpip::Storage>());
136 s.
range = std::numeric_limits<double>::max();
155 wrapper.second->clear();
163 if (s.
endTime < t || isArrivedVehicle || isArrivedPerson) {
170 if (s.beginTime <= t) {
183 std::vector<std::shared_ptr<tcpip::Storage> >::const_iterator k = s.
parameters.begin();
185 const int offset = (int)(std::find(o.variables.begin(), o.variables.end(), v) - o.variables.begin());
186 if (offset == (
int)o.variables.size() || o.parameters[offset]->size() != (*k)->size() || !std::equal((*k)->begin(), (*k)->end(), o.parameters[offset]->begin())) {
187 o.variables.push_back(v);
188 o.parameters.push_back(*k);
192 modifiedSubscription = &o;
196 subscriptions.push_back(s);
197 modifiedSubscription = &subscriptions.back();
217 int index = (int)filter;
221 while (index >>= 1) {
225 throw TraCIException(
"No previous vehicle context subscription exists to apply filter type " +
toHex(filterType, 2));
234 std::set<std::string> objIDs;
250#ifdef HAVE_LIBSUMOGUI
273 auto wrapper =
myWrapper.find(getCommandId);
277 std::shared_ptr<VariableWrapper> handler = wrapper->second;
281 if (containerWrapper ==
myWrapper.end()) {
284 container = containerWrapper->second.get();
289 for (
const std::string& objID : objIDs) {
291 std::vector<std::shared_ptr<tcpip::Storage> >::const_iterator k = s.
parameters.begin();
294 container->
empty(objID);
297 handler->handle(objID, variable, container, k->get());
304 handler->handle(objID,
VAR_ROAD_ID, container,
nullptr);
308 container->
empty(objID);
319Helper::fuseLaneCoverage(std::shared_ptr<LaneCoverageInfo> aggregatedLaneCoverage,
const std::shared_ptr<LaneCoverageInfo> newLaneCoverage) {
320 for (
auto& p : *newLaneCoverage) {
321 const MSLane* lane = p.first;
322 if (aggregatedLaneCoverage->find(lane) == aggregatedLaneCoverage->end()) {
324 (*aggregatedLaneCoverage)[lane] = (*newLaneCoverage)[lane];
327 std::pair<double, double>& range1 = (*aggregatedLaneCoverage)[lane];
328 std::pair<double, double>& range2 = (*newLaneCoverage)[lane];
329 std::pair<double, double> hull = std::make_pair(
MIN2(range1.first, range2.first),
MAX2(range1.second, range2.second));
330 (*aggregatedLaneCoverage)[lane] = hull;
339 for (
int i = 0; i < (int)positionVector.size(); ++i) {
350 if (std::isnan(pos.x) || std::isnan(pos.y)) {
353 pv.push_back(
Position(pos.x, pos.y));
372 return RGBColor((
unsigned char)c.
r, (
unsigned char)c.
g, (
unsigned char)c.
b, (
unsigned char)c.
a);
395 if (edge ==
nullptr) {
396 throw TraCIException(
"Referenced edge '" + edgeID +
"' is not known.");
405 if (edge ==
nullptr) {
408 if (laneIndex < 0 || laneIndex >= (
int)edge->
getLanes().size()) {
412 if (pos < 0 || pos > lane->
getLength()) {
419std::pair<MSLane*, double>
422 std::pair<MSLane*, double> result(
nullptr, -1);
423 double range = 1000.;
426 while (range < maxRange) {
427 std::set<const Named*> lanes;
429 double minDistance = std::numeric_limits<double>::max();
430 for (
const Named* named : lanes) {
435 if (newDistance < minDistance ||
436 (newDistance == minDistance
437 && result.first !=
nullptr
438 && lane->
getID() < result.first->getID())) {
439 minDistance = newDistance;
444 if (minDistance < std::numeric_limits<double>::max()) {
456 if (roadPos1.first == roadPos2.first && roadPos1.second <= roadPos2.second) {
458 return roadPos2.second - roadPos1.second;
460 double distance = 0.0;
462 while (roadPos2.first->isInternal() && roadPos2.first != roadPos1.first) {
463 distance += roadPos2.second;
464 roadPos2.first = roadPos2.first->getLogicalPredecessorLane();
465 roadPos2.second = roadPos2.first->getLength();
468 if (newRoute.empty()) {
471 MSRoute route(
"", newRoute,
false,
nullptr, std::vector<SUMOVehicleParameter::Stop>());
472 return distance + route.
getDistanceBetween(roadPos1.second, roadPos2.second, &roadPos1.first->getEdge(), &roadPos2.first->getEdge());
479 if (sumoVehicle ==
nullptr) {
484 throw TraCIException(
"Vehicle '" +
id +
"' is not a proper vehicle.");
538 double pos,
int laneIndex,
double startPos,
int flags,
double duration,
double until) {
546 if (newStop.
until >= 0) {
549 if ((flags & 1) != 0) {
553 if ((flags & 2) != 0) {
557 if ((flags & 4) != 0) {
563 if ((flags & 8) != 0) {
566 if ((flags & 16) != 0) {
569 if ((flags & 32) != 0) {
572 if ((flags & 64) != 0) {
575 if ((flags & 128) != 0) {
582 throw TraCIException(
"The " +
toString(stoppingPlaceType) +
" '" + edgeOrStoppingPlaceID +
"' is not known");
588 switch (stoppingPlaceType) {
590 newStop.
busstop = edgeOrStoppingPlaceID;
609 startPos =
MAX2(0.0, pos - POSITION_EPS);
614 if (pos < startPos) {
615 throw TraCIException(
"End position on lane must be after start position.");
619 if (road ==
nullptr) {
620 throw TraCIException(
"Edge '" + edgeOrStoppingPlaceID +
"' is not known.");
622 const std::vector<MSLane*>& allLanes = road->
getLanes();
623 if ((laneIndex < 0) || laneIndex >= (
int)(allLanes.size())) {
624 throw TraCIException(
"No lane with index '" +
toString(laneIndex) +
"' on edge '" + edgeOrStoppingPlaceID +
"'.");
626 newStop.
lane = allLanes[laneIndex]->getID();
627 newStop.
edge = allLanes[laneIndex]->getEdge().getID();
638 std::string stoppingPlaceID =
"";
640 stoppingPlaceID = stopPar.
busstop;
679 InductionLoop::cleanup();
700const std::vector<std::string>&
706const std::vector<std::string>&
743 MSCalibrator*
const calib = Calibrator::getCalibrator(
id);
754 Edge::storeShape(
id, shape);
757 InductionLoop::storeShape(
id, shape);
760 Junction::storeShape(
id, shape);
763 Lane::storeShape(
id, shape);
766 LaneArea::storeShape(
id, shape);
771 shape.push_back(cs.myLane->getShape().positionAtOffset(cs.myPosition));
774 shape.push_back(cs.myLane->getShape().positionAtOffset(cs.myPosition));
785 Person::storeShape(
id, shape);
788 POI::storeShape(
id, shape);
791 Polygon::storeShape(
id, shape);
794 Vehicle::storeShape(
id, shape);
797 Simulation::storeShape(shape);
805 std::set<const Named*> objects;
807 for (
const Named* obj : objects) {
808 into.insert(obj->getID());
816 const float cmin[2] = {(float) b.
