MSDevice_StationFinder.cpp

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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
/****************************************************************************/
// A device which triggers rerouting to nearby charging stations
/****************************************************************************/
#include <config.h>
 
#include <microsim/MSEdge.h>
#include <microsim/MSEdgeWeightsStorage.h>
#include <microsim/MSEventControl.h>
#include <microsim/MSNet.h>
#include <microsim/MSParkingArea.h>
#include <microsim/MSStop.h>
#include <microsim/MSVehicleControl.h>
#include <microsim/MSVehicleTransfer.h>
#include <microsim/trigger/MSChargingStation.h>
#include <microsim/output/MSDetectorControl.h>
#include <utils/options/OptionsCont.h>
#include <utils/emissions/PollutantsInterface.h>
#include <utils/emissions/HelpersEnergy.h>
#include <utils/iodevices/OutputDevice.h>
#include "MSRoutingEngine.h"
#include "MSDevice_Battery.h"
#include "MSDevice_StationFinder.h"
 
//#define DEBUG_STATIONFINDER_RESCUE
//#define DEBUG_STATIONFINDER_REROUTE
 
 
// ===========================================================================
// static variables
// ===========================================================================
 
 
// ===========================================================================
// method definitions
// ===========================================================================
// ---------------------------------------------------------------------------
// static initialisation methods
// ---------------------------------------------------------------------------
void
MSDevice_StationFinder::insertOptions(OptionsCont& oc) {
    insertDefaultAssignmentOptions("stationfinder", "Battery", oc);
    oc.doRegister("device.stationfinder.rescueTime", new Option_String("1800", "TIME"));
    oc.addDescription("device.stationfinder.rescueTime", "Battery", TL("Time to wait for a rescue vehicle on the road side when the battery is empty"));
    oc.doRegister("device.stationfinder.rescueAction", new Option_String("remove"));
    oc.addDescription("device.stationfinder.rescueAction", "Battery", TL("How to deal with a vehicle which has to stop due to low battery: [none, remove, tow]"));
    oc.doRegister("device.stationfinder.reserveFactor", new Option_Float(1.1));
    oc.addDescription("device.stationfinder.reserveFactor", "Battery", TL("Scale battery need with this factor to account for unexpected traffic situations"));
    oc.doRegister("device.stationfinder.emptyThreshold", new Option_Float(0.05));
    oc.addDescription("device.stationfinder.emptyThreshold", "Battery", TL("Battery percentage to go into rescue mode"));
    oc.doRegister("device.stationfinder.radius", new Option_String("180", "TIME"));
    oc.addDescription("device.stationfinder.radius", "Battery", TL("Search radius in travel time seconds"));
    oc.doRegister("device.stationfinder.maxEuclideanDistance", new Option_String("2000", "FLOAT"));
    oc.addDescription("device.stationfinder.maxEuclideanDistance", "Battery", TL("Euclidean search distance in meters"));
    oc.doRegister("device.stationfinder.repeat", new Option_String("60", "TIME"));
    oc.addDescription("device.stationfinder.repeat", "Battery", TL("When to trigger a new search if no station has been found"));
    oc.doRegister("device.stationfinder.maxChargePower", new Option_Float(100000.));
    oc.addDescription("device.stationfinder.maxChargePower", "Battery", TL("The maximum charging speed of the vehicle battery"));
    oc.doRegister("device.stationfinder.chargeType", new Option_String("charging"));
    oc.addDescription("device.stationfinder.chargeType", "Battery", TL("Type of energy transfer"));
    oc.doRegister("device.stationfinder.waitForCharge", new Option_String("600", "TIME"));
    oc.addDescription("device.stationfinder.waitForCharge", "Battery", TL("After this waiting time vehicle searches for a new station when the initial one is blocked"));
    oc.doRegister("device.stationfinder.saturatedChargeLevel", new Option_Float(0.8));
    oc.addDescription("device.stationfinder.saturatedChargeLevel", "Battery", TL("Target state of charge after which the vehicle stops charging"));
    oc.doRegister("device.stationfinder.needToChargeLevel", new Option_Float(0.4));
    oc.addDescription("device.stationfinder.needToChargeLevel", "Battery", TL("State of charge the vehicle begins searching for charging stations"));
}
 
 
void
MSDevice_StationFinder::buildVehicleDevices(SUMOVehicle& v, std::vector<MSVehicleDevice*>& into) {
    OptionsCont& oc = OptionsCont::getOptions();
    if (equippedByDefaultAssignmentOptions(oc, "stationfinder", v, false)) {
        into.push_back(new MSDevice_StationFinder(v));
    }
}
 
