TraCIDefs.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2012-2024 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
/****************************************************************************/
// C++ TraCI client API implementation
/****************************************************************************/
#pragma once
// we do not include config.h here, since we should be independent of a special sumo build
// but we want to avoid certain warnings in MSVC see config.h.cmake for details
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4514 4820)
#endif
 
#include <libsumo/TraCIConstants.h>
#include <vector>
#include <limits>
#include <map>
#include <string>
#include <stdexcept>
#include <sstream>
#include <memory>
#include <cstring>
 
 
// ===========================================================================
// common declarations
// ===========================================================================
namespace libsumo {
class VariableWrapper;
}
namespace tcpip {
class Storage;
}
 
 
// ===========================================================================
// global definitions
// ===========================================================================
#ifdef LIBTRACI
#define LIBSUMO_NAMESPACE libtraci
#else
#define LIBSUMO_NAMESPACE libsumo
#endif
 
#define LIBSUMO_SUBSCRIPTION_API \
static void subscribe(const std::string& objectID, const std::vector<int>& varIDs = std::vector<int>({-1}), \
                      double begin = libsumo::INVALID_DOUBLE_VALUE, double end = libsumo::INVALID_DOUBLE_VALUE, const libsumo::TraCIResults& params = libsumo::TraCIResults()); \
static void unsubscribe(const std::string& objectID); \
static void subscribeContext(const std::string& objectID, int domain, double dist, const std::vector<int>& varIDs = std::vector<int>({-1}), \
                             double begin = libsumo::INVALID_DOUBLE_VALUE, double end = libsumo::INVALID_DOUBLE_VALUE, const libsumo::TraCIResults& params = libsumo::TraCIResults()); \
static void unsubscribeContext(const std::string& objectID, int domain, double dist); \
static const libsumo::SubscriptionResults getAllSubscriptionResults(); \
static const libsumo::TraCIResults getSubscriptionResults(const std::string& objectID); \
static const libsumo::ContextSubscriptionResults getAllContextSubscriptionResults(); \
static const libsumo::SubscriptionResults getContextSubscriptionResults(const std::string& objectID); \
static void subscribeParameterWithKey(const std::string& objectID, const std::string& key, double beginTime = libsumo::INVALID_DOUBLE_VALUE, double endTime = libsumo::INVALID_DOUBLE_VALUE); \
static const int DOMAIN_ID;
 
#define LIBSUMO_SUBSCRIPTION_IMPLEMENTATION(CLASS, DOM) \
const int CLASS::DOMAIN_ID(libsumo::CMD_GET_##DOM##_VARIABLE); \
void \
CLASS::subscribe(const std::string& objectID, const std::vector<int>& varIDs, double begin, double end, const libsumo::TraCIResults& params) { \
    libsumo::Helper::subscribe(libsumo::CMD_SUBSCRIBE_##DOM##_VARIABLE, objectID, varIDs, begin, end, params); \
} \
void \
CLASS::unsubscribe(const std::string& objectID) { \
    libsumo::Helper::subscribe(libsumo::CMD_SUBSCRIBE_##DOM##_VARIABLE, objectID, std::vector<int>(), libsumo::INVALID_DOUBLE_VALUE, libsumo::INVALID_DOUBLE_VALUE, libsumo::TraCIResults()); \
} \
void \
CLASS::subscribeContext(const std::string& objectID, int domain, double dist, const std::vector<int>& varIDs, double begin, double end, const TraCIResults& params) { \
    libsumo::Helper::subscribe(libsumo::CMD_SUBSCRIBE_##DOM##_CONTEXT, objectID, varIDs, begin, end, params, domain, dist); \
} \
void \
CLASS::unsubscribeContext(const std::string& objectID, int domain, double dist) { \
    libsumo::Helper::subscribe(libsumo::CMD_SUBSCRIBE_##DOM##_CONTEXT, objectID, std::vector<int>(), libsumo::INVALID_DOUBLE_VALUE, libsumo::INVALID_DOUBLE_VALUE, libsumo::TraCIResults(), domain, dist); \
} \
const libsumo::SubscriptionResults \
CLASS::getAllSubscriptionResults() { \
    return mySubscriptionResults; \
} \
const libsumo::TraCIResults \
CLASS::getSubscriptionResults(const std::string& objectID) { \
    return mySubscriptionResults[objectID]; \
} \
const libsumo::ContextSubscriptionResults \
CLASS::getAllContextSubscriptionResults() { \
    return myContextSubscriptionResults; \
} \
const libsumo::SubscriptionResults \
CLASS::getContextSubscriptionResults(const std::string& objectID) { \
    return myContextSubscriptionResults[objectID]; \
} \
void \
CLASS::subscribeParameterWithKey(const std::string& objectID, const std::string& key, double beginTime, double endTime) { \
    libsumo::Helper::subscribe(libsumo::CMD_SUBSCRIBE_##DOM##_VARIABLE, objectID, std::vector<int>({libsumo::VAR_PARAMETER_WITH_KEY}), beginTime, endTime, libsumo::TraCIResults {{libsumo::VAR_PARAMETER_WITH_KEY, std::make_shared<libsumo::TraCIString>(key)}}); \
}
 