xmin(), (float) b.
ymin()};
817 const float cmax[2] = {(float) b.
xmax(), (float) b.
ymax()};
821 if (shape.
distance2D(stop.second->getCenterPos()) <= range) {
822 into.insert(stop.second);
828 if (shape.
distance2D(stop.second->getCenterPos()) <= range) {
829 into.insert(stop.second);
835 if (shape.
distance2D(calib.second->getLane()->getShape()[0]) <= range) {
836 into.insert(calib.second);
851 if (shape.
distance2D(stop.second->getCenterPos()) <= range) {
852 into.insert(stop.second);
885#ifdef DEBUG_SURROUNDING
887 std::cout <<
SIMTIME <<
" applySubscriptionFilters for vehicle '" << _veh->
getID() <<
"' on lane '" << _veh->
getLane()->
getID() <<
"'"
889 <<
"objIDs = " <<
toString(objIDs) << std::endl;
904 WRITE_WARNINGF(
TL(
"Ignoring veh '%' no-opposite subscription filter for geographic range object collection. Consider using the 'lanes' filter."), v->
getID())
908 std::set<const SUMOTrafficObject*> vehs;
911 double downstreamDist = s.
range, upstreamDist = s.
range, lateralDist = s.
range;
925 throw TraCIException(
"Subscription filter not yet implemented for meso vehicle");
931 if (vehLane ==
nullptr) {
935 std::vector<int> filterLanes;
946#ifdef DEBUG_SURROUNDING
947 std::cout <<
"Filter lanes: " <<
toString(filterLanes) << std::endl;
948 std::cout <<
"Downstream distance: " << downstreamDist << std::endl;
949 std::cout <<
"Upstream distance: " << upstreamDist << std::endl;
950 std::cout <<
"Lateral distance: " << lateralDist << std::endl;
957 for (
int offset : filterLanes) {
959 if (lane !=
nullptr) {
964 vehs.insert(vehs.end(), leader);
965 vehs.insert(vehs.end(), follower);
967#ifdef DEBUG_SURROUNDING
968 std::cout <<
"Lane at index " << offset <<
": '" << lane->
getID() << std::endl;
969 std::cout <<
"Leader: '" << (leader !=
nullptr ? leader->
getID() :
"NULL") <<
"'" << std::endl;
970 std::cout <<
"Follower: '" << (follower !=
nullptr ? follower->
getID() :
"NULL") <<
"'" << std::endl;
973 }
else if (!disregardOppositeDirection && offset > 0) {
976 if (opposite ==
nullptr) {
977#ifdef DEBUG_SURROUNDING
978 std::cout <<
"No lane at index " << offset << std::endl;
984 const int ix_opposite = (int)opposite->
getLanes().size() - 1 - (vehLane->
getIndex() + offset - (int)vehEdge->
getLanes().size());
985 if (ix_opposite < 0) {
986#ifdef DEBUG_SURROUNDING
987 std::cout <<
"No lane on opposite at index " << ix_opposite << std::endl;
992 lane = opposite->
getLanes()[ix_opposite];
999 vehs.insert(vehs.end(), lane->
getLeader(v, posOnOpposite - v->
getLength(), std::vector<MSLane*>()).first);
1013#ifdef DEBUG_SURROUNDING
1014 std::cout <<
SIMTIME <<
" applySubscriptionFilters() for veh '" << v->
getID() <<
"'. Found the following vehicles:\n";
1015 for (
auto veh : vehs) {
1027 if (veh !=
nullptr) {
1028 objIDs.insert(objIDs.end(), veh->getID());
1035 auto i = objIDs.begin();
1036 while (i != objIDs.end()) {
1039 i = objIDs.erase(i);
1047 auto i = objIDs.begin();
1048 while (i != objIDs.end()) {
1051 i = objIDs.erase(i);
1065 double upstreamDist,
bool disregardOppositeDirection) {
1070 assert(filterLanes.size() > 0);
1075 auto checkedLanesInDrivingDir = std::make_shared<LaneCoverageInfo>();
1076 for (
int offset : filterLanes) {
1078 if (lane !=
nullptr) {
1079#ifdef DEBUG_SURROUNDING
1080 std::cout <<
"Checking for surrounding vehicles starting on lane '" << lane->
getID() <<
"' at index " << offset << std::endl;
1085 std::shared_ptr<LaneCoverageInfo> checkedLanes = std::make_shared<LaneCoverageInfo>();
1086 const std::set<MSVehicle*> new_vehs =
1088 vehs.insert(new_vehs.begin(), new_vehs.end());
1090 }
else if (!disregardOppositeDirection && offset > 0) {
1094 if (opposite ==
nullptr) {
1095#ifdef DEBUG_SURROUNDING
1096 std::cout <<
"No opposite edge, thus no lane at index " << offset << std::endl;
1102 const int ix_opposite = (int)opposite->
getLanes().size() - 1 - (vehLane->
getIndex() + offset - (int)vehEdge->
getLanes().size());
1103 if (ix_opposite < 0) {
1104#ifdef DEBUG_SURROUNDING
1105 std::cout <<
"No lane on opposite at index " << ix_opposite << std::endl;
1110 lane = opposite->
getLanes()[ix_opposite];
1113 downstreamDist, std::make_shared<LaneCoverageInfo>());
1114 vehs.insert(new_vehs.begin(), new_vehs.end());
1116#ifdef DEBUG_SURROUNDING
1118 std::cout <<
"No lane at index " << offset << std::endl;
1122 if (!disregardOppositeDirection) {
1129 const int nOpp =
MAX2(0, (*std::max_element(filterLanes.begin(), filterLanes.end())) - ((
int)vehEdge->
getLanes().size() - 1 - vehLane->
getIndex()));
1132 for (
auto& laneCov : *checkedLanesInDrivingDir) {
1133 const MSLane*
const l = laneCov.first;
1138 const std::pair<double, double>& range = laneCov.second;
1139 auto leftMostOppositeLaneIt = opposite->
getLanes().rbegin();
1140 for (
auto oppositeLaneIt = leftMostOppositeLaneIt; oppositeLaneIt != opposite->