 
// ---------------------------------------------------------------------------
// MSDevice_StationFinder-methods
// ---------------------------------------------------------------------------
MSDevice_StationFinder::MSDevice_StationFinder(SUMOVehicle& holder)
    : MSVehicleDevice(holder, "stationfinder_" + holder.getID()), myVeh(dynamic_cast<MSVehicle&>(holder)),
      myBattery(nullptr), myChargingStation(nullptr), myRescueCommand(nullptr), myLastChargeCheck(0),
      myCheckInterval(1000), myArrivalAtChargingStation(-1), myLastSearch(-1) {
    OptionsCont& oc = OptionsCont::getOptions();
    myRescueTime = getFloatParam(holder, oc, "stationfinder.rescueTime", 1800.);
    initRescueAction(holder, oc, "stationfinder.rescueAction", myRescueAction);
    initRescueCommand();
    myReserveFactor = MAX2(1., getFloatParam(holder, oc, "stationfinder.reserveFactor", 1.1));
    myEmptySoC = MAX2(0., MIN2(getFloatParam(holder, oc, "stationfinder.emptyThreshold", 5.), 1.));
    myRadius = getTimeParam(holder, oc, "stationfinder.radius", 180000);
    myMaxEuclideanDistance = getFloatParam(holder, oc, "stationfinder.maxEuclideanDistance", -1);
    myRepeatInterval = getTimeParam(holder, oc, "stationfinder.repeat", 60000);
    myMaxChargePower = getFloatParam(holder, oc, "stationfinder.maxChargePower", 80000.);
    myChargeType = CHARGETYPE_CHARGING;
    myWaitForCharge = getTimeParam(holder, oc, "stationfinder.waitForCharge", 600000);
    myTargetSoC = MAX2(0., MIN2(getFloatParam(holder, oc, "stationfinder.saturatedChargeLevel", 80.), 1.));
    mySearchSoC = MAX2(0., MIN2(getFloatParam(holder, oc, "stationfinder.needToChargeLevel", 40.), 1.));
    if (mySearchSoC <= myEmptySoC) {
        WRITE_WARNINGF(TL("Vehicle '%' searches for charging stations only in the rescue case due to search threshold % <= rescue threshold %."), myHolder.getID(), mySearchSoC, myEmptySoC);
    }
    myUpdateSoC = MAX2(0., mySearchSoC - DEFAULT_SOC_INTERVAL);
}
 
 
MSDevice_StationFinder::~MSDevice_StationFinder() {
    // make the rescue command invalid if there is one
    if (myRescueCommand != nullptr) {
        myRescueCommand->deschedule();
    }
}
 
