Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2010-2026 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSBaseVehicle.h
15 : /// @author Daniel Krajzewicz
16 : /// @author Michael Behrisch
17 : /// @author Jakob Erdmann
18 : /// @date Mon, 8 Nov 2010
19 : ///
20 : // A base class for vehicle implementations
21 : /****************************************************************************/
22 : #pragma once
23 : #include <config.h>
24 :
25 : #include <iostream>
26 : #include <vector>
27 : #include <set>
28 : #include <utils/common/StdDefs.h>
29 : #include <utils/emissions/EnergyParams.h>
30 : #include <utils/emissions/PollutantsInterface.h>
31 : #include <utils/vehicle/SUMOVehicle.h>
32 : #include <utils/foxtools/MFXOptionalLock.h>
33 : #include "MSRoute.h"
34 : #include "MSMoveReminder.h"
35 : #include "MSVehicleType.h"
36 :
37 :
38 : // ===========================================================================
39 : // class declarations
40 : // ===========================================================================
41 : class MSLane;
42 : class MSStop;
43 : class MSDevice_Transportable;
44 : class MSDevice_Emissions;
45 : class MSVehicleDevice;
46 : class MSEdgeWeightsStorage;
47 : class MSChargingStation;
48 : class StoppingPlaceMemory;
49 :
50 :
51 : // ===========================================================================
52 : // class definitions
53 : // ===========================================================================
54 : /**
55 : * @class MSBaseVehicle
56 : * @brief The base class for microscopic and mesoscopic vehicles
57 : */
58 : class MSBaseVehicle : public SUMOVehicle {
59 : public:
60 : // XXX: This definition was introduced to make the MSVehicle's previousSpeed
61 : // available in the context of MSMoveReminder::notifyMove(). Another solution
62 : // would be to modify notifyMove()'s interface to work with MSVehicle instead
63 : // of SUMOVehicle (it is only called with MSVehicles!). Refs. #2579
64 : /** @brief Returns the vehicle's previous speed
65 : * @return The vehicle's speed
66 : */
67 : double getPreviousSpeed() const;
68 :
69 : friend class GUIBaseVehicle;
70 :
71 : /** @enum RouteValidity
72 : */
73 : enum RouteValidity {
74 : ROUTE_VALID = 0,
75 : ROUTE_UNCHECKED = 1 << 0,
76 : /// route was checked and is valid
77 : ROUTE_INVALID = 1 << 1,
78 : // starting edge permissions invalid (could change)
79 : ROUTE_START_INVALID_PERMISSIONS = 1 << 2,
80 : // insertion lane does not exist
81 : ROUTE_START_INVALID_LANE = 1 << 3
82 : };
83 :
84 : /** @brief Constructor
85 : * @param[in] pars The vehicle description
86 : * @param[in] route The vehicle's route
87 : * @param[in] type The vehicle's type
88 : * @param[in] speedFactor The factor for driven lane's speed limits
89 : * @exception ProcessError If a value is wrong
90 : */
91 : MSBaseVehicle(SUMOVehicleParameter* pars, ConstMSRoutePtr route,
92 : MSVehicleType* type, const double speedFactor);
93 :
94 :
95 : /// @brief Destructor
96 : virtual ~MSBaseVehicle();
97 :
98 : virtual void initDevices();
99 :
100 664358611 : bool isVehicle() const {
101 664358611 : return true;
102 : }
103 :
104 : /// @brief set the id (inherited from Named but forbidden for vehicles)
105 : void setID(const std::string& newID);
106 :
107 : /** @brief Returns the vehicle's parameter (including departure definition)
108 : *
109 : * @return The vehicle's parameter
110 : */
111 : const SUMOVehicleParameter& getParameter() const;
112 :
113 : /// @brief retrieve parameters of devices, models and the vehicle itself
114 : std::string getPrefixedParameter(const std::string& key, std::string& error) const;
115 :
116 : /// @brief replace the vehicle parameter (deleting the old one)
117 : void replaceParameter(const SUMOVehicleParameter* newParameter);
118 :
119 : /// @brief check whether the vehicle is equiped with a device of the given name
120 : bool hasDevice(const std::string& deviceName) const;
121 :
122 : /// @brief create device of the given type
123 : void createDevice(const std::string& deviceName);
124 :
125 : /// @brief try to retrieve the given parameter from any of the vehicles devices, raise InvalidArgument if no device parameter by that name exists
126 : std::string getDeviceParameter(const std::string& deviceName, const std::string& key) const;
127 :
128 : /// @brief try to set the given parameter from any of the vehicles devices, raise InvalidArgument if no device parameter by that name exists
129 : void setDeviceParameter(const std::string& deviceName, const std::string& key, const std::string& value);
130 :
131 : /// @brief set individual junction model paramete (not type related)
132 : void setJunctionModelParameter(const std::string& key, const std::string& value);
133 :
134 : /// @brief set individual carFollow model parameters (not type related)
135 : void setCarFollowModelParameter(const std::string& key, const std::string& value);
136 :
137 : /** @brief Returns the current route
138 : * @return The route the vehicle uses
139 : */
140 99358104 : inline const MSRoute& getRoute() const {
141 99358104 : return *myRoute;
142 : }
143 :
144 : /** @brief Returns the current route
145 : * @return The route the vehicle uses
146 : */
147 1183545 : inline ConstMSRoutePtr getRoutePtr() const {
148 1183545 : return myRoute;
149 : }
150 :
151 : /** @brief Returns the vehicle's type definition
152 : * @return The vehicle's type definition
153 : */
154 64773251808 : inline const MSVehicleType& getVehicleType() const {
155 64773251808 : return *myType;
156 : }
157 :
158 : /** @brief Returns the vehicle's type parameter
159 : * @return The vehicle's type parameter
160 : */
161 29810542 : inline const SUMOVTypeParameter& getVTypeParameter() const {
162 29810542 : return myType->getParameter();
163 : }
164 :
165 : /** @brief Returns the vehicle's access class
166 : * @return The vehicle's access class
167 : */
168 15849902613 : inline SUMOVehicleClass getVClass() const {
169 15849902613 : return myType->getParameter().vehicleClass;
170 : }
171 :
172 : /** @brief Returns whether this object is ignoring transient permission
173 : * changes (during routing)
174 : */
175 : bool ignoreTransientPermissions() const;
176 :
177 : /// @brief whether instant stopping is permitted
178 5030 : virtual bool instantStopping() const {
179 5030 : return false;
180 : }
181 :
182 : /** @brief Returns the maximum speed (the minimum of desired and technical maximum speed)
183 : * @return The vehicle's maximum speed
184 : */
185 : double getMaxSpeed() const;
186 :
187 : /** @brief Returns the nSuccs'th successor of edge the vehicle is currently at
188 : *
189 : * If the rest of the route (counted from the current edge) has less than nSuccs edges,
190 : * 0 is returned.