getLanes().rend(); ++oppositeLaneIt) {
1141 if ((
int)(oppositeLaneIt - leftMostOppositeLaneIt) == nOpp) {
1145 const MSLane* oppositeLane = *oppositeLaneIt;
1147 vehs.insert(new_vehs.begin(), new_vehs.end());
1152#ifdef DEBUG_SURROUNDING
1153 std::cout <<
SIMTIME <<
" applySubscriptionFilterLanes() for veh '" << v->
getID() <<
"', lane offset '" << offset <<
"'. Found the following vehicles so far:\n";
1154 for (
auto veh : vehs) {
1171#ifdef DEBUG_SURROUNDING
1172 std::cout <<
"Applying turn filter for vehicle '" << v->
getID() <<
"'\n Gathering foes ..." << std::endl;
1175 for (
auto& l : links) {
1176#ifdef DEBUG_SURROUNDING
1177 std::cout <<
" On junction '" << l->getJunction()->getID() <<
"' (no. foe links = " << l->getFoeLinks().size() <<
"):" << std::endl;
1179 for (
auto& foeLane : l->getFoeLanes()) {
1180 if (foeLane->getEdge().isCrossing()) {
1181#ifdef DEBUG_SURROUNDING
1182 std::cout <<
" skipping crossing foeLane '" << foeLane->getID() <<
"'" << std::endl;
1186#ifdef DEBUG_SURROUNDING
1187 std::cout <<
" foeLane '" << foeLane->getID() <<
"'" << std::endl;
1190 const MSLink* foeLink = foeLane->getEntryLink();
1193#ifdef DEBUG_SURROUNDING
1194 std::cout <<
" Approaching foeLane entry link '" << vi.first->getID() <<
"'" << std::endl;
1196 vehs.insert(vehs.end(),
dynamic_cast<const MSVehicle*
>(vi.first));
1200 for (
const MSVehicle* foe : foeLane->getVehiclesSecure()) {
1201#ifdef DEBUG_SURROUNDING
1202 std::cout <<
" On foeLane '" << foe->getID() <<
"'" << std::endl;
1204 vehs.insert(vehs.end(), foe);
1206 foeLane->releaseVehicles();
1207 for (
auto& laneInfo : foeLane->getIncomingLanes()) {
1208 const MSLane* foeLanePred = laneInfo.lane;
1210#ifdef DEBUG_SURROUNDING
1211 std::cout <<
" foeLanePred '" << foeLanePred->
getID() <<
"'" << std::endl;
1214#ifdef DEBUG_SURROUNDING
1215 std::cout <<
" On foeLanePred '" << foe->getID() <<
"'" << std::endl;
1217 vehs.insert(vehs.end(), foe);
1237#ifdef DEBUG_SURROUNDING
1238 std::cout <<
"FOVFILTER: ego direction = " <<
toString(
RAD2DEG(egoVehicle->
getAngle())) <<
" (deg)" << std::endl;
1241 auto i = objIDs.begin();
1242 while (i != objIDs.end()) {
1243 if (s.
id.compare(*i) == 0) {
1251#ifdef DEBUG_SURROUNDING
1254 std::cout <<
"FOVFILTER: " << objType <<
" '" << *i <<
"' alpha = " <<
toString(
RAD2DEG(alpha)) <<
" (deg)" << std::endl;
1257 if (abs(alpha) > openingAngle * 0.5) {
1258 i = objIDs.erase(i);
1267 double lateralDist) {
1271 double range =
MAX3(downstreamDist, upstreamDist, lateralDist);
1272 std::set<std::string> objIDs;
1275#ifdef DEBUG_SURROUNDING
1276 std::cout <<
"FILTER_LATERAL_DIST: collected object IDs (range " << range <<
"):" << std::endl;
1277 for (std::string i : objIDs) {
1278 std::cout << i << std::endl;
1283#ifdef DEBUG_SURROUNDING
1301 std::set<const SUMOTrafficObject*>& vehs,
1302 const std::vector<const MSLane*>& lanes,
double posOnLane,
double posLat,
bool isDownstream) {
1304 double distRemaining = streamDist;
1305 bool isFirstLane =
true;
1307 for (
const MSLane* lane : lanes) {
1308#ifdef DEBUG_SURROUNDING
1309 std::cout <<
"FILTER_LATERAL_DIST: current lane " << (isDownstream ?
"down" :
"up") <<
" is '" << lane->getID() <<
"', length " << lane->getLength()
1310 <<
", pos " << posOnLane <<
", distRemaining " << distRemaining << std::endl;
1314 isFirstLane =
false;
1315 double geometryPos = lane->interpolateLanePosToGeometryPos(posOnLane);
1316 if (geometryPos <= POSITION_EPS) {
1317 if (!isDownstream) {
1321 if (geometryPos >= laneShape.
length() - POSITION_EPS) {
1324 auto pair = laneShape.
splitAt(geometryPos,
false);
1325 laneShape = isDownstream ? pair.second : pair.first;
1329 double laneLength = lane->interpolateGeometryPosToLanePos(laneShape.
length());
1330 if (distRemaining - laneLength < 0.) {
1331 double geometryPos = lane->interpolateLanePosToGeometryPos(isDownstream ? distRemaining : laneLength - distRemaining);
1332 if (geometryPos > POSITION_EPS && geometryPos < laneShape.
length() - POSITION_EPS) {
1333 auto pair = laneShape.
splitAt(geometryPos,
false);
1334 laneShape = isDownstream ? pair.first : pair.second;
1337 distRemaining -= laneLength;
1341 WRITE_WARNINGF(
TL(
"addSubscriptionFilterLateralDistance could not determine shape of lane '%' with a lateral shift of %."),
1344#ifdef DEBUG_SURROUNDING
1345 std::cout <<
" posLat=" << posLat <<
" laneShape=" << laneShape <<
"\n";
1348 combinedShape.
append(laneShape);
1350 combinedShape.
prepend(laneShape);
1352 if (distRemaining <= POSITION_EPS) {
1356#ifdef DEBUG_SURROUNDING
1357 std::cout <<
" combinedShape=" << combinedShape <<
"\n";
1360 auto i = objIDs.begin();
1361 while (i != objIDs.end()) {
1364#ifdef DEBUG_SURROUNDING
1365 std::cout << (isDownstream ?
"DOWN" :
"UP") <<
" obj " << obj->
getID() <<
" perpendicular dist=" << minPerpendicularDist <<
" filterLateralDist=" << s.