 
bool
MSDevice_StationFinder::notifyMove(SUMOTrafficObject& veh, double /*oldPos*/, double /*newPos*/, double /*newSpeed*/) {
    if (myBattery->getEnergyCharged() > 0. && myChargingStation != nullptr) {
        // we have started charging thus can forget searched charging stations
        myPassedChargingStations.clear();
        myArrivalAtChargingStation = -1;
        myChargingStation = nullptr;
        mySearchState = SEARCHSTATE_CHARGING;
        return true;
    } else if (mySearchState == SEARCHSTATE_CHARGING) {
        if (myBattery->getChargingStationID() == "") {
            mySearchState = SEARCHSTATE_NONE;
        } else {
            return true;
        }
    }
    // check if the vehicle travels at most an edge length to the charging station after jump/teleport
    if (mySearchState == SEARCHSTATE_BROKEN_DOWN && myVeh.hasStops() && myVeh.getStop(0).chargingStation != nullptr && myVeh.getStop(0).chargingStation->getLane().getEdge().getID() == myVeh.getLane()->getEdge().getID()) {
        return true;
    }
    const SUMOTime now = SIMSTEP;
    if (myChargingStation != nullptr) {
        if (myArrivalAtChargingStation > 0 && now - myArrivalAtChargingStation > myWaitForCharge) {
            // waited for too long, try another charging station
            if (rerouteToChargingStation(true)) {
                WRITE_MESSAGE(TLF("Rerouted vehicle '%' after waiting too long at the previous charging station at time=%.", veh.getID(), toString(SIMTIME)));
            }
        } else if (myArrivalAtChargingStation < 0 && myVeh.willStop() && myVeh.getDistanceToPosition(myChargingStation->getBeginLanePosition(), myVeh.getLane()) < DEFAULT_CHARGINGSTATION_VIEW_DIST) {
            // remember when the vehicle arrived close to the target charging station
            mySearchState = SEARCHSTATE_WAITING;
            myArrivalAtChargingStation = now;
        }
    }
    const double currentSoC = myBattery->getActualBatteryCapacity() / myBattery->getMaximumBatteryCapacity();
    if (currentSoC > mySearchSoC || mySearchState == SEARCHSTATE_BROKEN_DOWN) {
        // battery SoC is too high to look for charging facilities or the vehicle is already in rescue mode
        return true;
    }
    // only check once per second
    if (now - myLastChargeCheck < 1000) {
        return true;
    } else if (myRescueAction != RESCUEACTION_NONE  && (currentSoC < myEmptySoC || currentSoC < NUMERICAL_EPS)) {
 
        // vehicle has to stop at the end of the  because battery SoC is too low
        double brakeGap = myVeh.getCarFollowModel().brakeGap(myVeh.getSpeed());
        std::pair<const MSLane*, double> stopPos = myVeh.getLanePosAfterDist(brakeGap);
        if (stopPos.first != nullptr) {
            const MSLane* stopLane = (stopPos.first->isInternal()) ? stopPos.first->getNormalSuccessorLane() : stopPos.first;
            double endPos = stopPos.second;
            if (stopLane != stopPos.first) {
                endPos = MIN2(POSITION_EPS, stopLane->getLength());
            }
            // remove possibly scheduled charging stop
            if (myVeh.hasStops() && myVeh.getStop(0).chargingStation != nullptr) {
                myVeh.abortNextStop();
            }
 
            // schedule the rescue stop
            SUMOVehicleParameter::Stop rescueStop;
            rescueStop.index = 0;
            rescueStop.edge = stopLane->getEdge().getID();
            rescueStop.lane = stopLane->getID();
            rescueStop.startPos = MAX2(endPos - 2 * myHolder.getVehicleType().getLength(), 0.);
            rescueStop.endPos = endPos;
            rescueStop.parametersSet |= STOP_START_SET | STOP_END_SET;
            WRITE_MESSAGEF(TL("Vehicle '%' wants to stop on lane % at pos % because of low battery charge % at time=%."), myHolder.getID(), rescueStop.lane, toString(rescueStop.endPos), toString(currentSoC), toString(SIMTIME));
 
            if (myRescueAction == RESCUEACTION_REMOVE) {
                // remove vehicle from network
                rescueStop.until = SUMOTime_MAX;
                rescueStop.breakDown = true;
                std::string errorMsg = "Could not insert the rescue stop.";
                if (!myVeh.insertStop(0, rescueStop, "stationfinder:rescue", false, errorMsg)) {
                    WRITE_ERROR(errorMsg);
                }
                mySearchState = SEARCHSTATE_BROKEN_DOWN;
                return true;
            } else if (myRescueAction == RESCUEACTION_TOW) {
                // wait next to the road and get teleported to a charging station
                SUMOTime rescueTime = TIME2STEPS(myRescueTime);
                rescueStop.duration = rescueTime;
                rescueStop.parking = ParkingType::ONROAD;
                rescueStop.jump = 0;
                std::string errorMsg = "Could not insert the rescue stop.";
                if (!myVeh.insertStop(0, rescueStop, "stationfinder:rescue", false, errorMsg)) {
                    WRITE_ERROR(errorMsg);
                }
                initRescueCommand();
                MSNet::getInstance()->getBeginOfTimestepEvents()->addEvent(myRescueCommand, SIMSTEP + rescueStop.duration - DELTA_T);
                mySearchState = SEARCHSTATE_BROKEN_DOWN;
                return true;
            }
        }
    } else if (myChargingStation == nullptr &&
               (myUpdateSoC - currentSoC > DEFAULT_SOC_INTERVAL || (mySearchState == SEARCHSTATE_UNSUCCESSFUL && now - myLastSearch >= myRepeatInterval))) {
        // check if a charging stop is already planned without the device, otherwise reroute inside this device
        if (!alreadyPlannedCharging() && now > myHolder.getDeparture()) {
            rerouteToChargingStation();
        }
        myUpdateSoC = currentSoC;
    }
    myLastChargeCheck = SIMSTEP;
    return true;
}
 
