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>());
152 wrapper.second->clear();
160 if (s.
endTime < t || isArrivedVehicle || isArrivedPerson) {
167 if (s.beginTime <= t) {
180 std::vector<std::shared_ptr<tcpip::Storage> >::const_iterator k = s.
parameters.begin();
182 const int offset = (int)(std::find(o.variables.begin(), o.variables.end(), v) - o.variables.begin());
183 if (offset == (
int)o.variables.size() || o.parameters[offset]->size() != (*k)->size() || !std::equal((*k)->begin(), (*k)->end(), o.parameters[offset]->begin())) {
184 o.variables.push_back(v);
185 o.parameters.push_back(*k);
189 modifiedSubscription = &o;
193 subscriptions.push_back(s);
194 modifiedSubscription = &subscriptions.back();
214 int index = (int)filter;
218 while (index >>= 1) {
222 throw TraCIException(
"No previous vehicle context subscription exists to apply filter type " +
toHex(filterType, 2));
231 std::set<std::string> objIDs;
247#ifdef HAVE_LIBSUMOGUI
270 auto wrapper =
myWrapper.find(getCommandId);
274 std::shared_ptr<VariableWrapper> handler = wrapper->second;
278 if (containerWrapper ==
myWrapper.end()) {
281 container = containerWrapper->second.get();
286 for (
const std::string& objID : objIDs) {
288 std::vector<std::shared_ptr<tcpip::Storage> >::const_iterator k = s.
parameters.begin();
291 container->
empty(objID);
294 handler->handle(objID, variable, container, k->get());
301 handler->handle(objID,
VAR_ROAD_ID, container,
nullptr);
305 container->
empty(objID);
316Helper::fuseLaneCoverage(std::shared_ptr<LaneCoverageInfo> aggregatedLaneCoverage,
const std::shared_ptr<LaneCoverageInfo> newLaneCoverage) {
317 for (
auto& p : *newLaneCoverage) {
318 const MSLane* lane = p.first;
319 if (aggregatedLaneCoverage->find(lane) == aggregatedLaneCoverage->end()) {
321 (*aggregatedLaneCoverage)[lane] = (*newLaneCoverage)[lane];
324 std::pair<double, double>& range1 = (*aggregatedLaneCoverage)[lane];
325 std::pair<double, double>& range2 = (*newLaneCoverage)[lane];
326 std::pair<double, double> hull = std::make_pair(
MIN2(range1.first, range2.first),
MAX2(range1.second, range2.second));
327 (*aggregatedLaneCoverage)[lane] = hull;
336 for (
int i = 0; i < (int)positionVector.size(); ++i) {
347 if (std::isnan(pos.
x) || std::isnan(pos.
y)) {
369 return RGBColor((
unsigned char)c.
r, (
unsigned char)c.
g, (
unsigned char)c.
b, (
unsigned char)c.
a);
392 if (edge ==
nullptr) {
393 throw TraCIException(
"Referenced edge '" + edgeID +
"' is not known.");
402 if (edge ==
nullptr) {
405 if (laneIndex < 0 || laneIndex >= (
int)edge->
getLanes().size()) {
409 if (pos < 0 || pos > lane->
getLength()) {
416std::pair<MSLane*, double>
419 std::pair<MSLane*, double> result(
nullptr, -1);
420 double range = 1000.;
423 while (range < maxRange) {
424 std::set<const Named*> lanes;
426 double minDistance = std::numeric_limits<double>::max();
427 for (
const Named* named : lanes) {
432 if (newDistance < minDistance ||
433 (newDistance == minDistance
434 && result.first !=
nullptr
435 && lane->
getID() < result.first->getID())) {
436 minDistance = newDistance;
441 if (minDistance < std::numeric_limits<double>::max()) {
453 if (roadPos1.first == roadPos2.first && roadPos1.second <= roadPos2.second) {
455 return roadPos2.second - roadPos1.second;
457 double distance = 0.0;
459 while (roadPos2.first->isInternal() && roadPos2.first != roadPos1.first) {
460 distance += roadPos2.second;
461 roadPos2.first = roadPos2.first->getLogicalPredecessorLane();
462 roadPos2.second = roadPos2.first->getLength();
465 if (newRoute.empty()) {
468 MSRoute route(
"", newRoute,
false,
nullptr, std::vector<SUMOVehicleParameter::Stop>());
469 return distance + route.