 
#define LIBSUMO_ID_PARAMETER_API \
static std::vector<std::string> getIDList(); \
static int getIDCount(); \
static std::string getParameter(const std::string& objectID, const std::string& key); \
static const std::pair<std::string, std::string> getParameterWithKey(const std::string& objectID, const std::string& key); \
static void setParameter(const std::string& objectID, const std::string& key, const std::string& value);
 
#define LIBSUMO_GET_PARAMETER_WITH_KEY_IMPLEMENTATION(CLASS) \
const std::pair<std::string, std::string> \
CLASS::getParameterWithKey(const std::string& objectID, const std::string& key) { \
    return std::make_pair(key, getParameter(objectID, key)); \
}
 
 
#define SWIGJAVA_CAST(CLASS) \
static std::shared_ptr<CLASS> cast(std::shared_ptr<TraCIResult> res) { \
    return std::dynamic_pointer_cast<CLASS>(res); \
}
 
 
// ===========================================================================
// class and type definitions
// ===========================================================================
namespace libsumo {
class TraCIException : public std::runtime_error {
public:
    TraCIException(std::string what)
        : std::runtime_error(what) {}
};
 
class FatalTraCIError : public std::runtime_error {
public:
    FatalTraCIError(std::string what)
        : std::runtime_error(what) {}
};
 
 
struct TraCIResult {
    virtual ~TraCIResult() {}
    virtual std::string getString() const {
        return "";
    }
    virtual int getType() const {
        return -1;
    }
};
 
struct TraCIPosition : TraCIResult {
    std::string getString() const {
        std::ostringstream os;
        os << "TraCIPosition(" << x << "," << y;
        if (z != INVALID_DOUBLE_VALUE) {
            os << "," << z;
        }
        os << ")";
        return os.str();
    }
    double x = INVALID_DOUBLE_VALUE, y = INVALID_DOUBLE_VALUE, z = INVALID_DOUBLE_VALUE;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIPosition)
#endif
};
 
struct TraCIRoadPosition : TraCIResult {
    TraCIRoadPosition() {}
    TraCIRoadPosition(const std::string e, const double p) : edgeID(e), pos(p) {}
    std::string getString() const {
        std::ostringstream os;
        os << "TraCIRoadPosition(" << edgeID << "_" << laneIndex << "," << pos << ")";
        return os.str();
    }
    std::string edgeID = "";
    double pos = INVALID_DOUBLE_VALUE;
    int laneIndex = INVALID_INT_VALUE;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIRoadPosition)
#endif
};
 
struct TraCIColor : TraCIResult {
    TraCIColor() : r(0), g(0), b(0), a(255) {}
    TraCIColor(int r, int g, int b, int a = 255) : r(r), g(g), b(b), a(a) {}
    std::string getString() const {
        std::ostringstream os;
        os << "TraCIColor(" << r << "," << g << "," << b << "," << a << ")";
        return os.str();
    }
    int r, g, b, a;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIColor)
#endif
};
 
 
struct TraCIPositionVector : TraCIResult {
    std::string getString() const {
        std::ostringstream os;
        os << "[";
        for (const TraCIPosition& v : value) {
            os << "(" << v.x << "," << v.y << "," << v.z << ")";
        }
        os << "]";
        return os.str();
    }
    std::vector<TraCIPosition> value;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIPositionVector)
#endif
};
 
 
struct TraCIInt : TraCIResult {
    TraCIInt() : value(0) {}
    TraCIInt(int v) : value(v) {}
    std::string getString() const {
        std::ostringstream os;
        os << value;
        return os.str();
    }
    int value;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIInt)
#endif
};
 
 
struct TraCIDouble : TraCIResult {
    TraCIDouble() : value(0.) {}
    TraCIDouble(double v) : value(v) {}
    std::string getString() const {
        std::ostringstream os;
        os << value;
        return os.str();
    }
    int getType() const {
        return libsumo::TYPE_DOUBLE;
    }
    double value;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIDouble)
#endif
};
 
 
struct TraCIString : TraCIResult {
    TraCIString() : value("") {}
    TraCIString(std::string v) : value(v) {}
    std::string getString() const {
        return value;
    }
    int getType() const {
        return libsumo::TYPE_STRING;
    }
    std::string value;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIString)
#endif
};
 