 
bool
MSDevice_StationFinder::notifyIdle(SUMOTrafficObject& /*veh*/) {
    return true;
}
 
 
void
MSDevice_StationFinder::notifyMoveInternal(const SUMOTrafficObject& /*veh*/,
        const double /* frontOnLane */,
        const double /* timeOnLane */,
        const double /* meanSpeedFrontOnLane */,
        const double /* meanSpeedVehicleOnLane */,
        const double /* travelledDistanceFrontOnLane */,
        const double /* travelledDistanceVehicleOnLane */,
        const double /* meanLengthOnLane */) {
 
    // called by meso (see MSMeanData_Emissions::MSLaneMeanDataValues::notifyMoveInternal)
}
 
 
MSChargingStation*
MSDevice_StationFinder::findChargingStation(SUMOAbstractRouter<MSEdge, SUMOVehicle>& router, double expectedConsumption, bool constrainTT, bool skipVisited, bool skipOccupied) {
    const MSEdge* const start = myHolder.getEdge();
    double minTargetValue = std::numeric_limits<double>::max();
    MSChargingStation* minStation = nullptr;
    const ConstMSEdgeVector& route = myHolder.getRoute().getEdges();
    // search for charging stations that can be reached in a certain travel time
    const SUMOTime now = SIMSTEP;
 
    //  first evaluate all routes from the current edge to all charging stations in bulk mode
    std::map<MSChargingStation*, double> travelTimeToCharging;
    double maxTT = STEPS2TIME(myRadius);
    for (const auto& stop : MSNet::getInstance()->getStoppingPlaces(SUMO_TAG_CHARGING_STATION)) {
        MSChargingStation* cs = static_cast<MSChargingStation*>(stop.second);
        if (cs->getEfficency() < NUMERICAL_EPS) {
            continue;
        }
        if (cs->getParkingArea() != nullptr && !cs->getParkingArea()->accepts(&myVeh)) {
            // skip stations where the linked parking area does not grant access to the device holder
            continue;
        }
        if (skipOccupied && freeSpaceAtChargingStation(cs) < 1.) {
            continue;
        }
        if (skipVisited && std::find(myPassedChargingStations.begin(), myPassedChargingStations.end(), cs) != myPassedChargingStations.end()) {
            // skip recently visited
            continue;
        }
        if (constrainTT && myMaxEuclideanDistance > 0 && stop.second->getLane().geometryPositionAtOffset(stop.second->getBeginLanePosition()).distanceTo2D(myHolder.getPosition()) > myMaxEuclideanDistance) {
            // skip probably too distant charging stations
            continue;
        }
        const MSEdge* const csEdge = &stop.second->getLane().getEdge();
        ConstMSEdgeVector routeTo;
        if (router.compute(start, myHolder.getPositionOnLane(), csEdge, stop.second->getBeginLanePosition(), &myHolder, now, routeTo, true)) {
            ConstMSEdgeVector routeFrom;
            double time = router.recomputeCosts(routeTo, &myHolder, now) - csEdge->getMinimumTravelTime(&myHolder) * (csEdge->getLength() - cs->getBeginLanePosition()) / csEdge->getLength();
            if (!constrainTT || time < maxTT) {
                travelTimeToCharging.insert({ cs, time });
            }
        }
        router.setBulkMode(true);
    }
    router.setBulkMode(false);
    // now complete the routes with the stretch from a charging station to the destination
    for (const auto& tt : travelTimeToCharging) {
        MSChargingStation* cs = tt.first;
        double parkingCapacity = (cs->getParkingArea() != nullptr) ? cs->getParkingArea()->getCapacity() : (cs->getEndLanePosition() - cs->getBeginLanePosition()) / myHolder.getVehicleType().getParameter().length;
        double freeParkingCapacity = freeSpaceAtChargingStation(cs);
        double waitingTime = (freeParkingCapacity < 1.) ? DEFAULT_AVG_WAITING_TIME / parkingCapacity : 0.; // TODO: create true waiting time function
        double chargingTime = STEPS2TIME(cs->getChargeDelay()) + expectedConsumption / cs->getChargingPower(false);
 