191 : * @param[in] nSuccs The number of edge to look forward
192 : * @return The nSuccs'th following edge in the vehicle's route
193 : */
194 : const MSEdge* succEdge(int nSuccs) const;
195 :
196 : /** @brief Returns the edge the vehicle is currently at
197 : *
198 : * @return The current edge in the vehicle's route
199 : */
200 : const MSEdge* getEdge() const;
201 :
202 : /** @brief Returns the edge the vehicle is currently at (possibly an
203 : * internal edge)
204 : */
205 137401 : virtual const MSEdge* getCurrentEdge() const {
206 137401 : return getEdge();
207 : }
208 :
209 : /// @brief returns the numerical ids of edges to travel
210 : const std::set<SUMOTrafficObject::NumericalID> getUpcomingEdgeIDs() const;
211 :
212 : /** @brief Returns whether the vehicle stops at the given stopping place */
213 : bool stopsAt(MSStoppingPlace* stop) const;
214 :
215 : /** @brief Returns whether the vehicle stops at the given edge */
216 : bool stopsAtEdge(const MSEdge* edge) const;
217 :
218 : /// @brief returns the next edge (possibly an internal edge)
219 0 : virtual const MSEdge* getNextEdgePtr() const {
220 0 : return nullptr;
221 : }
222 :
223 : /** @brief Returns the information whether the vehicle is on a road (is simulated)
224 : * @return Whether the vehicle is simulated
225 : */
226 0 : virtual bool isOnRoad() const {
227 0 : return true;
228 : }
229 :
230 : /** @brief Returns the information whether the vehicle is fully controlled
231 : * via TraCI
232 : * @return Whether the vehicle is remote-controlled
233 : */
234 54298 : virtual bool isRemoteControlled() const {
235 54298 : return false;
236 : }
237 :
238 227 : virtual bool wasRemoteControlled(SUMOTime lookBack = DELTA_T) const {
239 : UNUSED_PARAMETER(lookBack);
240 227 : return false;
241 : }
242 :
243 : /** @brief Returns the information whether the front of the vehhicle is on the given lane
244 : * @return Whether the vehicle's front is on that lane
245 : */
246 0 : virtual bool isFrontOnLane(const MSLane*) const {
247 0 : return true;
248 : }
249 :
250 : /** @brief Get the vehicle's lateral position on the lane
251 : * @return The lateral position of the vehicle (in m relative to the
252 : * centerline of the lane)
253 : */
254 22 : virtual double getLateralPositionOnLane() const {
255 22 : return 0;
256 : }
257 :
258 : /** @brief Get the vehicle's lateral position on the edge of the given lane
259 : * (or its current edge if lane == 0)
260 : * @return The lateral position of the vehicle (in m distance between right
261 : * side of vehicle and ride side of edge
262 : */
263 0 : virtual double getRightSideOnEdge(const MSLane* lane = 0) const {
264 : UNUSED_PARAMETER(lane);
265 0 : return 0;
266 : }
267 :
268 : /** @brief Returns the starting point for reroutes (usually the current edge)
269 : *
270 : * This differs from *myCurrEdge only if the vehicle is on an internal edge
271 : * @return The rerouting start point
272 : */
273 39552 : virtual ConstMSEdgeVector::const_iterator getRerouteOrigin() const {
274 39552 : return myCurrEdge;
275 : }
276 :
277 : /** @brief Returns the end point for reroutes (usually the last edge of the route)
278 : *
279 : * @return The rerouting end point
280 : */
281 631466 : virtual const MSEdge* getRerouteDestination() const {
282 631466 : return myRoute->getLastEdge();
283 : }
284 :
285 : /** @brief Returns the time loss in seconds
286 : */
287 9 : virtual double getTimeLossSeconds() const {
288 : // better timeLoss for meso?
289 9 : return 0;
290 : }
291 :
292 : /** @brief Returns the number of seconds waited (speed was lesser than 0.1m/s)
293 : *
294 : * The value is reset if the vehicle moves faster than 0.1m/s
295 : * Intentional stopping does not count towards this time.
296 : * @return The time the vehicle is standing
297 : */
298 0 : double getWaitingSeconds() const {
299 47893556 : return STEPS2TIME(getWaitingTime());
300 : }
301 :
302 :
303 :
304 : /** @brief Returns an iterator pointing to the current edge in this vehicles route
305 : * @return The current route pointer
306 : */
307 14269857 : const MSRouteIterator& getCurrentRouteEdge() const {
308 14269857 : return myCurrEdge;
309 : }
310 :
311 :
312 : /** @brief Performs a rerouting using the given router
313 : *
314 : * Tries to find a new route between the current edge and the destination edge, first.
315 : * Tries to replace the current route by the new one using replaceRoute.
316 : *
317 : * @param[in] t The time for which the route is computed
318 : * @param[in] router The router to use
319 : * @param[in] sink (optionally) a new destination edge
320 : * @see replaceRoute
321 : */
322 : bool reroute(SUMOTime t, const std::string& info, SUMOAbstractRouter<MSEdge, SUMOVehicle>& router, const bool onInit = false, const bool withTaz = false, const bool silent = false, const MSEdge* sink = nullptr);
323 :
324 :
325 : /** @brief Replaces the current route by the given edges
326 : *
327 : * It is possible that the new route is not accepted, if a) it does not
328 : * contain the vehicle's current edge, or b) something fails on insertion
329 : * into the routes container (see in-line comments).