 
struct TraCIStringList : TraCIResult {
    std::string getString() const {
        std::ostringstream os;
        os << "[";
        for (std::string v : value) {
            os << v << ",";
        }
        os << "]";
        return os.str();
    }
    std::vector<std::string> value;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIStringList)
#endif
};
 
 
struct TraCIDoubleList : TraCIResult {
    std::string getString() const {
        std::ostringstream os;
        os << "[";
        for (double v : value) {
            os << v << ",";
        }
        os << "]";
        return os.str();
    }
    std::vector<double> value;
#ifdef SWIGJAVA
    SWIGJAVA_CAST(TraCIDoubleList)
#endif
};
 
 
typedef std::map<int, std::shared_ptr<libsumo::TraCIResult> > TraCIResults;
typedef std::map<std::string, libsumo::TraCIResults> SubscriptionResults;
typedef std::map<std::string, libsumo::SubscriptionResults> ContextSubscriptionResults;
 
 
class TraCIPhase {
public:
    TraCIPhase() {}
    TraCIPhase(const double _duration, const std::string& _state, const double _minDur = libsumo::INVALID_DOUBLE_VALUE,
               const double _maxDur = libsumo::INVALID_DOUBLE_VALUE,
               const std::vector<int>& _next = std::vector<int>(),
               const std::string& _name = "") :
        duration(_duration), state(_state), minDur(_minDur), maxDur(_maxDur), next(_next), name(_name) {}
    ~TraCIPhase() {}
 
    double duration;
    std::string state;
    double minDur, maxDur;
    std::vector<int> next;
    std::string name;
};
}
 
 
#ifdef SWIG
%template(TraCIPhaseVector) std::vector<std::shared_ptr<libsumo::TraCIPhase> >; // *NOPAD*
#endif
 
 
namespace libsumo {
class TraCILogic {
public:
    TraCILogic() {}
    TraCILogic(const std::string& _programID, const int _type, const int _currentPhaseIndex,
               const std::vector<std::shared_ptr<libsumo::TraCIPhase> >& _phases = std::vector<std::shared_ptr<libsumo::TraCIPhase> >())
        : programID(_programID), type(_type), currentPhaseIndex(_currentPhaseIndex), phases(_phases) {}
    ~TraCILogic() {}
 
    std::string programID;
    int type;
    int currentPhaseIndex;
    std::vector<std::shared_ptr<libsumo::TraCIPhase> > phases;
    std::map<std::string, std::string> subParameter;
};
 
 
class TraCILink {
public:
    TraCILink() {}
    TraCILink(const std::string& _from, const std::string& _via, const std::string& _to)
        : fromLane(_from), viaLane(_via), toLane(_to) {}
    ~TraCILink() {}
 
    std::string fromLane;
    std::string viaLane;
    std::string toLane;
};
 
 
class TraCIConnection {
public:
    TraCIConnection() {} // this is needed by SWIG when building a vector of this type, please don't use it
    TraCIConnection(const std::string& _approachedLane, const bool _hasPrio, const bool _isOpen, const bool _hasFoe,
                    const std::string _approachedInternal, const std::string _state, const std::string _direction, const double _length)
        : approachedLane(_approachedLane), hasPrio(_hasPrio), isOpen(_isOpen), hasFoe(_hasFoe),
          approachedInternal(_approachedInternal), state(_state), direction(_direction), length(_length) {}
    ~TraCIConnection() {}
 
    std::string approachedLane;
    bool hasPrio;
    bool isOpen;
    bool hasFoe;
    std::string approachedInternal;
    std::string state;
    std::string direction;
    double length;
};
 
 
struct TraCIVehicleData {
    std::string id;
    double length;
    double entryTime;
    double leaveTime;
    std::string typeID;
};
 
 
struct TraCINextTLSData {
    std::string id;
    int tlIndex;
    double dist;
    char state;
};
 
 
struct TraCINextStopData : TraCIResult {
 
    TraCINextStopData(const std::string& lane = "",
                      double startPos = INVALID_DOUBLE_VALUE,
                      double endPos = INVALID_DOUBLE_VALUE,
                      const std::string& stoppingPlaceID = "",
                      int stopFlags = 0,
                      double duration = INVALID_DOUBLE_VALUE,
                      double until = INVALID_DOUBLE_VALUE,
                      double intendedArrival = INVALID_DOUBLE_VALUE,
                      double arrival = INVALID_DOUBLE_VALUE,
                      double depart = INVALID_DOUBLE_VALUE,
                      const std::string& split = "",
                      const std::string& join = "",
                      const std::string& actType = "",
                      const std::string& tripId = "",
                      const std::string& line = "",
                      double speed = 0):
        lane(lane),
        startPos(startPos),
        endPos(endPos),
        stoppingPlaceID(stoppingPlaceID),
        stopFlags(stopFlags),
        duration(duration),
        until(until),
        intendedArrival(intendedArrival),
        arrival(arrival),
        depart(depart),
        split(split),
        join(join),
        actType(actType),
        tripId(tripId),
        line(line),
        speed(speed)
    {}
 