getDistanceBetween(roadPos1.second, roadPos2.second, &roadPos1.first->getEdge(), &roadPos2.first->getEdge());
476 if (sumoVehicle ==
nullptr) {
481 throw TraCIException(
"Vehicle '" +
id +
"' is not a proper vehicle.");
535 double pos,
int laneIndex,
double startPos,
int flags,
double duration,
double until) {
543 if (newStop.
until >= 0) {
546 if ((flags & 1) != 0) {
550 if ((flags & 2) != 0) {
554 if ((flags & 4) != 0) {
560 if ((flags & 8) != 0) {
563 if ((flags & 16) != 0) {
566 if ((flags & 32) != 0) {
569 if ((flags & 64) != 0) {
572 if ((flags & 128) != 0) {
579 throw TraCIException(
"The " +
toString(stoppingPlaceType) +
" '" + edgeOrStoppingPlaceID +
"' is not known");
585 switch (stoppingPlaceType) {
587 newStop.
busstop = edgeOrStoppingPlaceID;
606 startPos =
MAX2(0.0, pos - POSITION_EPS);
611 if (pos < startPos) {
612 throw TraCIException(
"End position on lane must be after start position.");
616 if (road ==
nullptr) {
617 throw TraCIException(
"Edge '" + edgeOrStoppingPlaceID +
"' is not known.");
619 const std::vector<MSLane*>& allLanes = road->
getLanes();
620 if ((laneIndex < 0) || laneIndex >= (
int)(allLanes.size())) {
621 throw TraCIException(
"No lane with index '" +
toString(laneIndex) +
"' on edge '" + edgeOrStoppingPlaceID +
"'.");
623 newStop.
lane = allLanes[laneIndex]->getID();
624 newStop.
edge = allLanes[laneIndex]->getEdge().getID();
635 std::string stoppingPlaceID =
"";
637 stoppingPlaceID = stopPar.
busstop;
676 InductionLoop::cleanup();
697const std::vector<std::string>&
703const std::vector<std::string>&
740 MSCalibrator*
const calib = Calibrator::getCalibrator(
id);
751 Edge::storeShape(
id, shape);
754 InductionLoop::storeShape(
id, shape);
757 Junction::storeShape(
id, shape);
760 Lane::storeShape(
id, shape);
763 LaneArea::storeShape(
id, shape);
768 shape.push_back(cs.myLane->getShape().positionAtOffset(cs.myPosition));
771 shape.push_back(cs.myLane->getShape().positionAtOffset(cs.myPosition));
782 Person::storeShape(
id, shape);
785 POI::storeShape(
id, shape);
788 Polygon::storeShape(
id, shape);
791 Vehicle::storeShape(
id, shape);
794 Simulation::storeShape(shape);
802 std::set<const Named*> objects;
804 for (
const Named* obj : objects) {
805 into.insert(obj->getID());
813 const float cmin[2] = {(float) b.
xmin(), (float) b.
ymin()};
814 const float cmax[2] = {(float) b.
xmax(), (float) b.
ymax()};
818 if (shape.
distance2D(stop.second->getCenterPos()) <= range) {
819 into.insert(stop.second);
825 if (shape.
distance2D(stop.second->getCenterPos()) <= range) {
826 into.insert(stop.second);
832 if (shape.
distance2D(calib.second->getLane()->getShape()[0]) <= range) {
833 into.insert(calib.second);
848 if (shape.