330 : *
331 : * @param[in] edges The new list of edges to pass
332 : * @param[in] onInit Whether the vehicle starts with this route
333 : * @param[in] check Whether the route should be checked for validity
334 : * @param[in] removeStops Whether stops should be removed if they do not fit onto the new route
335 : * @return Whether the new route was accepted
336 : */
337 : bool replaceRouteEdges(ConstMSEdgeVector& edges, double cost, double savings, const std::string& info, bool onInit = false, bool check = false, bool removeStops = true,
338 : std::string* msgReturn = nullptr);
339 :
340 : /** @brief Replaces the current route by the given one
341 : *
342 : * It is possible that the new route is not accepted, if it does not
343 : * contain the vehicle's current edge.
344 : *
345 : * @param[in] route The new route to pass
346 : * @param[in] info Information regarding the replacement
347 : * @param[in] addRouteStops Whether stops from the replacement route should be added
348 : * @param[in] removeStops Whether stops should be removed if they do not fit onto the new route
349 : * @return Whether the new route was accepted
350 : */
351 : virtual bool replaceRoute(ConstMSRoutePtr route, const std::string& info, bool onInit = false, int offset = 0, bool addRouteStops = true, bool removeStops = true,
352 : std::string* msgReturn = nullptr);
353 :
354 : /** @brief Returns the vehicle's acceleration
355 : *
356 : * This default implementation returns always 0.
357 : * @return The acceleration
358 : */
359 : virtual double getAcceleration() const;
360 :
361 : /** @brief Called when the vehicle is inserted into the network
362 : *
363 : * Sets optional information about departure time, informs the vehicle
364 : * control about a further running vehicle.
365 : */
366 : void onDepart();
367 :
368 : /** @brief Returns this vehicle's real departure time
369 : * @return This vehicle's real departure time
370 : */
371 14291593 : inline SUMOTime getDeparture() const {
372 14291593 : return myDeparture;
373 : }
374 :
375 : /** @brief Returns the depart delay */
376 : SUMOTime getDepartDelay() const;
377 :
378 : /** @brief Returns the estimated public transport stop (departure) delay in seconds
379 : */
380 308 : virtual double getStopDelay() const {
381 : /// @todo implement for meso
382 308 : return -1;
383 : }
384 :
385 : /** @brief Returns the estimated public transport stop arrival delay in seconds
386 : */
387 1786 : virtual double getStopArrivalDelay() const {
388 : /// @todo implement for meso
389 1786 : return INVALID_DOUBLE;
390 : }
391 :
392 : /// @brief return time (s) and distance to the next stop
393 4 : virtual std::pair<double, double> estimateTimeToNextStop() const {
394 4 : return std::make_pair(-1, -1);
395 : }
396 :
397 : /** @brief Returns this vehicle's real departure position
398 : * @return This vehicle's real departure position
399 : */
400 246210 : inline double getDepartPos() const {
401 246210 : return myDepartPos;
402 : }
403 :
404 : /** @brief Returns this vehicle's desired arrivalPos for its current route
405 : * (may change on reroute)
406 : * @return This vehicle's real arrivalPos
407 : */
408 1765335 : virtual double getArrivalPos() const {
409 1765335 : return myArrivalPos;
410 : }
411 :
412 0 : virtual int getArrivalLane() const {
413 0 : return myArrivalLane;
414 : }
415 :
416 : /** @brief Sets this vehicle's desired arrivalPos for its current route
417 : */
418 1643 : virtual void setArrivalPos(double arrivalPos) {
419 1643 : myArrivalPos = arrivalPos;
420 1643 : }
421 :
422 : /** @brief Called when the vehicle is removed from the network.
423 : *
424 : * Moves along work reminders and
425 : * informs all devices about quitting. Calls "leaveLane" then.
426 : *
427 : * @param[in] reason why the vehicle leaves (reached its destination, parking, teleport)
428 : */
429 0 : virtual void onRemovalFromNet(const MSMoveReminder::Notification /*reason*/) {}
430 :
431 : /** @brief Returns whether this vehicle has already departed
432 : */
433 25151060 : inline bool hasDeparted() const {
434 25151060 : return myDeparture != NOT_YET_DEPARTED;
435 : }
436 :
437 : /** @brief Returns whether this vehicle has already arived
438 : * (by default this is true if the vehicle has reached its final edge)
439 : */
440 : virtual bool hasArrived() const;
441 :
442 : /// @brief return index of edge within route
443 : int getRoutePosition() const;
444 :
445 : /// @brief return the number of edges remaining in the route (include the current)
446 : int getNumRemainingEdges() const;
447 :
448 : int getArrivalIndex() const {
449 : return myParameter->arrivalEdge;
450 : }
451 :
452 : /// @brief reset index of edge within route
453 : void resetRoutePosition(int index, DepartLaneDefinition departLaneProcedure);
454 :
455 : /** @brief Returns the distance that was already driven by this vehicle
456 : * @return the distance driven [m]
457 : */
458 : double getOdometer() const;
459 :
460 : /// @brief Manipulate the odometer
461 : void addToOdometer(double value) {
462 86 : myOdometer += value;
463 27 : }
464 :
465 : /** @brief Returns the number of new routes this vehicle got
466 : * @return the number of new routes this vehicle got
467 : */
468 365376 : inline int getNumberReroutes() const {
469 365376 : return myNumberReroutes;
470 : }
471 :
472 : /// @brief Returns this vehicles impatience
473 : double getImpatience() const;
474 :
475 : /** @brief Returns the number of persons
476 : * @return The number of passengers on-board
477 : */
478 : int getPersonNumber() const;
479 :
480 : /** @brief Returns the number of leaving persons
481 : * @return The number of leaving passengers
482 : */
483 : int getLeavingPersonNumber() const;
484 :
485 : /** @brief Returns the list of persons