    std::string getString() const {
        std::ostringstream os;
        os << "TraCINextStopData(" << lane << "," << endPos << "," << stoppingPlaceID
           << "," << stopFlags << "," << duration << "," << until
           << "," << arrival << ")";
        return os.str();
    }
 
    std::string lane;
    double startPos;
    double endPos;
    std::string stoppingPlaceID;
    int stopFlags;
    double duration;
    double until;
    double intendedArrival;
    double arrival;
    double depart;
    std::string split;
    std::string join;
    std::string actType;
    std::string tripId;
    std::string line;
    double speed;
};
 
 
struct TraCINextStopDataVector : TraCIResult {
    std::string getString() const {
        std::ostringstream os;
        os << "TraCINextStopDataVector[";
        for (TraCINextStopData v : value) {
            os << v.getString() << ",";
        }
        os << "]";
        return os.str();
    }
 
    std::vector<TraCINextStopData> value;
};
 
 
struct TraCIBestLanesData {
    std::string laneID;
    double length;
    double occupation;
    int bestLaneOffset;
    bool allowsContinuation;
    std::vector<std::string> continuationLanes;
};
 
 
class TraCIStage {
public:
    TraCIStage(int type = INVALID_INT_VALUE, const std::string& vType = "", const std::string& line = "", const std::string& destStop = "",
               const std::vector<std::string>& edges = std::vector<std::string>(),
               double travelTime = INVALID_DOUBLE_VALUE, double cost = INVALID_DOUBLE_VALUE, double length = INVALID_DOUBLE_VALUE,
               const std::string& intended = "", double depart = INVALID_DOUBLE_VALUE, double departPos = INVALID_DOUBLE_VALUE,
               double arrivalPos = INVALID_DOUBLE_VALUE, const std::string& description = "") :
        type(type), vType(vType), line(line), destStop(destStop), edges(edges), travelTime(travelTime), cost(cost),
        length(length), intended(intended), depart(depart), departPos(departPos), arrivalPos(arrivalPos), description(description) {}
    int type;
    std::string vType;
    std::string line;
    std::string destStop;
    std::vector<std::string> edges;
    double travelTime;
    double cost;
    double length;
    std::string intended;
    double depart;
    double departPos;
    double arrivalPos;
    std::string description;
};
 
 
 
class TraCIReservation {
public:
    TraCIReservation() {}
    TraCIReservation(const std::string& id,
                     const std::vector<std::string>& persons,
                     const std::string& group,
                     const std::string& fromEdge,
                     const std::string& toEdge,
                     double departPos,
                     double arrivalPos,
                     double depart,
                     double reservationTime,
                     int state) :
        id(id), persons(persons), group(group), fromEdge(fromEdge), toEdge(toEdge), departPos(departPos), arrivalPos(arrivalPos),
        depart(depart), reservationTime(reservationTime), state(state) {}
    std::string id;
    std::vector<std::string> persons;
    std::string group;
    std::string fromEdge;
    std::string toEdge;
    double departPos;
    double arrivalPos;
    double depart;
    double reservationTime;
    int state;
};
 
struct TraCICollision {
    std::string collider;
    std::string victim;
    std::string colliderType;
    std::string victimType;
    double colliderSpeed;
    double victimSpeed;
    std::string type;
    std::string lane;
    double pos;
};
 
 
struct TraCISignalConstraint {
    std::string signalId;
    std::string tripId;
    std::string foeId;
    std::string foeSignal;
    int limit;
    int type;
    bool mustWait;
    bool active;
    std::map<std::string, std::string> param;
 
    std::string getString() const {
        std::ostringstream os;
        os << "TraCISignalConstraint(signalId=" << signalId << ", tripid=" << tripId << ", foeSignal=" << foeSignal << ", foeId=" << foeId << ")";
        return os.str();
    }
};
 
 
struct TraCIJunctionFoe {
    std::string foeId;
    double egoDist;
    double foeDist;
    double egoExitDist;
    double foeExitDist;
    std::string egoLane;
    std::string foeLane;
    bool egoResponse;
    bool foeResponse;
};
 
}
 
// pop MSVC warnings
#ifdef _MSC_VER
#pragma warning(pop)
#endif