distance2D(stop.second->getCenterPos()) <= range) {
849 into.insert(stop.second);
882#ifdef DEBUG_SURROUNDING
884 std::cout <<
SIMTIME <<
" applySubscriptionFilters for vehicle '" << _veh->
getID() <<
"' on lane '" << _veh->
getLane()->
getID() <<
"'"
886 <<
"objIDs = " <<
toString(objIDs) << std::endl;
901 WRITE_WARNINGF(
TL(
"Ignoring veh '%' no-opposite subscription filter for geographic range object collection. Consider using the 'lanes' filter."), v->
getID())
905 std::set<const SUMOTrafficObject*> vehs;
908 double downstreamDist = s.
range, upstreamDist = s.
range, lateralDist = s.
range;
922 throw TraCIException(
"Subscription filter not yet implemented for meso vehicle");
928 if (vehLane ==
nullptr) {
932 std::vector<int> filterLanes;
943#ifdef DEBUG_SURROUNDING
944 std::cout <<
"Filter lanes: " <<
toString(filterLanes) << std::endl;
945 std::cout <<
"Downstream distance: " << downstreamDist << std::endl;
946 std::cout <<
"Upstream distance: " << upstreamDist << std::endl;
947 std::cout <<
"Lateral distance: " << lateralDist << std::endl;
954 for (
int offset : filterLanes) {
956 if (lane !=
nullptr) {
960 MSLane::MinorLinkMode::FOLLOW_ALWAYS).first;
961 vehs.insert(vehs.end(), leader);
962 vehs.insert(vehs.end(), follower);
964#ifdef DEBUG_SURROUNDING
965 std::cout <<
"Lane at index " << offset <<
": '" << lane->
getID() << std::endl;
966 std::cout <<
"Leader: '" << (leader !=
nullptr ? leader->
getID() :
"NULL") <<
"'" << std::endl;
967 std::cout <<
"Follower: '" << (follower !=
nullptr ? follower->
getID() :
"NULL") <<
"'" << std::endl;
970 }
else if (!disregardOppositeDirection && offset > 0) {
973 if (opposite ==
nullptr) {
974#ifdef DEBUG_SURROUNDING
975 std::cout <<
"No lane at index " << offset << std::endl;
981 const int ix_opposite = (int)opposite->
getLanes().size() - 1 - (vehLane->
getIndex() + offset - (int)vehEdge->
getLanes().size());
982 if (ix_opposite < 0) {
983#ifdef DEBUG_SURROUNDING
984 std::cout <<
"No lane on opposite at index " << ix_opposite << std::endl;
989 lane = opposite->
getLanes()[ix_opposite];
994 vehs.insert(vehs.end(), lane->
getFollower(v, posOnOpposite, downstreamDist, MSLane::MinorLinkMode::FOLLOW_NEVER).first);
996 vehs.insert(vehs.end(), lane->
getLeader(v, posOnOpposite - v->
getLength(), std::vector<MSLane*>()).first);
1010#ifdef DEBUG_SURROUNDING
1011 std::cout <<
SIMTIME <<
" applySubscriptionFilters() for veh '" << v->
getID() <<
"'. Found the following vehicles:\n";
1012 for (
auto veh : vehs) {
1024 if (veh !=
nullptr) {
1025 objIDs.insert(objIDs.end(), veh->getID());
1032 auto i = objIDs.begin();
1033 while (i != objIDs.end()) {
1036 i = objIDs.erase(i);
1044 auto i = objIDs.begin();
1045 while (i != objIDs.end()) {
1048 i = objIDs.erase(i);
1062 double upstreamDist,
bool disregardOppositeDirection) {
1067 assert(filterLanes.size() > 0);
1072 auto checkedLanesInDrivingDir = std::make_shared<LaneCoverageInfo>();
1073 for (
int offset : filterLanes) {
1075 if (lane !=
nullptr) {
1076#ifdef DEBUG_SURROUNDING
1077 std::cout <<
"Checking for surrounding vehicles starting on lane '" << lane->
getID() <<
"' at index " << offset << std::endl;
1082 std::shared_ptr<LaneCoverageInfo> checkedLanes = std::make_shared<LaneCoverageInfo>();
1083 const std::set<MSVehicle*> new_vehs =
1085 vehs.insert(new_vehs.begin(), new_vehs.end());
1087 }