486 : * @return The list of passengers on-board
487 : */
488 : std::vector<std::string> getPersonIDList() const;
489 :
490 : /** @brief Returns the number of containers
491 : * @return The number of contaiers on-board
492 : */
493 : int getContainerNumber() const;
494 :
495 :
496 : /** @brief Returns this vehicle's devices
497 : * @return This vehicle's devices
498 : */
499 4533517 : inline const std::vector<MSVehicleDevice*>& getDevices() const {
500 4533517 : return myDevices;
501 : }
502 :
503 : /// @brief whether the given transportable is allowed to board this vehicle
504 : bool allowsBoarding(const MSTransportable* t) const;
505 :
506 : /** @brief Adds a person or container to this vehicle
507 : *
508 : * @param[in] transportable The person/container to add
509 : */
510 : virtual void addTransportable(MSTransportable* transportable);
511 :
512 : /// @brief removes a person or container
513 : void removeTransportable(MSTransportable* t);
514 :
515 : /// @brief removes a person or containers mass
516 : void removeTransportableMass(MSTransportable* t);
517 :
518 : /// @brief retrieve riding persons
519 : const std::vector<MSTransportable*>& getPersons() const;
520 :
521 : /// @brief retrieve riding containers
522 : const std::vector<MSTransportable*>& getContainers() const;
523 :
524 : /// @brief returns whether the vehicle serves a public transport line that serves the given stop
525 : bool isLineStop(double position) const;
526 :
527 : /// @brief check wether the vehicle has jump at the given part of its route
528 : bool hasJump(const MSRouteIterator& it) const;
529 :
530 : /** @brief Validates the current or given route
531 : * @param[out] msg Description why the route is not valid (if it is the case)
532 : * @param[in] route The route to check (or 0 if the current route shall be checked)
533 : * @return Whether the vehicle's current route is valid
534 : */
535 : bool hasValidRoute(std::string& msg, ConstMSRoutePtr route = 0) const;
536 :
537 : bool hasValidRoute(std::string& msg, MSRouteIterator start, MSRouteIterator last, bool checkJumps) const;
538 :
539 : /// @brief checks wether the vehicle can depart on the first edge
540 : virtual bool hasValidRouteStart(std::string& msg);
541 :
542 : /// @brief check for route validity at first insertion attempt
543 : int getRouteValidity(bool update = true, bool silent = false, std::string* msgReturn = nullptr);
544 :
545 : /// @brief Checks whether the vehilce has the given MoveReminder
546 : bool hasReminder(MSMoveReminder* rem) const;
547 :
548 : /** @brief Adds a MoveReminder dynamically
549 : *
550 : * @param[in] rem the reminder to add
551 : * @see MSMoveReminder
552 : */
553 : void addReminder(MSMoveReminder* rem, double pos = 0);
554 :
555 : /** @brief Removes a MoveReminder dynamically
556 : *
557 : * @param[in] rem the reminder to remove
558 : * @see MSMoveReminder
559 : */
560 : void removeReminder(MSMoveReminder* rem);
561 :
562 : /** @brief "Activates" all current move reminder
563 : *
564 : * For all move reminder stored in "myMoveReminders", their method
565 : * "MSMoveReminder::notifyEnter" is called.
566 : *
567 : * @param[in] reason The reason for changing the reminders' states
568 : * @param[in] enteredLane The lane, which is entered (if applicable)
569 : * @see MSMoveReminder
570 : * @see MSMoveReminder::notifyEnter
571 : * @see MSMoveReminder::Notification
572 : */
573 : virtual void activateReminders(const MSMoveReminder::Notification reason, const MSLane* enteredLane = 0);
574 :
575 :
576 : /** @brief Returns the vehicle's length
577 : * @return vehicle's length
578 : */
579 851583480 : inline double getLength() const {
580 851583480 : return myType->getLength();
581 : }
582 :
583 : /* @brief Return whether this vehicle must be treated like a railway vehicle
584 : * either due to its vClass or the vClass of it's edge */
585 : bool isRail() const;
586 :
587 : /** @brief Returns the vehicle's width
588 : * @return vehicle's width
589 : */
590 : inline double getWidth() const {
591 80877090 : return myType->getWidth();
592 : }
593 :
594 :
595 : /** @brief Returns the precomputed factor by which the driver wants to be faster than the speed limit
596 : * @return Speed limit factor
597 : */
598 5884350867 : inline double getChosenSpeedFactor() const {
599 5884350867 : return myChosenSpeedFactor;
600 : }
601 :
602 : inline double getDesiredMaxSpeed() const {
603 631506929 : return myType->getDesiredMaxSpeed() * myChosenSpeedFactor;
604 : }
605 :
606 : /** @brief Returns the precomputed factor by which the driver wants to be faster than the speed limit
607 : * @return Speed limit factor
608 : */
609 40573 : inline void setChosenSpeedFactor(const double factor) {
610 40573 : myChosenSpeedFactor = factor;
611 40573 : }
612 :
613 : /// @brief Returns a device of the given type if it exists, nullptr otherwise
614 : MSDevice* getDevice(const std::type_info& type) const;
615 :
616 :
617 : /** @brief Replaces the current vehicle type by the one given
618 : *
619 : * If the currently used vehicle type is marked as being used by this vehicle
620 : * only, it is deleted, first. The new, given type is then assigned to
621 : * "myType".
622 : * @param[in] type The new vehicle type
623 : * @see MSBaseVehicle::myType
624 : */
625 : virtual void replaceVehicleType(const MSVehicleType* type);
626 :
627 18912 : virtual std::unique_ptr<MFXOptionalLock> getScopeLock() {
628 18912 : return std::unique_ptr<MFXOptionalLock>(new MFXNoOpLock());
629 : }
630 :
631 : /** @brief Replaces the current vehicle type with a new one used by this vehicle only
632 : *
633 : * If the currently used vehicle type is already marked as being used by this vehicle
634 : * only, no new type is created.