        ConstMSEdgeVector routeFrom;
        const MSEdge* const csEdge = &cs->getLane().getEdge();
        if (csEdge == route.back() || router.compute(csEdge, route.back(), &myHolder, now, routeFrom, true)) {
            double time = tt.second;
            if (csEdge != route.back()) {
                routeFrom.erase(routeFrom.begin()); // do no count charging station edge twice
                time += router.recomputeCosts(routeFrom, &myHolder, now);
            }
            double targetValue = time + chargingTime + waitingTime / parkingCapacity;
 
#ifdef DEBUG_STATIONFINDER_REROUTE
            std::cout << "MSDevice_StationFinder::findChargingStation: CS " << cs->getID() << " targetValue " << targetValue << " travelTime " << time << " freeParkingCapacity " << freeParkingCapacity << " chargingTime " << chargingTime << "\n";
#endif
            if (targetValue < minTargetValue) {
                minTargetValue = targetValue;
                minStation = cs;
            }
        }
    }
    return minStation;
}
 
 
bool
MSDevice_StationFinder::rerouteToChargingStation(bool replace) {
    double expectedConsumption = MIN2(estimateConsumption() * myReserveFactor, myBattery->getMaximumBatteryCapacity() * myTargetSoC);
    if (myBattery->getActualBatteryCapacity() < expectedConsumption) {
        myLastSearch = SIMSTEP;
        MSVehicleRouter& router = MSRoutingEngine::getRouterTT(myHolder.getRNGIndex(), myHolder.getVClass());
        MSChargingStation* cs = findChargingStation(router, expectedConsumption);
        if (cs != nullptr) {
            // integrate previously planned stops which do not have charging facilities
            myChargingStation = cs;
            SUMOVehicleParameter::Stop stopPar;
            stopPar.chargingStation = cs->getID();
            if (cs->getParkingArea() != nullptr) {
                stopPar.parkingarea = cs->getParkingArea()->getID();
                stopPar.parking = (cs->getParkingArea()->parkOnRoad()) ? ParkingType::ONROAD : ParkingType::OFFROAD;
            }
            stopPar.edge = cs->getLane().getEdge().getID();
            stopPar.lane = cs->getLane().getID();
            stopPar.duration = TIME2STEPS(expectedConsumption / (cs->getChargingPower(false) * cs->getEfficency()));
            stopPar.startPos = cs->getBeginLanePosition();
            stopPar.endPos = cs->getEndLanePosition();
            std::string errorMsg;
#ifdef DEBUG_STATIONFINDER_REROUTE
            std::ostringstream os;
            const ConstMSEdgeVector edgesBefore = myVeh.getRoute().getEdges();
            for (auto edge : edgesBefore) {
                os << edge->getID() << " ";
            }
            std::cout << "MSDevice_StationFinder::rerouteToChargingStation: \n\tRoute before scheduling the charging station: " << os.str() << "\n";
#endif
            if ((replace && !myVeh.replaceStop(0, stopPar, "stationfinder:search", false, errorMsg)) || (!replace && !myVeh.insertStop(0, stopPar, "stationfinder:search", false, errorMsg))) {
                WRITE_MESSAGE(TLF("Problem with inserting the charging station stop for vehicle %.", myHolder.getID()));
                WRITE_ERROR(errorMsg);
            }
#ifdef DEBUG_STATIONFINDER_REROUTE
            std::ostringstream os2;
            const ConstMSEdgeVector edgesAfter = myVeh.getRoute().getEdges();
            for (auto edge : edgesAfter) {
                os2 << edge->getID() << " ";
            }
            std::cout << "\tRoute after scheduling the charging station: " << os2.str() << "\n";
#endif
            myPassedChargingStations.push_back(cs);
            myArrivalAtChargingStation = -1;
            mySearchState = SEARCHSTATE_SUCCESSFUL;
#ifdef DEBUG_STATIONFINDER_REROUTE
            std::cout << "\tVehicle " << myHolder.getID() << " gets rerouted to charging station " << cs->getID()  << " on edge " << stopPar.edge  << " at time " << SIMTIME << "\n";
#endif
            return true;
        }
        mySearchState = SEARCHSTATE_UNSUCCESSFUL;
        WRITE_MESSAGEF(TL("Vehicle '%' wants to charge at time=% but does not find any charging station nearby."), myHolder.getID(), toString(SIMTIME));
    }
    return false;
}
 