filterLateralDist <<
"\n";
1369 i = objIDs.erase(i);
1393 int numControlled = 0;
1396 controlled.second->getInfluencer().postProcessRemoteControl(controlled.second);
1399 WRITE_WARNINGF(
TL(
"Vehicle '%' was removed though being controlled by TraCI"), controlled.first);
1405 controlled.second->getInfluencer().postProcessRemoteControl(controlled.second);
1408 WRITE_WARNINGF(
TL(
"Person '%' was removed though being controlled by TraCI"), controlled.first);
1412 return numControlled;
1418 double speed,
const ConstMSEdgeVector& currentRoute,
const int routePosition,
const MSLane* currentLane,
double currentLanePos,
bool onRoad,
1423 std::cout <<
SIMTIME <<
" moveToXYMap pos=" << pos <<
" angle=" << angle <<
" vClass=" <<
toString(vClass) <<
"\n";
1425 const MSEdge*
const currentRouteEdge = currentRoute[routePosition];
1426 std::set<const Named*> into;
1428 shape.push_back(pos);
1431 std::map<MSLane*, LaneUtility, ComparatorNumericalIdLess> lane2utility;
1433 for (
const Named* namedEdge : into) {
1434 const MSEdge* e =
dynamic_cast<const MSEdge*
>(namedEdge);
1438 const MSEdge* prevEdge =
nullptr;
1439 const MSEdge* nextEdge =
nullptr;
1440 bool onRoute =
false;
1446 for (
int i = routePosition; i < (int)currentRoute.size(); i++) {
1447 const MSEdge* cand = currentRoute[i];
1450 if (i + 1 < (
int)currentRoute.size()) {
1452 nextEdge = currentRoute[i + 1];
1457 if (onRoute ==
false) {
1459 for (
int i = routePosition - 1; i >= 0; i--) {
1460 const MSEdge* cand = currentRoute[i];
1464 nextEdge = currentRoute[i + 1];
1469 if (prevEdge ==
nullptr) {
1475 if (e2 != nextEdge) {
1482 if (nextEdge ==
nullptr) {
1487 if (e2 != prevEdge) {
1494#ifdef DEBUG_MOVEXY_ANGLE
1504 ConstMSEdgeVector::const_iterator searchStart = currentRoute.begin() + routePosition;
1508 ConstMSEdgeVector::const_iterator edgePos = std::find(searchStart, currentRoute.end(), e);
1509 onRoute = edgePos != currentRoute.end();
1510 if (edgePos == currentRoute.end() - 1 && currentRouteEdge == e) {
1516 nextEdge = !onRoute || edgePos == currentRoute.end() - 1 ? nullptr : *(edgePos + 1);
1517#ifdef DEBUG_MOVEXY_ANGLE
1524 while (prevEdge !=
nullptr && prevEdge->
isInternal()) {
1527 prevEdge = l ==
nullptr ? nullptr : &l->
getEdge();
1530 ConstMSEdgeVector::const_iterator prevEdgePos = std::find(currentRoute.begin() + routePosition, currentRoute.end(), prevEdge);
1532 while (nextEdge !=
nullptr && nextEdge->
isInternal()) {
1535 if (prevEdgePos != currentRoute.end() && (prevEdgePos + 1) != currentRoute.end()) {
1536 onRoute = *(prevEdgePos + 1) == nextEdge;
1538#ifdef DEBUG_MOVEXY_ANGLE
1545 const bool perpendicular =
false;
1547 if (!l->allowsVehicleClass(vClass)) {
1550 if (l->getShape().length() == 0) {
1554 double langle = 180.;
1556 double perpendicularDist =
FAR_AWAY;
1559 const double slack = POSITION_EPS *
TS;
1564 perpendicularDist = laneShape.
distance2D(pos,
true);
1566 off = l->getShape().nearest_offset_to_point2D(pos, perpendicular);
1568 dist = l->getShape().distance2D(pos, perpendicular);
1572 bool sameEdge = onRoad && e == ¤tLane->
getEdge() && currentRouteEdge->
getLength() > currentLanePos +
SPEED2DIST(speed) && !e->isWalkingArea();
1580 double dist2 = dist;
1581 if (mayLeaveNetwork && fabs(dist - perpendicularDist) > slack) {
1586#ifdef DEBUG_MOVEXY_ANGLE
1588 <<
" candLane=" << l->getID() <<
" lAngle=" << langle <<
" lLength=" << l->getLength()
1589 <<
" angleDiff=" << angleDiff
1591 <<
" pDist=" << perpendicularDist
1593 <<
" dist2=" << dist2
1595 std::cout << l->getID() <<
" param=" << l->getParameter(
SUMO_PARAM_ORIGID,
"") <<
" origID='" << origID <<
"\n";
1599 if (origIDMatch && setLateralPos
1600 && perpendicularDist > l->getWidth() / 2) {
1601 origIDMatch =
false;
1604 dist2, perpendicularDist, off, angleDiff,
1606 onRoute, sameEdge, prevEdge, nextEdge));
1614 double bestValue = 0;
1615 MSLane* bestLane =
nullptr;
1616 for (
const auto& it : lane2utility) {
1617 MSLane*
const l = it.first;
1619 double distN = u.
dist > 999 ? -10 : 1. - (u.
dist / maxDist);
1620 double angleDiffN = 1. - (u.
angleDiff / 180.);
1621 double idN = u.
ID ? 1 : 0;
1622 double onRouteN = u.
onRoute ? 1 : 0;
1626 double value = (distN * .5 /
TS
1632 std::cout <<
" x; l:" << l->
getID() <<
" d:" << u.
dist <<
" dN:" << distN <<
" aD:" << angleDiffN <<
1633 " ID:" << idN <<
" oRN:" << onRouteN <<
" sEN:" << sameEdgeN <<
" value:" << value << std::endl;
1635 if (value > bestValue || bestLane ==
nullptr) {
1645 if (bestLane ==
nullptr) {
1648 const LaneUtility& u = lane2utility.find(bestLane)->second;
1649 bestDistance = u.
dist;
1651 lanePos =
MAX2(0.,
MIN2(
double((*lane)->getLength() - NUMERICAL_EPS),
1656 ConstMSEdgeVector::const_iterator prevEdgePos = std::find(currentRoute.begin(), currentRoute.end(), prevEdge);
1657 routeOffset = (int)std::distance(currentRoute.begin(), prevEdgePos);
1670#ifdef DEBUG_MOVEXY_ANGLE
1682 if (edge ==
nullptr) {
1685 bool newBest =
false;
1687 if (!candidateLane->allowsVehicleClass(vClass)) {
1690 if (candidateLane->getShape().length() == 0) {
1694 const double dist = candidateLane->getShape().distance2D(pos);
1696 std::cout <<
" b at lane " << candidateLane->getID() <<
" dist:" << dist <<
" best:" << bestDistance << std::endl;
1698 if (dist < bestDistance || (dist == bestDistance && candidateLane->getNumericalID() < (*lane)->getNumericalID())) {
1700 bestDistance = dist;
1701 *lane = candidateLane;
1708 if (l->getIndex() == 0) {
1711 for (
const MSLink*
const link : l->getLinkCont()) {
1712 if (link->isInternalJunctionLink()) {
1713 if (
findCloserLane(&link->getViaLane()->getEdge(), pos, vClass, bestDistance, lane)) {
1728 double& bestDistance,
MSLane** lane,
double& lanePos,
int& routeOffset) {
1730 std::cout <<
SIMTIME <<
" moveToXYMap_matchingRoutePosition pos=" << pos <<
" vClass=" <<
toString(vClass) <<
"\n";
1738 const MSEdge* prev =
nullptr;
1739 for (
int i = routeIndex; i < (int)currentRoute.size(); ++i) {
1740 const MSEdge* cand = currentRoute[i];
1741 while (prev !=
nullptr) {
1748 prev = internalCand;
1756 const MSEdge* next = currentRoute[routeIndex];
1757 for (
int i = routeIndex; i >= 0; --i) {
1758 const MSEdge* cand = currentRoute[i];
1761 while (prev !=
nullptr) {
1764 if (
findCloserLane(internalCand, pos, vClass, bestDistance, lane)) {
1767 prev = internalCand;
1776 std::map<const MSJunction*, int> routeJunctions;