635 : * @return The new modifiable vehicle type
636 : * @see MSBaseVehicle::myType
637 : */
638 : MSVehicleType& getSingularType();
639 :
640 : /// @name state io
641 : //@{
642 :
643 : /// Saves the (common) state of a vehicle
644 : virtual void saveState(OutputDevice& out);
645 :
646 : //@}
647 :
648 : virtual bool handleCollisionStop(MSStop& stop, const double distToStop);
649 :
650 : /** @brief Returns whether the vehicle is at a stop
651 : * @return Whether the vehicle has stopped
652 : */
653 : bool isStopped() const;
654 :
655 : /** @brief Returns whether the vehicle is parking
656 : * @return whether the vehicle is parking
657 : */
658 : bool isParking() const;
659 :
660 : /** @brief Returns whether the vehicle is perform a jump
661 : * @return whether the vehicle is starting to jump
662 : */
663 : bool isJumping() const;
664 :
665 : /** @brief Returns whether the logical state of the vehicle is reversed - for drawing
666 : * @return whether the logical state of the vehicle is reversed
667 : */
668 : inline bool isReversed() const {
669 15804301 : return myAmReversed;
670 : }
671 :
672 : /** @brief Returns whether the vehicle is on a triggered stop
673 : * @return whether the vehicle is on a triggered stop
674 : */
675 : bool isStoppedTriggered() const;
676 :
677 : /** @brief Returns whether the vehicle is on a parking stop
678 : * @return whether the vehicle is on a parking stop
679 : */
680 : bool isStoppedParking() const;
681 :
682 : /** @brief return whether the given position is within range of the current stop
683 : */
684 : bool isStoppedInRange(const double pos, const double tolerance, bool checkFuture = false) const;
685 :
686 : /** @brief Returns whether the vehicle has to stop somewhere
687 : * @return Whether the vehicle has to stop somewhere
688 : */
689 1658034340 : bool hasStops() const {
690 1658034340 : return !myStops.empty();
691 : }
692 :
693 :
694 : /// @brief unregisters from a parking reservation when changing or skipping stops
695 : void cleanupParkingReservation();
696 :
697 : /** @brief replace the current parking area stop with a new stop with merge duration
698 : */
699 : bool replaceParkingArea(MSParkingArea* parkingArea, std::string& errorMsg);
700 :
701 : /** @brief get the upcoming parking area stop or nullptr
702 : */
703 : MSParkingArea* getNextParkingArea();
704 :
705 : /** @brief get the current parking area stop or nullptr */
706 : MSParkingArea* getCurrentParkingArea();
707 :
708 : /// @brief get the valid parking access rights (vehicle settings override vehicle type settings)
709 : const std::vector<std::string>& getParkingBadges() const;
710 :
711 : /// @brief departure position where the vehicle fits fully onto the edge (if possible)
712 : double basePos(const MSEdge* edge) const;
713 :
714 : /** @brief Adds a stop
715 : *
716 : * The stop is put into the sorted list.
717 : * @param[in] stop The stop to add
718 : * @return Whether the stop could be added
719 : */
720 : bool addStop(const SUMOVehicleParameter::Stop& stopPar, std::string& errorMsg, SUMOTime untilOffset = 0,
721 : MSRouteIterator* searchStart = nullptr);
722 :
723 : /** @brief Adds stops to the built vehicle
724 : *
725 : * This code needs to be separated from the MSBaseVehicle constructor
726 : * since it is not allowed to call virtual functions from a constructor
727 : *
728 : * @param[in] ignoreStopErrors whether invalid stops trigger a warning only
729 : */
730 : void addStops(const bool ignoreStopErrors, MSRouteIterator* searchStart = nullptr, bool addRouteStops = true);
731 :
732 : /// @brief check whether all stop.edge MSRouteIterators are valid and in order
733 : bool haveValidStopEdges(bool silent = false) const;
734 :
735 : /// @brief return list of route indices for the remaining stops
736 : std::vector<std::pair<int, double> > getStopIndices() const;
737 :
738 : /**
739 : * returns the list of stops not yet reached in the stop queue
740 : * @return the list of upcoming stops
741 : */
742 3550388 : inline const std::list<MSStop>& getStops() const {
743 3550388 : return myStops;
744 : }
745 :
746 : inline const StopParVector& getPastStops() const {
747 : return myPastStops;
748 : }
749 :
750 : /**
751 : * returns the next imminent stop in the stop queue
752 : * @return the upcoming stop
753 : */
754 : const MSStop& getNextStop() const;
755 :
756 : /**
757 : * returns the next imminent stop in the stop queue
758 : * @return the upcoming stop
759 : */
760 : MSStop& getNextStopMutable();
761 :
762 : /// @brief get remaining stop duration or 0 if the vehicle isn't stopped
763 : SUMOTime getStopDuration() const;
764 :
765 : /**
766 : * returns the upcoming stop with the given index in the stop queue
767 : * @return an upcoming stop
768 : */
769 : MSStop& getStop(int nextStopIndex);
770 :
771 : /// @brief return parameters for the next stop (SUMOVehicle Interface)
772 : const SUMOVehicleParameter::Stop* getNextStopParameter() const;
773 :
774 : /**
775 : * schedule a new stop for the vehicle; each time a stop is reached, the vehicle
776 : * will wait for the given duration before continuing on its route
777 : * @param[in] stop Stop parameters
778 : * @param[out] errorMsg returned error message
779 : */
780 : virtual bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg);
781 :
782 : /**
783 : * resumes a vehicle from stopping
784 : * @return true on success, the resuming fails if the vehicle wasn't parking in the first place
785 : */
786 : virtual bool resumeFromStopping() = 0;
787 :
788 : /// @brief mark vehicle as active
789 : void unregisterWaiting();
790 :
791 : /// @brief deletes the next stop at the given index if it exists
792 : bool abortNextStop(int nextStopIndex = 0);
793 :
794 : /**
795 : * replace the next stop at the given index with the given stop parameters
796 : * will wait for the given duration before continuing on its route
797 : * The route between start other stops and destination will be kept unchanged and
798 : * only the part around the replacement index will be adapted according to the new stop location
799 : * @param[in] nextStopIndex The replacement index
800 : * @param[in] stop Stop parameters
801 : * @param[in] info The rerouting info
802 : * @param[in] teleport Whether to cover the route to the replacement stop via teleporting
803 : * @param[out] errorMsg returned error message
804 : */
805 : bool replaceStop(int nextStopIndex, SUMOVehicleParameter::Stop stop, const std::string& info, bool teleport, std::string& errorMsg);
806 :
807 : /**
808 : * reroute between stops nextStopIndex - 1 and nextStopIndex (defaults to current position / final edge) if the respective stops do not exist
809 : * @param[in] nextStopIndex The replacement index
810 : * @param[in] info The rerouting info
811 : * @param[in] teleport Whether to cover the route between stops via teleporting
812 : * @param[out] errorMsg returned error message
813 : */
814 : bool rerouteBetweenStops(int nextStopIndex, const std::string& info, bool teleport, std::string& errorMsg);
815 :
816 : /**
817 : * insert stop at the given index with the given stop parameters
818 : * will wait for the given duration before continuing on its route
819 : * The route will be adapted to pass the new stop edge but only from the previous stop (or start) to the new stop and only up to the next stop (or end).