 
SUMOTime
MSDevice_StationFinder::teleportToChargingStation(const SUMOTime /*currentTime*/) {
    // find closest charging station
    MSVehicleRouter& router = MSRoutingEngine::getRouterTT(myHolder.getRNGIndex(), myHolder.getVClass());
    double expectedConsumption = MIN2(estimateConsumption(nullptr, true, STEPS2TIME(myVeh.getStops().front().pars.duration)) * myReserveFactor, myBattery->getMaximumBatteryCapacity() * myTargetSoC);
    MSChargingStation* cs = findChargingStation(router, expectedConsumption, false, false, true);
    if (cs == nullptr) {
        // continue waiting if all charging stations are occupied
#ifdef DEBUG_STATIONFINDER_RESCUE
        std::cout << "MSDevice_StationFinder::teleportToChargingStation: No charging station available to teleport the broken-down vehicle " << myHolder.getID() << " to at time " << SIMTIME << ".\n.";
#endif
        // remove the vehicle if teleport to a charging station fails
        if (myHolder.isStopped()) {
            MSStop& currentStop = myHolder.getNextStop();
            currentStop.duration += DELTA_T;
            SUMOVehicleParameter::Stop& stopPar = const_cast<SUMOVehicleParameter::Stop&>(currentStop.pars);
            stopPar.jump = -1;
            stopPar.breakDown = true;
            mySearchState = SEARCHSTATE_BROKEN_DOWN;
            WRITE_WARNINGF(TL("There is no charging station available to teleport the vehicle '%' to at time=%. Thus the vehicle will be removed."), myHolder.getID(), toString(SIMTIME));
        }
#ifdef DEBUG_STATIONFINDER_RESCUE
        else {
#ifdef DEBUG_STATIONFINDER_RESCUE
            std::cout << "MSDevice_StationFinder::teleportToChargingStation: Rescue stop of " << myHolder.getID() << " ended prematurely before regular end at " << SIMTIME << ".\n.";
#endif
        }
#endif
        return myRepeatInterval;
    }
 
 
    // teleport to the charging station, stop there for charging
    myChargingStation = cs;
    SUMOVehicleParameter::Stop stopPar;
    stopPar.chargingStation = cs->getID();
    if (cs->getParkingArea() != nullptr) {
        stopPar.parkingarea = cs->getParkingArea()->getID();
        stopPar.parking = (cs->getParkingArea()->parkOnRoad()) ? ParkingType::ONROAD : ParkingType::OFFROAD;
    }
    stopPar.edge = cs->getLane().getEdge().getID();
    stopPar.lane = cs->getLane().getID();
    stopPar.startPos = cs->getBeginLanePosition();
    stopPar.endPos = cs->getEndLanePosition();
    stopPar.duration = TIME2STEPS(expectedConsumption / (cs->getChargingPower(false) * cs->getEfficency()));
    std::string errorMsg;
    if (!myVeh.insertStop(1, stopPar, "stationfinder:search", true, errorMsg)) {
        WRITE_ERROR(errorMsg);
    }
    myPassedChargingStations.push_back(cs);
    myRescueCommand->deschedule();
    myRescueCommand = nullptr;
    return 0;
}
 