1777 for (
int i = 0; i < (int)currentRoute.size() - 1; ++i) {
1778 routeJunctions[currentRoute[i]->getToJunction()] = i;
1780 std::set<const Named*> into;
1782 shape.push_back(pos);
1784 for (
const Named* named : into) {
1785 const MSLane* cand =
dynamic_cast<const MSLane*
>(named);
1797 if (lane ==
nullptr) {
1799 std::cout <<
" b failed - no best route lane" << std::endl;
1807 if (!(*lane)->getEdge().isInternal()) {
1808 const std::vector<MSLane*>& lanes = (*lane)->getEdge().getLanes();
1809 for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
1811 if (setLateralPos) {
1814 const double dist = (*i)->getShape().distance2D(pos);
1815 if (dist < (*i)->getWidth() / 2) {
1827 lanePos =
MAX2(0.,
MIN2(
double((*lane)->getLength() - NUMERICAL_EPS),
1828 (*lane)->interpolateGeometryPosToLanePos(
1829 (*lane)->getShape().nearest_offset_to_point25D(pos,
false))));
1832 std::cout <<
" b ok lane " << (*lane)->getID() <<
" lanePos:" << lanePos << std::endl;
1839 :
VariableWrapper(handler), myResults(into), myContextResults(context), myActiveResults(&into) {
1846 myActiveResults = refID ==
nullptr ? &myResults : &myContextResults[*refID];
1852 myActiveResults = &myResults;
1854 myContextResults.clear();
1860 (*myActiveResults)[objID][variable] = std::make_shared<TraCIDouble>(value);
1867 (*myActiveResults)[objID][variable] = std::make_shared<TraCIInt>(value);
1874 (*myActiveResults)[objID][variable] = std::make_shared<TraCIString>(value);
1881 auto sl = std::make_shared<TraCIStringList>();
1883 (*myActiveResults)[objID][variable] = sl;
1890 auto sl = std::make_shared<TraCIDoubleList>();
1892 (*myActiveResults)[objID][variable] = sl;
1899 (*myActiveResults)[objID][variable] = std::make_shared<TraCIPosition>(value);
1906 (*myActiveResults)[objID][variable] = std::make_shared<TraCIPositionVector>(value);
1913 (*myActiveResults)[objID][variable] = std::make_shared<TraCIColor>(value);
1920 (*myActiveResults)[objID][variable] = std::make_shared<TraCIRoadPosition>(value.first, value.second);
1927 auto sl = std::make_shared<TraCIStringList>();
1928 sl->value.push_back(value.first);
1929 sl->value.push_back(value.second);
1930 (*myActiveResults)[objID][variable] = sl;
1937 (*myActiveResults)[objID];
1943 myVehicleStateChanges[to].push_back(vehicle->
getID());
1949 myTransportableStateChanges[to].push_back(transportable->
getID());
std::vector< const MSEdge * > ConstMSEdgeVector
#define WRITE_WARNINGF(...)
SUMOVehicleClass
Definition of vehicle classes to differ between different lane usage and authority types.
@ SVC_PEDESTRIAN
pedestrian
const int STOP_DURATION_SET
const int STOP_PARKING_SET
const int STOP_CONTAINER_TRIGGER_SET
const int STOP_TRIGGER_SET
const std::string SUMO_PARAM_ORIGID
SumoXMLTag
Numbers representing SUMO-XML - element names.
@ SUMO_TAG_CHARGING_STATION
A Charging Station.
@ SUMO_TAG_NOTHING
invalid tag
@ SUMO_TAG_CONTAINER_STOP
A container stop.
@ SUMO_TAG_BUS_STOP
A bus stop.
@ SUMO_TAG_PARKING_AREA
A parking area.
@ SUMO_TAG_OVERHEAD_WIRE_SEGMENT
An overhead wire segment.
int gPrecision
the precision for floating point outputs
const double SUMO_const_laneWidth
std::string toHex(const T i, std::streamsize numDigits=0)
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
A class that stores a 2D geometrical boundary.
double ymin() const
Returns minimum y-coordinate.
double xmin() const
Returns minimum x-coordinate.
Boundary & grow(double by)
extends the boundary by the given amount
double distanceTo2D(const Position &p) const
returns the euclidean distance in the x-y-plane
double getHeight() const
Returns the height of the boundary (y-axis)
double getWidth() const
Returns the width of the boudary (x-axis)
double ymax() const
Returns maximum y-coordinate.
double xmax() const
Returns maximum x-coordinate.
static const GeoConvHelper & getFinal()
the coordinate transformation for writing the location element and for tracking the original coordina...
const Boundary & getConvBoundary() const
Returns the converted boundary.
static const double INVALID_OFFSET
a value to signify offsets outside the range of [0, Line.length()]
static double naviDegree(const double angle)
static double angleDiff(const double angle1, const double angle2)
Returns the difference of the second angle to the first angle in radiants.
static double getMinAngleDiff(double angle1, double angle2)
Returns the minimum distance (clockwise/counter-clockwise) between both angles.
The base class for microscopic and mesoscopic vehicles.
double getLength() const
Returns the vehicle's length.
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
Calibrates the flow on a segment to a specified one.
const MSLane * getLane() const
AspiredState getCurrentStateInterval() const
static const std::map< std::string, MSCalibrator * > & getInstances()
return all calibrator instances
A simple description of a position on a lane (crossing of a lane)
A detector of vehicles passing an area between entry/exit points.
const CrossSectionVector & getEntries() const
Returns the entry cross sections.
const CrossSectionVector & getExits() const
Returns the exit cross sections.
A road/street connecting two junctions.
bool isCrossing() const
return whether this edge is a pedestrian crossing
SVCPermissions getPermissions() const
Returns the combined permissions of all lanes of this edge.
bool isWalkingArea() const
return whether this edge is walking area
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
const MSEdge * getOppositeEdge() const
Returns the opposite direction edge if on exists else a nullptr.
bool isNormal() const
return whether this edge is an internal edge
const MSJunction * getToJunction() const
double getLength() const
return the length of the edge
const MSJunction * getFromJunction() const
bool isInternal() const
return whether this edge is an internal edge
static bool dictionary(const std::string &id, MSEdge *edge)
Inserts edge into the static dictionary Returns true if the key id isn't already in the dictionary....
const MSEdgeVector & getPredecessors() const
const MSEdge * getInternalFollowingEdge(const MSEdge *followerAfterInternal, SUMOVehicleClass vClass) const
const MSEdgeVector & getSuccessors(SUMOVehicleClass vClass=SVC_IGNORING) const
Returns the following edges, restricted by vClass.
The base class for an intersection.