820 : * @param[in] nextStopIndex The replacement index
821 : * @param[in] stop Stop parameters
822 : * @param[in] info The rerouting info
823 : * @param[in] teleport Whether to cover the route to the new stop via teleporting
824 : * @param[out] errorMsg returned error message
825 : */
826 : bool insertStop(int nextStopIndex, SUMOVehicleParameter::Stop stop, const std::string& info, bool teleport, std::string& errorMsg);
827 :
828 :
829 : /// @brief whether this vehicle is selected in the GUI
830 261823528 : virtual bool isSelected() const {
831 261823528 : return false;
832 : }
833 :
834 : /// @brief @return The index of the vehicle's associated RNG
835 : int getRNGIndex() const;
836 :
837 : /// @brief @return The vehicle's associated RNG
838 : SumoRNG* getRNG() const;
839 :
840 27750903716 : inline NumericalID getNumericalID() const {
841 27750903716 : return myNumericalID;
842 : }
843 :
844 : /// @brief return vehicle-specific random number
845 58105 : long long int getRandomSeed() const {
846 58105 : return myRandomSeed;
847 : }
848 :
849 : const MSDevice_Transportable* getPersonDevice() const {
850 15808169 : return myPersonDevice;
851 : }
852 :
853 : const MSDevice_Transportable* getContainerDevice() const {
854 15808169 : return myContainerDevice;
855 : }
856 :
857 : /// @brief retrieve parameters for the energy consumption model
858 : EnergyParams* getEmissionParameters() const;
859 :
860 : /// @name Emission retrieval
861 : //@{
862 :
863 : /** @brief Returns emissions of the current state
864 : * The value is always per 1s, so multiply by step length if necessary.
865 : * @return The current emission
866 : */
867 : template<PollutantsInterface::EmissionType ET>
868 6060 : double getEmissions() const {
869 6060 : if (isOnRoad() || isIdling()) {
870 5988 : return PollutantsInterface::compute(myType->getEmissionClass(), ET, getSpeed(), getAcceleration(), getSlope(), getEmissionParameters());
871 : }
872 : return 0.;
873 : }
874 :
875 : /** @brief Returns actual state of charge of battery (Wh)
876 : * RICE_CHECK: This may be a misnomer, SOC is typically percentage of the maximum battery capacity.
877 : * @return The actual battery state of charge
878 : */
879 : double getStateOfCharge() const;
880 :
881 : /** @brief Returns actual relative state of charge of battery (-)
882 : * @return The actual relative battery state of charge, normalised to the maximum battery capacity.
883 : */
884 : double getRelativeStateOfCharge() const;
885 :
886 : /** @brief Returns the energy charged to the battery in the current time step (Wh)
887 : * @return The energy charged to the battery in the current time step.
888 : */
889 : double getChargedEnergy() const;
890 :
891 : /** @brief Returns the maximum charge rate allowed by the battery in the current time step (W)
892 : * @return The maximum charge rate in the current time step.
893 : */
894 : double getMaxChargeRate() const;
895 :
896 : /** @brief Returns actual current (A) of ElecHybrid device
897 : * RICE_CHECK: Is this the current consumed from the overhead wire or the current driving the powertrain of the vehicle?
898 : * RICE_REV_JS: It is the current drawn from the overhead wire (value if the vehicle is not connected to overhead wire?)
899 : * @return The current of ElecHybrid device
900 : */
901 : double getElecHybridCurrent() const;
902 :
903 : /** @brief Returns noise emissions of the current state
904 : * @return The noise produced
905 : */
906 : double getHarmonoise_NoiseEmissions() const;
907 : //@}
908 :
909 : /** @class Influencer
910 : * @brief Changes the wished vehicle speed / lanes
911 : *
912 : * The class is used for passing velocities or velocity profiles obtained via TraCI to the vehicle.
913 : * The speed adaptation is controlled by the stored speedTimeLine
914 : * Additionally, the variables myConsiderSafeVelocity, myConsiderMaxAcceleration, and myConsiderMaxDeceleration
915 : * control whether the safe velocity, the maximum acceleration, and the maximum deceleration
916 : * have to be regarded.
917 : *
918 : * Furthermore this class is used to affect lane changing decisions according to
919 : * LaneChangeMode and any given laneTimeLine
920 : */
921 : class BaseInfluencer {
922 : public:
923 : /// @brief Constructor
924 : BaseInfluencer();
925 :
926 : /// @brief Destructor
927 0 : virtual ~BaseInfluencer() {}
928 :
929 : /// @brief Static initalization
930 : static void init();
931 : /// @brief Static cleanup
932 : static void cleanup();
933 :
934 :
935 : /// @brief return the current routing mode
936 : double getExtraImpatience() const {
937 236661 : return myExtraImpatience;
938 : }
939 :
940 : /** @brief Sets routing behavior
941 : * @param[in] value an enum value controlling the different modes
942 : */
943 : void setExtraImpatience(double value) {
944 275704 : myExtraImpatience = value;
945 275677 : }
946 :
947 : protected:
948 : /// @brief dynamic impatience offset
949 : double myExtraImpatience = 0;
950 :
951 : };
952 :
953 :
954 :
955 : /** @brief Returns the velocity/lane influencer
956 : *
957 : * If no influencer was existing before, one is built, first
958 : * @return Reference to this vehicle's speed influencer
959 : */
960 : virtual BaseInfluencer& getBaseInfluencer() = 0;
961 :
962 : virtual const BaseInfluencer* getBaseInfluencer() const = 0;
963 :
964 : virtual bool hasInfluencer() const = 0;
965 :
966 : /// @brief return routing mode (configures router choice but also handling of transient permission changes)
967 7694548340 : int getRoutingMode() const {
968 7694548340 : return myRoutingMode;
969 : }
970 :
971 : /** @brief Sets routing behavior
972 : * @param[in] value an enum value controlling the different modes
973 : */
974 : void setRoutingMode(int value) {
975 5906 : myRoutingMode = value;
976 254 : }
977 :
978 :
979 : SUMOAbstractRouter<MSEdge, SUMOVehicle>& getRouterTT() const;
980 :
981 : /** @brief Returns the vehicle's internal edge travel times/efforts container
982 : *
983 : * If the vehicle does not have such a container, it is built.