else if (!disregardOppositeDirection && offset > 0) {
1091 if (opposite ==
nullptr) {
1092#ifdef DEBUG_SURROUNDING
1093 std::cout <<
"No opposite edge, thus no lane at index " << offset << std::endl;
1099 const int ix_opposite = (int)opposite->
getLanes().size() - 1 - (vehLane->
getIndex() + offset - (int)vehEdge->
getLanes().size());
1100 if (ix_opposite < 0) {
1101#ifdef DEBUG_SURROUNDING
1102 std::cout <<
"No lane on opposite at index " << ix_opposite << std::endl;
1107 lane = opposite->
getLanes()[ix_opposite];
1110 downstreamDist, std::make_shared<LaneCoverageInfo>());
1111 vehs.insert(new_vehs.begin(), new_vehs.end());
1113#ifdef DEBUG_SURROUNDING
1115 std::cout <<
"No lane at index " << offset << std::endl;
1119 if (!disregardOppositeDirection) {
1126 const int nOpp =
MAX2(0, (*std::max_element(filterLanes.begin(), filterLanes.end())) - ((
int)vehEdge->
getLanes().size() - 1 - vehLane->
getIndex()));
1129 for (
auto& laneCov : *checkedLanesInDrivingDir) {
1130 const MSLane*
const l = laneCov.first;
1135 const std::pair<double, double>& range = laneCov.second;
1136 auto leftMostOppositeLaneIt = opposite->
getLanes().rbegin();
1137 for (
auto oppositeLaneIt = leftMostOppositeLaneIt; oppositeLaneIt != opposite->
getLanes().rend(); ++oppositeLaneIt) {
1138 if ((
int)(oppositeLaneIt - leftMostOppositeLaneIt) == nOpp) {
1142 const MSLane* oppositeLane = *oppositeLaneIt;
1144 vehs.insert(new_vehs.begin(), new_vehs.end());
1149#ifdef DEBUG_SURROUNDING
1150 std::cout <<
SIMTIME <<
" applySubscriptionFilterLanes() for veh '" << v->
getID() <<
"', lane offset '" << offset <<
"'. Found the following vehicles so far:\n";
1151 for (
auto veh : vehs) {
1168#ifdef DEBUG_SURROUNDING
1169 std::cout <<
"Applying turn filter for vehicle '" << v->
getID() <<
"'\n Gathering foes ..." << std::endl;
1172 for (
auto& l : links) {
1173#ifdef DEBUG_SURROUNDING
1174 std::cout <<
" On junction '" << l->getJunction()->getID() <<
"' (no. foe links = " << l->getFoeLinks().size() <<
"):" << std::endl;
1176 for (
auto& foeLane : l->getFoeLanes()) {
1177 if (foeLane->getEdge().isCrossing()) {
1178#ifdef DEBUG_SURROUNDING
1179 std::cout <<
" skipping crossing foeLane '" << foeLane->getID() <<
"'" << std::endl;
1183#ifdef DEBUG_SURROUNDING
1184 std::cout <<
" foeLane '" << foeLane->getID() <<
"'" << std::endl;
1187 const MSLink* foeLink = foeLane->getEntryLink();
1190#ifdef DEBUG_SURROUNDING
1191 std::cout <<
" Approaching foeLane entry link '" << vi.first->getID() <<
"'" << std::endl;
1193 vehs.insert(vehs.end(),
dynamic_cast<const MSVehicle*
>(vi.first));
1197 for (
const MSVehicle* foe : foeLane->getVehiclesSecure()) {
1198#ifdef DEBUG_SURROUNDING
1199 std::cout <<
" On foeLane '" << foe->getID() <<
"'" << std::endl;
1201 vehs.insert(vehs.end(), foe);
1203 foeLane->releaseVehicles();
1204 for (
auto& laneInfo : foeLane->getIncomingLanes()) {
1205 const MSLane* foeLanePred = laneInfo.lane;
1207#ifdef DEBUG_SURROUNDING
1208 std::cout <<
" foeLanePred '" << foeLanePred->
getID() <<
"'" << std::endl;
1211#ifdef DEBUG_SURROUNDING
1212 std::cout <<
" On foeLanePred '" << foe->getID() <<
"'" << std::endl;
1214 vehs.insert(vehs.end(), foe);
1234#ifdef DEBUG_SURROUNDING
1235 std::cout <<
"FOVFILTER: ego direction = " <<
toString(
RAD2DEG(egoVehicle->
getAngle())) <<
" (deg)" << std::endl;
1238 auto i = objIDs.begin();
1239 while (i != objIDs.end()) {
1240 if (s.
