CC_VehicleVariables.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
/****************************************************************************/
/****************************************************************************/
#pragma once
#include <config.h>
 
#include "CC_Const.h"
#include <microsim/cfmodels/MSCFModel.h>
#include <utils/geom/Position.h>
#include <string.h>
#include <string>
#include <map>
 
#include <microsim/engine/GenericEngineModel.h>
#include <microsim/engine/FirstOrderLagModel.h>
#include <microsim/engine/RealisticEngineModel.h>
 
class CC_VehicleVariables : public MSCFModel::VehicleVariables {
public:
 
    struct FAKE_CONTROLLER_DATA {
        double frontDistance;
        double frontSpeed;
        double frontAcceleration;
        double frontControllerAcceleration;
        double leaderSpeed;
        double leaderAcceleration;
        double leaderControllerAcceleration;
    };
 
    const static int defaultL[MAX_N_CARS][MAX_N_CARS];
 
    const static double defaultK[MAX_N_CARS][MAX_N_CARS];
 
    const static double defaultB[];
 
    const static double defaultH[];
 
    CC_VehicleVariables();
    ~CC_VehicleVariables();
 
    double controllerAcceleration;
 
    double frontSpeed;
    double frontAcceleration;
    double frontControllerAcceleration;
    Position frontPosition;
    double frontDataReadTime;
    Position frontVelocity;
    double frontAngle;
    bool frontInitialized;
 
    bool autoFeed;
    MSVehicle* leaderVehicle;
    std::string leaderVehicleId;
    MSVehicle* frontVehicle;
    std::string frontVehicleId;
    bool isLeader;
 
    double accHeadwayTime;
    double accLambda;
 
    bool useControllerAcceleration;
    double leaderSpeed;
    double leaderAcceleration;
    double leaderControllerAcceleration;
    Position leaderPosition;
    double leaderDataReadTime;
    Position leaderVelocity;
    double leaderAngle;
    bool leaderInitialized;
    bool caccInitialized;
 
    //enable/disable the use of a constant, user defined acceleration instead of the one computed by the controller
    int useFixedAcceleration;
    //fixed acceleration to use
    double fixedAcceleration;
 
    //car collided in the last timestep
    bool crashed;
 
    double ccDesiredSpeed;
    double ccKp;
    enum Plexe::ACTIVE_CONTROLLER activeController;
 
    struct FAKE_CONTROLLER_DATA fakeData;
 
    int L[MAX_N_CARS][MAX_N_CARS];
    double K[MAX_N_CARS][MAX_N_CARS];
    double b[MAX_N_CARS];
    double h[MAX_N_CARS];
 
    struct Plexe::VEHICLE_DATA vehicles[MAX_N_CARS];
    bool initialized[MAX_N_CARS];
    int nInitialized;
    int position;
    int nCars;
 
    double caccXi;
    double caccOmegaN;
    double caccC1;
    double caccAlpha1, caccAlpha2, caccAlpha3, caccAlpha4, caccAlpha5;
    double caccSpacing;
    double engineTau;
    double uMin, uMax;
    double ploegH;
    double ploegKp;
    double ploegKd;
    double flatbedKa;
    double flatbedKv;
    double flatbedKp;
    double flatbedD;
    double flatbedH;
 
    GenericEngineModel* engine;
    int engineModel;
 
    bool usePrediction;
 
    std::map<int, std::string> members;
 
    bool autoLaneChange;
 
    int platoonFixedLane;
 
    bool commitToLaneChange;
 
    int noCommitReason;
 
    SUMOTime laneChangeCommitTime;
 
};