984 : * @return The vehicle's knowledge about edge weights
985 : */
986 : const MSEdgeWeightsStorage& getWeightsStorage() const;
987 : MSEdgeWeightsStorage& getWeightsStorage();
988 :
989 : /** @brief Returns the leader of the vehicle looking for a fixed distance.
990 : *
991 : * If the distance is not given it is calculated from the brake gap.
992 : * The gap returned does not include the minGap.
993 : * @param dist up to which distance to look at least for a leader
994 : * @param considerCrossingFoes Whether vehicles on crossing foe links should be considered
995 : * @return The leading vehicle together with the gap; (0, -1) if no leader was found.
996 : */
997 479 : virtual std::pair<const MSVehicle* const, double> getLeader(double dist = 0, bool considerCrossingFoes = true) const {
998 : UNUSED_PARAMETER(dist);
999 : UNUSED_PARAMETER(considerCrossingFoes);
1000 479 : WRITE_WARNING(TL("getLeader not yet implemented for meso"));
1001 479 : return std::make_pair(nullptr, -1);
1002 : }
1003 :
1004 : /** @brief Returns the follower of the vehicle looking for a fixed distance.
1005 : *
1006 : * If the distance is not given it is set to the value of MSCFModel::brakeGap(2*roadSpeed, 4.5, 0)
1007 : * The gap returned does not include the minGap.
1008 : * If there are multiple followers, the one that maximizes the term (getSecureGap - gap) is returned.
1009 : * @param dist up to which distance to look at least for a leader
1010 : * @return The leading vehicle together with the gap; (0, -1) if no leader was found.
1011 : */
1012 54 : virtual std::pair<const MSVehicle* const, double> getFollower(double dist = 0) const {
1013 : UNUSED_PARAMETER(dist);
1014 54 : WRITE_WARNING(TL("getFollower not yet implemented for meso"));
1015 54 : return std::make_pair(nullptr, -1);
1016 : }
1017 :
1018 : /** @brief (Re-)Calculates the arrival position and lane from the vehicle parameters
1019 : */
1020 : void calculateArrivalParams(bool onInit);
1021 :
1022 : /// @brief apply departEdge and arrivalEdge attributes
1023 : void setDepartAndArrivalEdge();
1024 :
1025 : int getDepartEdge() const;
1026 :
1027 : int getInsertionChecks() const;
1028 :
1029 : /// @brief interpret stop lane on opposite side of the road
1030 : static MSLane* interpretOppositeStop(SUMOVehicleParameter::Stop& stop);
1031 :
1032 : /// @name state io
1033 : //@{
1034 : void rememberBlockedParkingArea(const MSStoppingPlace* pa, bool local);
1035 : SUMOTime sawBlockedParkingArea(const MSStoppingPlace* pa, bool local) const;
1036 : void rememberBlockedChargingStation(const MSStoppingPlace* cs, bool local);
1037 : SUMOTime sawBlockedChargingStation(const MSStoppingPlace* cs, bool local) const;
1038 :
1039 : /// @brief score only needed when running with gui
1040 : void rememberParkingAreaScore(const MSStoppingPlace* pa, const std::string& score);
1041 : void resetParkingAreaScores();
1042 : void rememberChargingStationScore(const MSStoppingPlace* cs, const std::string& score);
1043 : void resetChargingStationScores();
1044 :
1045 68531 : int getNumberParkingReroutes() const {
1046 68531 : return myNumberParkingReroutes;
1047 : }
1048 39417 : void setNumberParkingReroutes(int value) {
1049 39417 : myNumberParkingReroutes = value;
1050 39417 : }
1051 :
1052 : const StoppingPlaceMemory* getParkingMemory() const {
1053 65 : return myParkingMemory;
1054 : }
1055 :
1056 : const StoppingPlaceMemory* getChargingMemory() const {
1057 127 : return myChargingMemory;
1058 : }
1059 : //@}
1060 :
1061 6401012 : struct StopEdgeInfo {
1062 :
1063 3168496 : StopEdgeInfo(const MSEdge* _edge, double _priority, SUMOTime _arrival, double _pos, bool _isSink = false):
1064 3168496 : edge(_edge), pos(_pos),
1065 3168496 : priority(_priority),
1066 3168496 : arrival(_arrival),
1067 3168496 : isSink(_isSink) {}
1068 :
1069 : const MSEdge* edge;
1070 : double pos;
1071 : double priority;
1072 : SUMOTime arrival;
1073 : bool isSink;
1074 : const SUMOVehicleParameter::Stop* stopPar = nullptr;
1075 : /// @brief values set during routing and used during optimization
1076 : int routeIndex = -1;
1077 : bool skipped = false;
1078 : bool backtracked = false;
1079 : SUMOTime delay = 0;
1080 : /// @brief optional info about stopping place
1081 : std::pair<std::string, SumoXMLTag> nameTag;
1082 : /// @brief set when replacing stop with an alternative
1083 : const MSEdge* origEdge = nullptr;
1084 :
1085 : bool operator==(const StopEdgeInfo& o) const {
1086 : return edge == o.edge;
1087 : }
1088 : bool operator!=(const StopEdgeInfo& o) const {
1089 : return !(*this == o);
1090 : }
1091 : };
1092 :
1093 : protected:
1094 : /// @brief reset rail signal approach information
1095 29 : virtual void resetApproachOnReroute() {};
1096 :
1097 : /** @brief Returns the list of still pending stop edges
1098 : * also returns the first and last stop position
1099 : */
1100 : std::vector<StopEdgeInfo> getStopEdges(double& firstPos, double& lastPos, std::set<int>& jumps) const;
1101 :
1102 : static double addStopPriority(double p1, double p2);
1103 :
1104 : /// @brief replace stop with a same-name alternative that is on the route and return success
1105 : bool replaceWithAlternative(std::list<MSStop>::iterator iter, const MSRouteIterator searchStart, const MSRouteIterator end);
1106 :
1107 : protected:
1108 : /// @brief This vehicle's parameter.