Representation of a lane in the micro simulation.
std::pair< MSVehicle *const, double > getFollower(const MSVehicle *ego, double egoPos, double dist, MinorLinkMode mLinkMode) const
Find follower vehicle for the given ego vehicle (which may be on the opposite direction lane)
MSLane * getParallelLane(int offset, bool includeOpposite=true) const
Returns the lane with the given offset parallel to this one or 0 if it does not exist.
void visit(const MSLane::StoringVisitor &cont) const
Callback for visiting the lane when traversing an RTree.
static void fill(RTREE &into)
Fills the given RTree with lane instances.
std::set< MSVehicle * > getVehiclesInRange(const double a, const double b) const
Returns all vehicles on the lane overlapping with the interval [a,b].
double getLength() const
Returns the lane's length.
std::vector< const MSLink * > getUpcomingLinks(double pos, double range, const std::vector< MSLane * > &contLanes) const
Returns all upcoming links within given range along the given (non-internal) continuation lanes measu...
std::set< MSVehicle * > getSurroundingVehicles(double startPos, double downstreamDist, double upstreamDist, std::shared_ptr< LaneCoverageInfo > checkedLanes) const
Returns all vehicles closer than downstreamDist along the road network starting on the given position...
bool allowsVehicleClass(SUMOVehicleClass vclass) const
int getIndex() const
Returns the lane's index.
double getOppositePos(double pos) const
return the corresponding position on the opposite lane
MSLane * getLogicalPredecessorLane() const
get the most likely precedecessor lane (sorted using by_connections_to_sorter). The result is cached ...
double interpolateGeometryPosToLanePos(double geometryPos) const
std::pair< MSVehicle *const, double > getLeader(const MSVehicle *veh, const double vehPos, const std::vector< MSLane * > &bestLaneConts, double dist=-1, bool checkTmpVehicles=false) const
Returns the immediate leader of veh and the distance to veh starting on this lane.
virtual const VehCont & getVehiclesSecure() const
Returns the vehicles container; locks it for microsimulation.
virtual void releaseVehicles() const
Allows to use the container for microsimulation again.
virtual const PositionVector & getShape(bool) const
MSLane * getParallelOpposite() const
return the opposite direction lane of this lanes edge or nullptr
MSEdge & getEdge() const
Returns the lane's edge.
ApproachingVehicleInformation getApproaching(const SUMOVehicle *veh) const
VehicleState
Definition of a vehicle state.
@ ARRIVED
The vehicle arrived at his destination (is deleted)
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
MSTLLogicControl & getTLSControl()
Returns the tls logics control.
SUMOAbstractRouter< MSEdge, SUMOVehicle > & getRouterTT(const int rngIndex, const MSEdgeVector &prohibited=MSEdgeVector()) const
static bool hasInstance()
Returns whether the network was already constructed.
MSStoppingPlace * getStoppingPlace(const std::string &id, const SumoXMLTag category) const
Returns the named stopping place of the given category.
void addVehicleStateListener(VehicleStateListener *listener)
Adds a vehicle states listener.
void addTransportableStateListener(TransportableStateListener *listener)
Adds a transportable states listener.
TransportableState
Definition of a transportable state.
MSVehicleControl & getVehicleControl()
Returns the vehicle control.
virtual MSTransportableControl & getPersonControl()
Returns the person control.
const NamedObjectCont< MSStoppingPlace * > & getStoppingPlaces(SumoXMLTag category) const
void setRemoteControlled(Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)
Influencer & getInfluencer()
Returns the velocity/lane influencer.
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....
A lane area vehicles can halt at.
double getBeginLanePosition() const
Returns the begin position of this stop.
double getEndLanePosition() const
Returns the end position of this stop.
const MSLane & getLane() const
Returns the lane this stop is located at.
Storage for all programs of a single tls.
TLSLogicVariants & get(const std::string &id) const
Returns the variants of a named tls.
MSTransportable * get(const std::string &id) const
Returns the named transportable, if existing.
void setRemoteControlled(Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)
SUMOVehicle * getVehicle(const std::string &id) const
Returns the vehicle with the given id.
Representation of a vehicle in the micro simulation.
const std::vector< const MSLane * > getUpcomingLanesUntil(double distance) const
Returns the upcoming (best followed by default 0) sequence of lanes to continue the route starting at...
bool isOnRoad() const
Returns the information whether the vehicle is on a road (is simulated)
MSAbstractLaneChangeModel & getLaneChangeModel()
const std::vector< MSLane * > & getBestLanesContinuation() const
Returns the best sequence of lanes to continue the route starting at myLane.
const std::vector< const MSLane * > getPastLanesUntil(double distance) const
Returns the sequence of past lanes (right-most on edge) based on the route starting at the current la...
const MSLane * getLane() const
Returns the lane the vehicle is on.
Influencer & getInfluencer()
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
double getPositionOnLane() const
Get the vehicle's position along the lane.
The car-following model and parameter.
SUMOVehicleClass getVehicleClass() const
Get this vehicle type's vehicle class.
const std::string & getID() const
Returns the name of the vehicle type.
double getLength() const
Get vehicle's length [m].
Allows to store the object; used as context while traveling the rtree in TraCI.
Base class for objects which have an id.
static std::string getIDSecure(const T *obj, const std::string &fallBack="NULL")
get an identifier for Named-like object which may be Null
const std::string & getID() const
Returns the id.
A point in 2D or 3D with translation and scaling methods.
double distanceTo2D(const Position &p2) const
returns the euclidean distance in the x-y-plane
double x() const
Returns the x-position.
double z() const
Returns the z-position.
double angleTo2D(const Position &other) const
returns the angle in the plane of the vector pointing from here to the other position
double y() const
Returns the y-position.
void append(const PositionVector &v, double sameThreshold=2.0)
double length() const
Returns the length.
Position positionAtOffset(double pos, double lateralOffset=0) const
Returns the position at the given length.
double distance2D(const Position &p, bool perpendicular=false) const
closest 2D-distance to point p (or -1 if perpendicular is true and the point is beyond this vector)
void prepend(const PositionVector &v, double sameThreshold=2.0)
double nearest_offset_to_point2D(const Position &p, bool perpendicular=true) const
return the nearest offest to point 2D
std::pair< PositionVector, PositionVector > splitAt(double where, bool use2D=false) const
Returns the two lists made when this list vector is splitted at the given point.
void move2side(double amount, double maxExtension=100)
move position vector to side using certain ammount
Boundary getBoxBoundary() const
Returns a boundary enclosing this list of lines.
void extrapolate2D(const double val, const bool onlyFirst=false)
extrapolate position vector in two dimensions (Z is ignored)
double nearest_offset_to_point25D(const Position &p, bool perpendicular=true) const
return the nearest offest to point 2D projected onto the 3D geometry
unsigned char red() const
Returns the red-amount of the color.
unsigned char alpha() const
Returns the alpha-amount of the color.
unsigned char green() const
Returns the green-amount of the color.
unsigned char blue() const
Returns the blue-amount of the color.
virtual bool compute(const E *from, const E *to, const V *const vehicle, SUMOTime msTime, std::vector< const E * > &into, bool silent=false)=0
Builds the route between the given edges using the minimum effort at the given time The definition of...
Representation of a vehicle, person, or container.
virtual bool isVehicle() const
Whether it is a vehicle.
virtual const MSLane * getLane() const =0
Returns the lane the object is currently at.
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.
Representation of a vehicle.
virtual double getAngle() const =0
Get the vehicle's angle.