id.compare(*i) == 0) {
1248#ifdef DEBUG_SURROUNDING
1251 std::cout <<
"FOVFILTER: " << objType <<
" '" << *i <<
"' alpha = " <<
toString(
RAD2DEG(alpha)) <<
" (deg)" << std::endl;
1254 if (abs(alpha) > openingAngle * 0.5) {
1255 i = objIDs.erase(i);
1264 double lateralDist) {
1268 double range =
MAX3(downstreamDist, upstreamDist, lateralDist);
1269 std::set<std::string> objIDs;
1272#ifdef DEBUG_SURROUNDING
1273 std::cout <<
"FILTER_LATERAL_DIST: collected object IDs (range " << range <<
"):" << std::endl;
1274 for (std::string i : objIDs) {
1275 std::cout << i << std::endl;
1280#ifdef DEBUG_SURROUNDING
1298 std::set<const SUMOTrafficObject*>& vehs,
1299 const std::vector<const MSLane*>& lanes,
double posOnLane,
double posLat,
bool isDownstream) {
1301 double distRemaining = streamDist;
1302 bool isFirstLane =
true;
1304 for (
const MSLane* lane : lanes) {
1305#ifdef DEBUG_SURROUNDING
1306 std::cout <<
"FILTER_LATERAL_DIST: current lane " << (isDownstream ?
"down" :
"up") <<
" is '" << lane->getID() <<
"', length " << lane->getLength()
1307 <<
", pos " << posOnLane <<
", distRemaining " << distRemaining << std::endl;
1311 isFirstLane =
false;
1312 double geometryPos = lane->interpolateLanePosToGeometryPos(posOnLane);
1313 if (geometryPos <= POSITION_EPS) {
1314 if (!isDownstream) {
1318 if (geometryPos >= laneShape.
length() - POSITION_EPS) {
1321 auto pair = laneShape.
splitAt(geometryPos,
false);
1322 laneShape = isDownstream ? pair.second : pair.first;
1326 double laneLength = lane->interpolateGeometryPosToLanePos(laneShape.
length());
1327 if (distRemaining - laneLength < 0.) {
1328 double geometryPos = lane->interpolateLanePosToGeometryPos(isDownstream ? distRemaining : laneLength - distRemaining);
1329 if (geometryPos > POSITION_EPS && geometryPos < laneShape.
length() - POSITION_EPS) {
1330 auto pair = laneShape.
splitAt(geometryPos,
false);
1331 laneShape = isDownstream ? pair.first : pair.second;
1334 distRemaining -= laneLength;
1338 WRITE_WARNING(
"addSubscriptionFilterLateralDistance could not determine shape of lane '" + lane->getID() +
"' with lateral shift of " +
toString(posLat));
1340#ifdef DEBUG_SURROUNDING
1341 std::cout <<
" posLat=" << posLat <<
" laneShape=" << laneShape <<
"\n";
1344 combinedShape.
append(laneShape);
1346 combinedShape.
prepend(laneShape);
1348 if (distRemaining <= POSITION_EPS) {
1352#ifdef DEBUG_SURROUNDING
1353 std::cout <<
" combinedShape=" << combinedShape <<
"\n";
1356 auto i = objIDs.begin();
1357 while (i != objIDs.end()) {
1360#ifdef DEBUG_SURROUNDING
1361 std::cout << (isDownstream ?
