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 : }