Subscription.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// Subscription representation for libsumo and TraCI
/****************************************************************************/
#pragma once
#include <config.h>
#include <vector>
#include <set>
#include <foreign/tcpip/storage.h>
#include <libsumo/TraCIDefs.h>
#include <utils/common/SUMOVehicleClass.h>
#include <utils/common/SUMOTime.h>
 
 
// ===========================================================================
// class definitions
// ===========================================================================
namespace libsumo {
 
enum SubscriptionFilterType {
    // No filters
    SUBS_FILTER_NONE = 0,
    // Filter by list of lanes relative to ego vehicle
    SUBS_FILTER_LANES = 1,
    // Exclude vehicles on opposite (and other) lanes from context subscription result
    SUBS_FILTER_NOOPPOSITE = 1 << 1,
    // Specify maximal downstream distance for vehicles in context subscription result
    SUBS_FILTER_DOWNSTREAM_DIST = 1 << 2,
    // Specify maximal upstream distance for vehicles in context subscription result
    SUBS_FILTER_UPSTREAM_DIST = 1 << 3,
    // Only return leader and follower on specified lanes in context subscription result
    SUBS_FILTER_LEAD_FOLLOW = 1 << 4,
    // Only return foes on upcoming junctions in context subscription result
    SUBS_FILTER_TURN = 1 << 6,
    // Only return vehicles of the given vClass in context subscription result
    SUBS_FILTER_VCLASS = 1 << 7,
    // Only return vehicles of the given vType in context subscription result
    SUBS_FILTER_VTYPE = 1 << 8,
    // Only return vehicles within field of vision in context subscription result
    // NOTE: relies on rTree, therefore incompatible with SUBS_FILTER_NO_RTREE
    SUBS_FILTER_FIELD_OF_VISION = 1 << 9,
    // Only return vehicles within the given lateral distance in context subscription result
    SUBS_FILTER_LATERAL_DIST = 1 << 10,
    // Filter category for measuring distances along the road network instead of using the usual rtree query
    SUBS_FILTER_NO_RTREE = SUBS_FILTER_LANES | SUBS_FILTER_DOWNSTREAM_DIST | SUBS_FILTER_UPSTREAM_DIST | SUBS_FILTER_LEAD_FOLLOW | SUBS_FILTER_TURN | SUBS_FILTER_LATERAL_DIST,
    // Filter category for maneuver filters
    SUBS_FILTER_MANEUVER = SUBS_FILTER_LEAD_FOLLOW | SUBS_FILTER_TURN,
};
 
class Subscription {
public:
    Subscription(int commandIdArg, const std::string& idArg,
                 const std::vector<int>& variablesArg,
                 const std::vector<std::shared_ptr<tcpip::Storage> >& paramsArg,
                 SUMOTime beginTimeArg, SUMOTime endTimeArg,
                 int contextDomainArg, double rangeArg)
        : commandId(commandIdArg),
          id(idArg),
          variables(variablesArg),
          parameters(paramsArg),
          beginTime(beginTimeArg),
          endTime(endTimeArg),
          contextDomain(contextDomainArg),
          range(rangeArg),
          activeFilters(SUBS_FILTER_NONE),
          filterLanes(),
          filterDownstreamDist(-1),
          filterUpstreamDist(-1),
          filterFoeDistToJunction(-1),
          filterVTypes(),
          filterVClasses(0),
          filterFieldOfVisionOpeningAngle(-1),
          filterLateralDist(-1) {}
 
    bool isVehicleToVehicleContextSubscription() const {
        return commandId == CMD_SUBSCRIBE_VEHICLE_CONTEXT && contextDomain == CMD_GET_VEHICLE_VARIABLE;
    }
 
    bool isVehicleToPersonContextSubscription() const {
        return commandId == CMD_SUBSCRIBE_VEHICLE_CONTEXT && contextDomain == CMD_GET_PERSON_VARIABLE;
    }
 
    int commandId;
    std::string id;
    std::vector<int> variables;
    std::vector<std::shared_ptr<tcpip::Storage> > parameters;
    SUMOTime beginTime;
    SUMOTime endTime;
    int contextDomain;
    double range;
 
    int activeFilters;
    std::vector<int> filterLanes;
    double filterDownstreamDist;
    double filterUpstreamDist;
    double filterFoeDistToJunction;
    std::set<std::string> filterVTypes;
    SVCPermissions filterVClasses;
    double filterFieldOfVisionOpeningAngle;
    double filterLateralDist;
};
 
class VariableWrapper {
public:
    typedef bool(*SubscriptionHandler)(const std::string& objID, const int variable, VariableWrapper* wrapper, tcpip::Storage* paramData);
    VariableWrapper(SubscriptionHandler handler = nullptr) : handle(handler) {}
    virtual ~VariableWrapper() {}
    SubscriptionHandler handle;
    virtual void setContext(const std::string* const /* refID */) {}
    virtual void clear() {}
    virtual bool wrapDouble(const std::string& objID, const int variable, const double value) = 0;
    virtual bool wrapInt(const std::string& objID, const int variable, const int value) = 0;
    virtual bool wrapString(const std::string& objID, const int variable, const std::string& value) = 0;
    virtual bool wrapStringList(const std::string& objID, const int variable, const std::vector<std::string>& value) = 0;
    virtual bool wrapDoubleList(const std::string& objID, const int variable, const std::vector<double>& value) = 0;
    virtual bool wrapPosition(const std::string& objID, const int variable, const TraCIPosition& value) = 0;
    virtual bool wrapPositionVector(const std::string& objID, const int variable, const TraCIPositionVector& value) = 0;
    virtual bool wrapColor(const std::string& objID, const int variable, const TraCIColor& value) = 0;
    virtual bool wrapStringDoublePair(const std::string& objID, const int variable, const std::pair<std::string, double>& value) = 0;
    virtual bool wrapStringPair(const std::string& objID, const int variable, const std::pair<std::string, std::string>& value) = 0;
    virtual void empty(const std::string& /* objID */) {}
};
 
 
}