Definition of vehicle stop (position and duration)
int getFlags() const
return flags as per Vehicle::getStops
SUMOTime started
the time at which this stop was reached
std::string edge
The edge to stop at (used only in netedit)
ParkingType parking
whether the vehicle is removed from the net while stopping
std::string lane
The lane to stop at.
double speed
the speed at which this stop counts as reached (waypoint mode)
std::string parkingarea
(Optional) parking area if one is assigned to the stop
std::string split
the id of the vehicle (train portion) that splits of upon reaching this stop
double startPos
The stopping position start.
std::string line
the new line id of the trip within a cyclical public transport route
std::string chargingStation
(Optional) charging station if one is assigned to the stop
std::string overheadWireSegment
(Optional) overhead line segment if one is assigned to the stop
int parametersSet
Information for the output which parameter were set.
int index
at which position in the stops list
std::string join
the id of the vehicle (train portion) to which this vehicle shall be joined
SUMOTime until
The time at which the vehicle may continue its journey.
std::string actType
act Type (only used by Persons) (used by netedit)
bool triggered
whether an arriving person lets the vehicle continue
SUMOTime ended
the time at which this stop was ended
double endPos
The stopping position end.
std::string busstop
(Optional) bus stop if one is assigned to the stop
std::string tripId
id of the trip within a cyclical public transport route
std::string containerstop
(Optional) container stop if one is assigned to the stop
bool containerTriggered
whether an arriving container lets the vehicle continue
SUMOTime arrival
The (expected) time at which the vehicle reaches the stop.
SUMOTime duration
The stopping duration.
bool wrapDouble(const std::string &objID, const int variable, const double value)
void empty(const std::string &objID)
bool wrapPositionVector(const std::string &objID, const int variable, const TraCIPositionVector &value)
bool wrapColor(const std::string &objID, const int variable, const TraCIColor &value)
bool wrapInt(const std::string &objID, const int variable, const int value)
bool wrapStringList(const std::string &objID, const int variable, const std::vector< std::string > &value)
bool wrapPosition(const std::string &objID, const int variable, const TraCIPosition &value)
bool wrapString(const std::string &objID, const int variable, const std::string &value)
bool wrapStringPair(const std::string &objID, const int variable, const std::pair< std::string, std::string > &value)
bool wrapStringDoublePair(const std::string &objID, const int variable, const std::pair< std::string, double > &value)
SubscriptionWrapper(VariableWrapper::SubscriptionHandler handler, SubscriptionResults &into, ContextSubscriptionResults &context)
void setContext(const std::string *const refID)
bool wrapDoubleList(const std::string &objID, const int variable, const std::vector< double > &value)
void transportableStateChanged(const MSTransportable *const transportable, MSNet::TransportableState to, const std::string &info="")
Called if a transportable changes its state.
std::map< MSNet::TransportableState, std::vector< std::string > > myTransportableStateChanges
Changes in the states of simulated transportables.
std::map< MSNet::VehicleState, std::vector< std::string > > myVehicleStateChanges
Changes in the states of simulated vehicles.
void vehicleStateChanged(const SUMOVehicle *const vehicle, MSNet::VehicleState to, const std::string &info="")
Called if a vehicle changes its state.
static Position makePosition(const TraCIPosition &position)
static MSEdge * getEdge(const std::string &edgeID)
static double getDrivingDistance(std::pair< const MSLane *, double > &roadPos1, std::pair< const MSLane *, double > &roadPos2)
static void collectObjectsInRange(int domain, const PositionVector &shape, double range, std::set< const Named * > &into)
static MSCalibrator::AspiredState getCalibratorState(const MSCalibrator *c)
static TraCIPosition makeTraCIPosition(const Position &position, const bool includeZ=false)
static LANE_RTREE_QUAL * myLaneTree
A lookup tree of lanes.
static void applySubscriptionFilterTurn(const Subscription &s, std::set< const SUMOTrafficObject * > &vehs)
Apply the subscription filter "turn": Gather upcoming junctions and vialanes within downstream distan...
static void findObjectShape(int domain, const std::string &id, PositionVector &shape)
static void clearStateChanges()
static PositionVector makePositionVector(const TraCIPositionVector &vector)
static void fuseLaneCoverage(std::shared_ptr< LaneCoverageInfo > aggregatedLaneCoverage, const std::shared_ptr< LaneCoverageInfo > newLaneCoverage)
Adds lane coverage information from newLaneCoverage into aggregatedLaneCoverage.
static bool moveToXYMap_matchingRoutePosition(const Position &pos, const std::string &origID, const ConstMSEdgeVector ¤tRoute, int routeIndex, SUMOVehicleClass vClass, bool setLateralPos, double &bestDistance, MSLane **lane, double &lanePos, int &routeOffset)
static void debugPrint(const SUMOTrafficObject *veh)
static MSPerson * getPerson(const std::string &id)
static void subscribe(const int commandId, const std::string &id, const std::vector< int > &variables, const double beginTime, const double endTime, const libsumo::TraCIResults ¶ms, const int contextDomain=0, const double range=0.)
static TraCIPositionVector makeTraCIPositionVector(const PositionVector &positionVector)
helper functions
static const std::vector< std::string > & getTransportableStateChanges(const MSNet::TransportableState state)
static std::map< int, std::shared_ptr< VariableWrapper > > myWrapper
Map of commandIds -> their executors; applicable if the executor applies to the method footprint.
static void clearSubscriptions()
static MSBaseVehicle * getVehicle(const std::string &id)
static void applySubscriptionFilterLateralDistanceSinglePass(const Subscription &s, std::set< std::string > &objIDs, std::set< const SUMOTrafficObject * > &vehs, const std::vector< const MSLane * > &lanes, double posOnLane, double posLat, bool isDownstream)
static MSStoppingPlace * getStoppingPlace(const std::string &id, const SumoXMLTag type)
static TraCIColor makeTraCIColor(const RGBColor &color)
static void applySubscriptionFilterFieldOfVision(const Subscription &s, std::set< std::string > &objIDs)
static Subscription * myLastContextSubscription
The last context subscription.
static TraCINextStopData buildStopData(const SUMOVehicleParameter::Stop &stopPar)
static void registerStateListener()
static TransportableStateListener myTransportableStateListener
Changes in the states of simulated transportables.
static void setRemoteControlled(MSVehicle *v, Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, ConstMSEdgeVector route, SUMOTime t)
static int postProcessRemoteControl()
return number of remote-controlled entities
static void applySubscriptionFilters(const Subscription &s, std::set< std::string > &objIDs)
Filter the given ID-Set (which was obtained from an R-Tree search) according to the filters set by th...
static std::map< std::string, MSVehicle * > myRemoteControlledVehicles
static const MSVehicleType & getVehicleType(const std::string &vehicleID)
static bool moveToXYMap(const Position &pos, double maxRouteDistance, bool mayLeaveNetwork, const std::string &origID, const double angle, double speed, const ConstMSEdgeVector ¤tRoute, const int routePosition, const MSLane *currentLane, double currentLanePos, bool onRoad, SUMOVehicleClass vClass, bool setLateralPos, double &bestDistance, MSLane **lane, double &lanePos, int &routeOffset, ConstMSEdgeVector &edges)
static std::pair< MSLane *, double > convertCartesianToRoadMap(const Position &pos, const SUMOVehicleClass vClass)
static MSTLLogicControl::TLSLogicVariants & getTLS(const std::string &id)
static SUMOTrafficObject * getTrafficObject(int domain, const std::string &id)
static VehicleStateListener myVehicleStateListener
Changes in the states of simulated vehicles.
static std::vector< Subscription > mySubscriptions
The list of known, still valid subscriptions.