"DOWN" :
"UP") <<
" obj " << obj->
getID() <<
" perpendicular dist=" << minPerpendicularDist <<
" filterLateralDist=" << s.
filterLateralDist <<
"\n";
1365 i = objIDs.erase(i);
1389 int numControlled = 0;
1392 controlled.second->getInfluencer().postProcessRemoteControl(controlled.second);
1395 WRITE_WARNING(
"Vehicle '" + controlled.first +
"' was removed though being controlled by TraCI");
1401 controlled.second->getInfluencer().postProcessRemoteControl(controlled.second);
1404 WRITE_WARNING(
"Person '" + controlled.first +
"' was removed though being controlled by TraCI");
1408 return numControlled;
1414 double speed,
const ConstMSEdgeVector& currentRoute,
const int routePosition,
const MSLane* currentLane,
double currentLanePos,
bool onRoad,
1419 std::cout <<
SIMTIME <<
" moveToXYMap pos=" << pos <<
" angle=" << angle <<
" vClass=" <<
toString(vClass) <<
"\n";
1421 const MSEdge*
const currentRouteEdge = currentRoute[routePosition];
1422 std::set<const Named*> into;
1424 shape.push_back(pos);
1427 std::map<MSLane*, LaneUtility, ComparatorNumericalIdLess> lane2utility;
1429 for (
const Named* namedEdge : into) {
1430 const MSEdge* e =
dynamic_cast<const MSEdge*
>(namedEdge);
1434 const MSEdge* prevEdge =
nullptr;
1435 const MSEdge* nextEdge =
nullptr;
1436 bool onRoute =
false;
1442 for (
int i = routePosition; i < (int)currentRoute.size(); i++) {
1443 const MSEdge* cand = currentRoute[i];
1446 if (i + 1 < (
int)currentRoute.size()) {
1448 nextEdge = currentRoute[i + 1];
1453 if (onRoute ==
false) {
1455 for (
int i = routePosition - 1; i >= 0; i--) {
1456 const MSEdge* cand = currentRoute[i];
1460 nextEdge = currentRoute[i + 1];
1465 if (prevEdge ==
nullptr) {
1471 if (e2 != nextEdge) {
1478 if (nextEdge ==
nullptr) {
1483 if (e2 != prevEdge) {
1490#ifdef DEBUG_MOVEXY_ANGLE
1500 ConstMSEdgeVector::const_iterator searchStart = currentRoute.begin() + routePosition;
1504 ConstMSEdgeVector::const_iterator edgePos = std::find(searchStart, currentRoute.end(), e);
1505 onRoute = edgePos != currentRoute.end();
1506 if (edgePos == currentRoute.end() - 1 && currentRouteEdge == e) {
1512 nextEdge = !onRoute || edgePos == currentRoute.end() - 1 ? nullptr : *(edgePos + 1);
1513#ifdef DEBUG_MOVEXY_ANGLE
1520 while (prevEdge !=
nullptr && prevEdge->
isInternal()) {
1523 prevEdge = l ==
nullptr ? nullptr : &l->
getEdge();
1526 ConstMSEdgeVector::const_iterator prevEdgePos = std::find(currentRoute.begin() + routePosition, currentRoute.end(), prevEdge);
1528 while (nextEdge !=
nullptr && nextEdge->
isInternal()) {
1531 if (prevEdgePos != currentRoute.end() && (prevEdgePos + 1) != currentRoute.end()) {
1532 onRoute = *(prevEdgePos + 1) == nextEdge;
1534#ifdef DEBUG_MOVEXY_ANGLE
1541 const bool perpendicular =
false;
1543 if (!l->allowsVehicleClass(vClass)) {
1546 if (l->getShape().length() == 0) {
1550 double langle = 180.;
1552 double perpendicularDist =
FAR_AWAY;
1555 const double slack = POSITION_EPS *
TS;
1560 perpendicularDist = laneShape.
