Line data    Source code

       1             : /****************************************************************************/
       2             : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
       3             : // Copyright (C) 2013-2024 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    MSDevice_DriverState.h
      15             : /// @author  Leonhard Luecken
      16             : /// @author  Daniel Krajzewicz
      17             : /// @author  Jakob Erdmann
      18             : /// @date    15.06.2018
      19             : ///
      20             : /// The Driver State Device mainly provides a configuration and interaction interface for the vehicle's driver state.
      21             : /// @see microsim/MSDriverState.h
      22             : ///
      23             : /****************************************************************************/
      24             : #pragma once
      25             : #include <config.h>
      26             : 
      27             : #include "MSVehicleDevice.h"
      28             : #include <utils/common/SUMOTime.h>
      29             : #include <utils/common/WrappingCommand.h>
      30             : 
      31             : 
      32             : // ===========================================================================
      33             : // class declarations
      34             : // ===========================================================================
      35             : class SUMOVehicle;
      36             : class MSVehicle;
      37             : class MSSimpleDriverState;
      38             : 
      39             : 
      40             : // ===========================================================================
      41             : // class definitions
      42             : // ===========================================================================
      43             : /**
      44             :  * @class MSDevice_DriverState
      45             :  *
      46             :  * @brief The ToC Device controls transition of control between automated and manual driving.
      47             :  * @todo: Provide logging facilities
      48             :  * @todo: allow manual and automated type to refer to vTypeDistributions
      49             :  *
      50             :  * @see MSDevice
      51             :  */
      52             : class MSDevice_DriverState : public MSVehicleDevice {
      53             : public:
      54             :     /** @brief Inserts MSDevice_DriverState-options
      55             :      * @param[filled] oc The options container to add the options to
      56             :      */
      57             :     static void insertOptions(OptionsCont& oc);
      58             : 
      59             : 
      60             :     /** @brief Build devices for the given vehicle, if needed
      61             :      *
      62             :      * The options are read and evaluated whether a ToC-device shall be built
      63             :      *  for the given vehicle.
      64             :      *
      65             :      * The built device is stored in the given vector.
      66             :      *
      67             :      * @param[in] v The vehicle for which a device may be built
      68             :      * @param[filled] into The vector to store the built device in
      69             :      */
      70             :     static void buildVehicleDevices(SUMOVehicle& v, std::vector<MSVehicleDevice*>& into);
      71             : 
      72             :     /// update internal state
      73             :     void update();
      74             : 
      75             :     /// return internal state
      76             :     inline std::shared_ptr<MSSimpleDriverState> getDriverState() const {
      77             :         return myDriverState;
      78             :     }
      79             : 
      80             : private:
      81             :     /// @name Helpers for parameter parsing
      82             :     /// @{
      83             :     static double getMinAwareness(const SUMOVehicle& v, const OptionsCont& oc);
      84             :     static double getInitialAwareness(const SUMOVehicle& v, const OptionsCont& oc);
      85             :     static double getErrorTimeScaleCoefficient(const SUMOVehicle& v, const OptionsCont& oc);
      86             :     static double getErrorNoiseIntensityCoefficient(const SUMOVehicle& v, const OptionsCont& oc);
      87             :     static double getSpeedDifferenceErrorCoefficient(const SUMOVehicle& v, const OptionsCont& oc);
      88             :     static double getSpeedDifferenceChangePerceptionThreshold(const SUMOVehicle& v, const OptionsCont& oc);
      89             :     static double getHeadwayChangePerceptionThreshold(const SUMOVehicle& v, const OptionsCont& oc);
      90             :     static double getHeadwayErrorCoefficient(const SUMOVehicle& v, const OptionsCont& oc);
      91             :     static double getFreeSpeedErrorCoefficient(const SUMOVehicle& v, const OptionsCont& oc);
      92             :     static double getMaximalReactionTime(const SUMOVehicle& v, const OptionsCont& oc);
      93             :     /// @}
      94             : 
      95             : 
      96             : public:
      97             :     /// @brief Destructor.
      98         711 :     ~MSDevice_DriverState() {};
      99             : 
     100             :     /// @brief return the name for this type of device
     101         452 :     const std::string deviceName() const {
     102         452 :         return "driverstate";
     103             :     }
     104             : 
     105             :     /// @brief try to retrieve the given parameter from this device. Throw exception for unsupported key
     106             :     std::string getParameter(const std::string& key) const;
     107             : 
     108             :     /// @brief try to set the given parameter for this device. Throw exception for unsupported key
     109             :     void setParameter(const std::string& key, const std::string& value);
     110             : 
     111             : 
     112             : private:
     113             :     /** @brief Constructor
     114             :      *
     115             :      * @param[in] holder The vehicle that holds this device
     116             :      * @param[in] id The ID of the device
     117             :      */
     118             :     MSDevice_DriverState(SUMOVehicle& holder, const std::string& id,
     119             :                          double minAwareness,
     120             :                          double initialAwareness,
     121             :                          double errorTimeScaleCoefficient,
     122             :                          double errorNoiseIntensityCoefficient,
     123             :                          double speedDifferenceErrorCoefficient,
     124             :                          double speedDifferenceChangePerceptionThreshold,
     125             :                          double headwayChangePerceptionThreshold,
     126             :                          double headwayErrorCoefficient,
     127             :                          double freeSpeedErrorCoefficient,
     128             :                          double maximalReactionTime);
     129             : 
     130             :     /// @brief Initializeses the driver state parameters
     131             :     void initDriverState();
     132             : 
     133             : private:
     134             :     /// @brief The holder vehicle casted to MSVehicle*
     135             :     MSVehicle* myHolderMS;
     136             : 
     137             :     /// @name Temporary to hold driverstate parameters until initialization.
     138             :     /// @note Invalid after call to initDriverState().
     139             :     /// @{
     140             :     double myMinAwareness;
     141             :     double myInitialAwareness;
     142             :     double myErrorTimeScaleCoefficient;
     143             :     double myErrorNoiseIntensityCoefficient;
     144             :     double mySpeedDifferenceErrorCoefficient;
     145             :     double mySpeedDifferenceChangePerceptionThreshold;
     146             :     double myHeadwayChangePerceptionThreshold;
     147             :     double myHeadwayErrorCoefficient;
     148             :     double myFreeSpeedErrorCoefficient;
     149             :     double myMaximalReactionTime;
     150             :     /// @}
     151             : 
     152             :     /// @brief The driver state of the holder.
     153             :     std::shared_ptr<MSSimpleDriverState> myDriverState;
     154             : 
     155             : private:
     156             :     /// @brief Invalidated copy constructor.
     157             :     MSDevice_DriverState(const MSDevice_DriverState&);
     158             : 
     159             :     /// @brief Invalidated assignment operator.
     160             :     MSDevice_DriverState& operator=(const MSDevice_DriverState&);
     161             : 
     162             : };