 
double
MSDevice_StationFinder::estimateConsumption(const MSEdge* target, const bool includeEmptySoC, const double stopDiscount) const {
    const SUMOTime now = SIMSTEP;
    MSVehicleRouter& router = MSRoutingEngine::getRouterTT(myHolder.getRNGIndex(), myHolder.getVClass());
    const ConstMSEdgeVector& route = myHolder.getRoute().getEdges();
    ConstMSEdgeVector::const_iterator targetIt = (target == nullptr) ? route.end() : std::find(route.begin(), route.end(), target) + 1;
    const ConstMSEdgeVector remainingRoute(route.begin() + myHolder.getRoutePosition(), targetIt);
    const double remainingTime = router.recomputeCosts(remainingRoute, &myHolder, now);
    if (now > myHolder.getDeparture()) {
        const double totalConsumption = myBattery->getTotalConsumption();
        double expectedConsumption = 0.;
        double passedTime = STEPS2TIME(now - myHolder.getDeparture());
        if (totalConsumption > 0. && passedTime - stopDiscount > DEFAULT_CONSUMPTION_ESTIMATE_HISTORY) {
            expectedConsumption = totalConsumption / (passedTime - stopDiscount) * remainingTime;
        } else {
            // fallback consumption rate for vehicles starting with low battery
            const double speed = MIN2(myHolder.getMaxSpeed(), myHolder.getLane()->getSpeedLimit());
            EnergyParams* const params = myHolder.getEmissionParameters();
            expectedConsumption = PollutantsInterface::compute(myVeh.getVehicleType().getEmissionClass(), PollutantsInterface::ELEC,
                                  speed * 0.8, 0., 0., params) * (remainingTime - passedTime);
        }
        if (includeEmptySoC) {
            expectedConsumption += MAX2(0., myEmptySoC * myBattery->getMaximumBatteryCapacity() - myBattery->getActualBatteryCapacity());
        }
        expectedConsumption /= myHolder.getEmissionParameters()->getDouble(SUMO_ATTR_PROPULSIONEFFICIENCY);
        return expectedConsumption;
    }
    return 0.;
}
 
 
double
MSDevice_StationFinder::freeSpaceAtChargingStation(MSChargingStation* cs) const {
    return (cs->getParkingArea() != nullptr) ? cs->getParkingArea()->getCapacity() - cs->getParkingArea()->getOccupancy() : (cs->getLastFreePos() - cs->getBeginLanePosition()) / myHolder.getVehicleType().getParameter().length;
}
 
 
bool
MSDevice_StationFinder::alreadyPlannedCharging() {
    if (myChargingStation == nullptr) {
        auto stops = myHolder.getStops();
        for (auto stop : stops) {
            if (stop.chargingStation != nullptr) {
                // compare whether we'll make it there without intermediate charging
                double expectedConsumption = estimateConsumption(*stop.edge);
                if (myBattery->getActualBatteryCapacity() < expectedConsumption) {
                    myChargingStation = stop.chargingStation;
                    return true;
                }
            }
        }
    }
    return false;
}
 
 
void
MSDevice_StationFinder::initRescueCommand() {
    if (myRescueAction == RESCUEACTION_TOW && myRescueCommand == nullptr) {
        myRescueCommand = new WrappingCommand<MSDevice_StationFinder>(this, &MSDevice_StationFinder::teleportToChargingStation);
    }
}
 
 
void
MSDevice_StationFinder::generateOutput(OutputDevice* tripinfoOut) const {
    if (tripinfoOut != nullptr && myChargingStation != nullptr) {
        tripinfoOut->openTag("stationfinder");
        tripinfoOut->writeAttr("chargingStation", myChargingStation->getID());
        tripinfoOut->closeTag();
    }
}
 
 
std::string
MSDevice_StationFinder::getParameter(const std::string& key) const {
    if (key == "chargingStation") { // eventually abstract with enum
        return (myChargingStation == nullptr) ? "" : myChargingStation->getID();
    } else if (key == "batteryNeed") {
        return toString(estimateConsumption() * myReserveFactor);
    }
    throw InvalidArgument(TLF("Parameter '%' is not supported for device of type '%'", key, deviceName()));
}
 
 
void
MSDevice_StationFinder::initRescueAction(const SUMOVehicle& v, const OptionsCont& oc, const std::string& option, RescueAction& myAction) {
    const std::string action = getStringParam(v, oc, option, "remove");
    if (action == "remove") {
        myAction = RESCUEACTION_REMOVE;
    }  else if (action == "tow") {
        myAction = RESCUEACTION_TOW;
    } else if (action == "none") {
        myAction = RESCUEACTION_NONE;
    } else {
        WRITE_ERROR(TLF("Invalid % '%'.", option, action));
    }
}