distance2D(pos,
true);
1562 off = l->getShape().nearest_offset_to_point2D(pos, perpendicular);
1564 dist = l->getShape().distance2D(pos, perpendicular);
1568 bool sameEdge = onRoad && e == ¤tLane->
getEdge() && currentRouteEdge->
getLength() > currentLanePos +
SPEED2DIST(speed) && !e->isWalkingArea();
1576 double dist2 = dist;
1577 if (mayLeaveNetwork && fabs(dist - perpendicularDist) > slack) {
1582#ifdef DEBUG_MOVEXY_ANGLE
1584 <<
" candLane=" << l->getID() <<
" lAngle=" << langle <<
" lLength=" << l->getLength()
1585 <<
" angleDiff=" << angleDiff
1587 <<
" pDist=" << perpendicularDist
1589 <<
" dist2=" << dist2
1591 std::cout << l->getID() <<
" param=" << l->getParameter(
SUMO_PARAM_ORIGID,
"") <<
" origID='" << origID <<
"\n";
1595 if (origIDMatch && setLateralPos
1596 && perpendicularDist > l->getWidth() / 2) {
1597 origIDMatch =
false;
1600 dist2, perpendicularDist, off, angleDiff,
1602 onRoute, sameEdge, prevEdge, nextEdge));
1610 double bestValue = 0;
1611 MSLane* bestLane =
nullptr;
1612 for (
const auto& it : lane2utility) {
1613 MSLane*
const l = it.first;
1615 double distN = u.
dist > 999 ? -10 : 1. - (u.
dist / maxDist);
1616 double angleDiffN = 1. - (u.
angleDiff / 180.);
1617 double idN = u.
ID ? 1 : 0;
1618 double onRouteN = u.
onRoute ? 1 : 0;
1622 double value = (distN * .5 /
TS
1628 std::cout <<
" x; l:" << l->
getID() <<
" d:" << u.
dist <<
" dN:" << distN <<
" aD:" << angleDiffN <<
1629 " ID:" << idN <<
" oRN:" << onRouteN <<
" sEN:" << sameEdgeN <<
" value:" << value << std::endl;
1631 if (value > bestValue || bestLane ==
nullptr) {
1641 if (bestLane ==
nullptr) {
1644 const LaneUtility& u = lane2utility.find(bestLane)->second;
1645 bestDistance = u.
dist;
1647 lanePos =
MAX2(0.,
MIN2(
double((*lane)->getLength() - NUMERICAL_EPS),
1652 ConstMSEdgeVector::const_iterator prevEdgePos = std::find(currentRoute.begin(), currentRoute.end(), prevEdge);
1653 routeOffset = (int)std::distance(currentRoute.begin(), prevEdgePos);
1666#ifdef DEBUG_MOVEXY_ANGLE
1678 if (edge ==
nullptr) {
1681 bool newBest =
false;
1683 if (!candidateLane->allowsVehicleClass(vClass)) {
1686 if (candidateLane->getShape().length() == 0) {
1690 const double dist = candidateLane->getShape().distance2D(pos);
1692 std::cout <<
" b at lane " << candidateLane->getID() <<
" dist:" << dist <<
" best:" << bestDistance << std::endl;
1694 if (dist < bestDistance || (dist == bestDistance && candidateLane->getNumericalID() < (*lane)->getNumericalID())) {
1696 bestDistance = dist;
1697 *lane = candidateLane;
1709 double& bestDistance,
MSLane** lane,
double& lanePos,
int& routeOffset) {
1711 std::cout <<
SIMTIME <<
" moveToXYMap_matchingRoutePosition pos=" << pos <<
" vClass=" <<
toString(vClass) <<
"\n";
1719 const MSEdge* prev =
nullptr;
1720 for (
int i = routeIndex; i < (int)currentRoute.size(); ++i) {
1721 const MSEdge* cand = currentRoute[i];
1722 while (prev !=
nullptr) {
1729 prev = internalCand;
1737 const MSEdge* next = currentRoute[routeIndex];
1738 for (
int i = routeIndex; i >= 0; --i) {
1739 const MSEdge* cand = currentRoute[i];