1109 : const SUMOVehicleParameter* myParameter;
1110 :
1111 : /// @brief This vehicle's route.
1112 : ConstMSRoutePtr myRoute;
1113 :
1114 : /// @brief This vehicle's type.
1115 : const MSVehicleType* myType;
1116 :
1117 : /// @brief Iterator to current route-edge
1118 : MSRouteIterator myCurrEdge;
1119 :
1120 : /// @brief A precomputed factor by which the driver wants to be faster than the speed limit
1121 : double myChosenSpeedFactor;
1122 :
1123 : /// @brief The vehicle's list of stops
1124 : std::list<MSStop> myStops;
1125 :
1126 : /// @brief The list of stops that the vehicle has already reached
1127 : StopParVector myPastStops;
1128 :
1129 : /// @name Move reminder structures
1130 : /// @{
1131 :
1132 : /// @brief Definition of a move reminder container
1133 : // The double value holds the relative position offset, i.e.,
1134 : // offset + vehicle-position - moveReminder-position = distance,
1135 : // i.e. the offset is counted up when the vehicle continues to a
1136 : // succeeding lane.
1137 : typedef std::vector< std::pair<MSMoveReminder*, double> > MoveReminderCont;
1138 :
1139 : /// @brief Currently relevant move reminders
1140 : MoveReminderCont myMoveReminders;
1141 : /// @}
1142 :
1143 : /// @brief The devices this vehicle has
1144 : std::vector<MSVehicleDevice*> myDevices;
1145 :
1146 : /// @brief The passengers this vehicle may have
1147 : MSDevice_Transportable* myPersonDevice;
1148 :
1149 : /// @brief The containers this vehicle may have
1150 : MSDevice_Transportable* myContainerDevice;
1151 :
1152 : /// @brief The emission parameters this vehicle may have
1153 : mutable EnergyParams* myEnergyParams;
1154 :
1155 : /// @brief The real departure time
1156 : SUMOTime myDeparture;
1157 :
1158 : /// @brief The real depart position
1159 : double myDepartPos;
1160 :
1161 : /// @brief The position on the destination lane where the vehicle stops
1162 : double myArrivalPos;
1163 :
1164 : /// @brief The destination lane where the vehicle stops
1165 : int myArrivalLane;
1166 :
1167 : /// @brief The number of reroutings
1168 : int myNumberReroutes;
1169 :
1170 : /// @brief The offset when adding route stops with 'until' on route replacement
1171 : SUMOTime myStopUntilOffset;
1172 :
1173 : /// @brief A simple odometer to keep track of the length of the route already driven
1174 : double myOdometer;
1175 :
1176 : /// @brief status of the current vehicle route
1177 : int myRouteValidity;
1178 :
1179 : /// memory for parking search
1180 : StoppingPlaceMemory* myParkingMemory = nullptr;
1181 : StoppingPlaceMemory* myChargingMemory = nullptr;
1182 : int myNumberParkingReroutes = 0;
1183 :
1184 : /// @brief Whether this vehicle is registered as waiting for a person or container (for deadlock-recognition)
1185 : bool myAmRegisteredAsWaiting = false;
1186 :
1187 : /* @brief magic value for undeparted vehicles
1188 : * @note: in previous versions this was -1
1189 : */
1190 : static const SUMOTime NOT_YET_DEPARTED;
1191 :
1192 : static std::vector<MSTransportable*> myEmptyTransportableVector;
1193 :
1194 : /* @brief The logical 'reversed' state of the vehicle - intended to be used by drawing functions
1195 : * @note: only set by vClass rail reversing at the moment
1196 : */
1197 : bool myAmReversed = false;
1198 :
1199 : ///@brief routing mode (see TraCIConstants.h)
1200 : int myRoutingMode;
1201 :
1202 : private:
1203 : const NumericalID myNumericalID;
1204 :
1205 : const long long int myRandomSeed;
1206 :
1207 : /* @brief The vehicle's knowledge about edge efforts/travel times; @see MSEdgeWeightsStorage
1208 : * @note member is initialized on first access */
1209 : mutable MSEdgeWeightsStorage* myEdgeWeights;
1210 :
1211 : MSEdgeWeightsStorage& _getWeightsStorage() const;
1212 :
1213 : static NumericalID myCurrentNumericalIndex;
1214 :
1215 : /// @brief init model parameters from generic params
1216 : void initTransientModelParams();
1217 :
1218 : /// @brief reconstruct flow id from vehicle id
1219 : std::string getFlowID() const;
1220 :
1221 : /// @brief remove route at the end of the simulation
1222 : void checkRouteRemoval();
1223 :
1224 : /// @brief helper function
1225 : bool insertJump(int nextStopIndex, MSRouteIterator itStart, std::string& errorMsg);
1226 :
1227 : /// @brief patch stop.pars.index to record the number of skipped candidate edges before stop.edge (in a looped route)
1228 : void setSkips(MSStop& stop, int prevActiveStops);
1229 :
1230 : /// @brief remove outdated driveways on reroute
1231 : SUMOTime activateRemindersOnReroute(SUMOTime currentTime);
1232 :
1233 : private:
1234 : /// invalidated assignment operator
1235 : MSBaseVehicle& operator=(const MSBaseVehicle& s) = delete;
1236 :
1237 : #ifdef _DEBUG
1238 : public:
1239 : static void initMoveReminderOutput(const OptionsCont& oc);
1240 :
1241 : protected:
1242 : /// @brief optionally generate movereminder-output for this vehicle
1243 : void traceMoveReminder(const std::string& type, MSMoveReminder* rem, double pos, bool keep) const;
1244 :
1245 : /// @brief whether this vehicle shall trace its moveReminders
1246 : const bool myTraceMoveReminders;
1247 : private:
1248 : /// @brief vehicles which shall trace their move reminders
1249 : static std::set<std::string> myShallTraceMoveReminders;
1250 : #endif
1251 :
1252 :
1253 : };
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