Line data    Source code

       1              : /****************************************************************************/
       2              : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
       3              : // Copyright (C) 2001-2024 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    CC_VehicleVariables.cpp
      15              : /// @author  Michele Segata
      16              : /// @date    Mon, 7 Mar 2016
      17              : ///
      18              : /****************************************************************************/
      19              : #include "CC_VehicleVariables.h"
      20              : 
      21              : //initialize default L and K matrices
      22              : const int CC_VehicleVariables::defaultL[][MAX_N_CARS] = {
      23              :     {0, 0, 0, 0, 0, 0, 0, 0},
      24              :     {1, 0, 0, 0, 0, 0, 0, 0},
      25              :     {1, 1, 0, 0, 0, 0, 0, 0},
      26              :     {1, 0, 1, 0, 0, 0, 0, 0},
      27              :     {1, 0, 0, 1, 0, 0, 0, 0},
      28              :     {1, 0, 0, 0, 1, 0, 0, 0},
      29              :     {1, 0, 0, 0, 0, 1, 0, 0},
      30              :     {1, 0, 0, 0, 0, 0, 1, 0}
      31              : };
      32              : const double CC_VehicleVariables::defaultK[][MAX_N_CARS] = {
      33              :     {0, 0, 0, 0, 0, 0, 0, 0},
      34              :     {460, 0, 0, 0, 0, 0, 0, 0},
      35              :     {80, 860, 0, 0, 0, 0, 0, 0},
      36              :     {80, 0, 860, 0, 0, 0, 0, 0},
      37              :     {80, 0, 0, 860, 0, 0, 0, 0},
      38              :     {80, 0, 0, 0, 860, 0, 0, 0},
      39              :     {80, 0, 0, 0, 0, 860, 0, 0},
      40              :     {80, 0, 0, 0, 0, 0, 860, 0}
      41              : };
      42              : const double CC_VehicleVariables::defaultB[MAX_N_CARS] = {1800, 1800, 1800, 1800, 1800, 1800, 1800, 1800};
      43              : const double CC_VehicleVariables::defaultH[MAX_N_CARS] = {0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8};
      44              : 
      45            0 : CC_VehicleVariables::CC_VehicleVariables() :
      46            0 :     controllerAcceleration(0), frontSpeed(0), frontAcceleration(0),
      47            0 :     frontControllerAcceleration(0), frontDataReadTime(0), frontAngle(0), frontInitialized(false),
      48            0 :     autoFeed(false), leaderVehicle(nullptr), leaderVehicleId(""), frontVehicle(nullptr), frontVehicleId(""),
      49            0 :     isLeader(true),
      50            0 :     accHeadwayTime(1.5), accLambda(0.1),
      51            0 :     useControllerAcceleration(true), leaderSpeed(0),
      52            0 :     leaderAcceleration(0), leaderControllerAcceleration(0), leaderDataReadTime(0), leaderAngle(0),
      53            0 :     leaderInitialized(false), caccInitialized(false),
      54            0 :     useFixedAcceleration(0), fixedAcceleration(0),
      55            0 :     crashed(false),
      56            0 :     ccDesiredSpeed(14), ccKp(1), activeController(Plexe::DRIVER),
      57            0 :     nInitialized(0), position(-1), nCars(8),
      58            0 :     caccXi(-1), caccOmegaN(-1), caccC1(-1), caccAlpha1(-1), caccAlpha2(-1),
      59            0 :     caccAlpha3(-1), caccAlpha4(-1), caccAlpha5(-1), caccSpacing(5),
      60            0 :     engineTau(0.5),
      61            0 :     uMin(-1e6), uMax(1e6),
      62            0 :     ploegH(0.5), ploegKp(0.2), ploegKd(0.7),
      63            0 :     flatbedKa(2.4), flatbedKv(0.6), flatbedKp(12), flatbedD(5), flatbedH(4),
      64            0 :     engine(0), engineModel(CC_ENGINE_MODEL_FOLM),
      65            0 :     usePrediction(false),
      66            0 :     autoLaneChange(false),
      67            0 :     platoonFixedLane(-1),
      68            0 :     commitToLaneChange(true), noCommitReason(0), laneChangeCommitTime(-1) {
      69            0 :     fakeData.frontAcceleration = 0;
      70            0 :     fakeData.frontControllerAcceleration = 0;
      71            0 :     fakeData.frontDistance = 0;
      72            0 :     fakeData.frontSpeed = 0;
      73            0 :     fakeData.leaderAcceleration = 0;
      74            0 :     fakeData.leaderControllerAcceleration = 0;
      75            0 :     fakeData.leaderSpeed = 0;
      76              :     leaderPosition.set(0, 0);
      77              :     frontPosition.set(0, 0);
      78              :     //init L, K, b, and h with default values
      79            0 :     memcpy(L, defaultL, sizeof(int)*MAX_N_CARS * MAX_N_CARS);
      80            0 :     memcpy(K, defaultK, sizeof(double)*MAX_N_CARS * MAX_N_CARS);
      81            0 :     memcpy(b, defaultB, sizeof(double)*MAX_N_CARS);
      82            0 :     memcpy(h, defaultH, sizeof(double)*MAX_N_CARS);
      83              :     //no data about any vehicle has been set
      84            0 :     for (int i = 0; i < MAX_N_CARS; i++) {
      85            0 :         initialized[i] = false;
      86              :     }
      87            0 : }
      88              : 
      89            0 : CC_VehicleVariables::~CC_VehicleVariables() {
      90            0 :     if (engine) {
      91            0 :         delete engine;
      92              :     }
      93            0 : }