1742 while (prev !=
nullptr) {
1745 if (
findCloserLane(internalCand, pos, vClass, bestDistance, lane)) {
1748 prev = internalCand;
1757 std::map<const MSJunction*, int> routeJunctions;
1758 for (
int i = 0; i < (int)currentRoute.size() - 1; ++i) {
1759 routeJunctions[currentRoute[i]->getToJunction()] = i;
1761 std::set<const Named*> into;
1763 shape.push_back(pos);
1765 for (
const Named* named : into) {
1766 const MSLane* cand =
dynamic_cast<const MSLane*
>(named);
1778 if (lane ==
nullptr) {
1780 std::cout <<
" b failed - no best route lane" << std::endl;
1788 if (!(*lane)->getEdge().isInternal()) {
1789 const std::vector<MSLane*>& lanes = (*lane)->getEdge().getLanes();
1790 for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
1792 if (setLateralPos) {
1795 const double dist = (*i)->getShape().distance2D(pos);
1796 if (dist < (*i)->getWidth() / 2) {
1808 lanePos =
MAX2(0.,
MIN2(
double((*lane)->getLength() - NUMERICAL_EPS),
1809 (*lane)->interpolateGeometryPosToLanePos(
1810 (*lane)->getShape().nearest_offset_to_point25D(pos,
false))));
1813 std::cout <<
" b ok lane " << (*lane)->getID() <<
" lanePos:" << lanePos << std::endl;
1820 :
VariableWrapper(handler), myResults(into), myContextResults(context), myActiveResults(&into) {
1827 myActiveResults = refID ==
nullptr ? &myResults : &myContextResults[*refID];
1833 myActiveResults = &myResults;
1835 myContextResults.clear();
1841 (*myActiveResults)[objID][variable] = std::make_shared<TraCIDouble>(value);
1848 (*myActiveResults)[objID][variable] = std::make_shared<TraCIInt>(value);
1855 (*myActiveResults)[objID][variable] = std::make_shared<TraCIString>(value);
1862 auto sl = std::make_shared<TraCIStringList>();
1864 (*myActiveResults)[objID][variable] = sl;
1871 auto sl = std::make_shared<TraCIDoubleList>();
1873 (*myActiveResults)[objID][variable] = sl;
1880 (*myActiveResults)[objID][variable] = std::make_shared<TraCIPosition>(value);
1887 (*myActiveResults)[objID][variable] = std::make_shared<TraCIPositionVector>(value);
1894 (*myActiveResults)[objID][variable] = std::make_shared<TraCIColor>(value);
1901 (*myActiveResults)[objID][variable] = std::make_shared<TraCIRoadPosition>(value.first, value.second);
1908 auto sl = std::make_shared<TraCIStringList>();
1909 sl->value.push_back(value.first);
1910 sl->value.push_back(value.second);
1911 (*myActiveResults)[objID][variable] = sl;
1918 (*myActiveResults)[objID];
1924 myVehicleStateChanges[to].push_back(vehicle->
getID());
1930 myTransportableStateChanges[to].push_back(transportable->
getID());
std::vector< const MSEdge * > ConstMSEdgeVector
#define WRITE_WARNINGF(...)
#define WRITE_WARNING(msg)
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.
const PositionVector & getShape() const
Returns this lane's shape.
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.
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_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}
auto get(const nlohmann::detail::iteration_proxy_value< IteratorType > &i) -> decltype(i.key())
std::vector< TraCIPosition > value