static SUMOVehicleParameter::Stop buildStopParameters(const std::string &edgeOrStoppingPlaceID, double pos, int laneIndex, double startPos, int flags, double duration, double until)
static void handleSingleSubscription(const Subscription &s)
static void applySubscriptionFilterLateralDistance(const Subscription &s, std::set< const SUMOTrafficObject * > &vehs, double downstreamDist, double upstreamDist, double lateralDist)
Apply the subscription filter "lateral distance": Only return vehicles within the given lateral dista...
static const std::vector< std::string > & getVehicleStateChanges(const MSNet::VehicleState state)
static void collectObjectIDsInRange(int domain, const PositionVector &shape, double range, std::set< std::string > &into)
static void handleSubscriptions(const SUMOTime t)
static Subscription * addSubscriptionFilter(SubscriptionFilterType filter)
static const MSLane * getLaneChecking(const std::string &edgeID, int laneIndex, double pos)
static RGBColor makeRGBColor(const TraCIColor &color)
static void applySubscriptionFilterLanes(const Subscription &s, std::set< const SUMOTrafficObject * > &vehs, std::vector< int > &filterLanes, double downstreamDist, double upstreamDist, bool disregardOppositeDirection)
Apply the subscription filter "lanes": Only return vehicles on list of lanes relative to ego vehicle....
static std::map< std::string, MSPerson * > myRemoteControlledPersons
static bool needNewSubscription(libsumo::Subscription &s, std::vector< Subscription > &subscriptions, libsumo::Subscription *&modifiedSubscription)
static bool findCloserLane(const MSEdge *edge, const Position &pos, SUMOVehicleClass vClass, double &bestDistance, MSLane **lane)
static std::shared_ptr< tcpip::Storage > toStorage(const TraCIResult &v)
Representation of a subscription.
double filterUpstreamDist
Upstream distance specified by the upstream distance filter.
int commandId
commandIdArg The command id of the subscription
std::set< std::string > filterVTypes
vTypes specified by the vTypes filter
double filterFieldOfVisionOpeningAngle
Opening angle (in deg) specified by the field of vision filter.
std::vector< int > filterLanes
lanes specified by the lanes filter
std::string id
The id of the object that is subscribed.
int filterVClasses
vClasses specified by the vClasses filter,
SUMOTime endTime
The end time of the subscription.
int contextDomain
The domain ID of the context.
double filterFoeDistToJunction
Foe distance to junction specified by the turn filter.
bool isVehicleToVehicleContextSubscription() const
SUMOTime beginTime
The begin time of the subscription.
std::vector< int > variables
The subscribed variables.
bool isVehicleToPersonContextSubscription() const
double filterDownstreamDist
Downstream distance specified by the downstream distance filter.
double filterLateralDist
Lateral distance specified by the lateral distance filter.
int activeFilters
Active filters for the subscription (bitset,.
double range
The range of the context.
std::vector< std::shared_ptr< tcpip::Storage > > parameters
The parameters for the subscribed variables.
An error which allows to continue.
virtual void empty(const std::string &)
bool(* SubscriptionHandler)(const std::string &objID, const int variable, VariableWrapper *wrapper, tcpip::Storage *paramData)
Definition of a method to be called for serving an associated commandID.
virtual void setContext(const std::string *const)
TRACI_CONST double INVALID_DOUBLE_VALUE
TRACI_CONST int LAST_STEP_VEHICLE_NUMBER
TRACI_CONST int CMD_GET_CHARGINGSTATION_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_EDGE_CONTEXT
TRACI_CONST int CMD_SUBSCRIBE_LANE_CONTEXT
TRACI_CONST int TRACI_ID_LIST
TRACI_CONST int CMD_GET_PARKINGAREA_VARIABLE
TRACI_CONST int CMD_GET_POI_VARIABLE
TRACI_CONST int CMD_GET_TL_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_VEHICLE_CONTEXT
std::map< std::string, libsumo::SubscriptionResults > ContextSubscriptionResults
TRACI_CONST int CMD_GET_REROUTER_VARIABLE
TRACI_CONST int VAR_ROAD_ID
TRACI_CONST int CMD_GET_VEHICLE_VARIABLE
TRACI_CONST int CMD_GET_EDGE_VARIABLE
TRACI_CONST int CMD_GET_CALIBRATOR_VARIABLE
TRACI_CONST int CMD_GET_PERSON_VARIABLE
TRACI_CONST int CMD_GET_ROUTEPROBE_VARIABLE
TRACI_CONST int CMD_GET_LANEAREA_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_BUSSTOP_CONTEXT
TRACI_CONST int CMD_GET_BUSSTOP_VARIABLE
TRACI_CONST int CMD_GET_ROUTE_VARIABLE
TRACI_CONST int CMD_GET_MEANDATA_VARIABLE
TRACI_CONST int CMD_GET_JUNCTION_VARIABLE
std::map< std::string, libsumo::TraCIResults > SubscriptionResults
{object->{variable->value}}
TRACI_CONST int CMD_GET_VARIABLESPEEDSIGN_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_CALIBRATOR_CONTEXT
TRACI_CONST int VAR_LANEPOSITION
TRACI_CONST int CMD_GET_SIM_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_PERSON_CONTEXT
TRACI_CONST int CMD_GET_VEHICLETYPE_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_CHARGINGSTATION_CONTEXT
TRACI_CONST int CMD_SUBSCRIBE_POLYGON_CONTEXT
TRACI_CONST int CMD_GET_LANE_VARIABLE
TRACI_CONST int CMD_GET_GUI_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_PARKINGAREA_CONTEXT
TRACI_CONST int CMD_GET_POLYGON_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_MULTIENTRYEXIT_CONTEXT
TRACI_CONST int CMD_SUBSCRIBE_VEHICLE_VARIABLE
TRACI_CONST int CMD_GET_MULTIENTRYEXIT_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_INDUCTIONLOOP_CONTEXT
SubscriptionFilterType
Filter types for context subscriptions.
@ SUBS_FILTER_LEAD_FOLLOW
@ SUBS_FILTER_UPSTREAM_DIST
@ SUBS_FILTER_DOWNSTREAM_DIST
@ SUBS_FILTER_LATERAL_DIST
@ SUBS_FILTER_FIELD_OF_VISION
TRACI_CONST int CMD_SUBSCRIBE_POI_CONTEXT
TRACI_CONST int CMD_SUBSCRIBE_SIM_CONTEXT
TRACI_CONST int CMD_SUBSCRIBE_PERSON_VARIABLE
TRACI_CONST int CMD_GET_INDUCTIONLOOP_VARIABLE
TRACI_CONST int CMD_GET_OVERHEADWIRE_VARIABLE
TRACI_CONST int CMD_SUBSCRIBE_LANEAREA_CONTEXT
TRACI_CONST int CMD_SUBSCRIBE_JUNCTION_CONTEXT
std::map< int, std::shared_ptr< libsumo::TraCIResult > > TraCIResults
{variable->value}
A 2D or 3D-position, for 2D positions z == INVALID_DOUBLE_VALUE.
std::vector< TraCIPosition > value