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 TraCIServer.h
15 : /// @author Axel Wegener
16 : /// @author Friedemann Wesner
17 : /// @author Christoph Sommer
18 : /// @author Tino Morenz
19 : /// @author Daniel Krajzewicz
20 : /// @author Thimor Bohn
21 : /// @author Sascha Krieg
22 : /// @author Michael Behrisch
23 : /// @author Leonhard Luecken
24 : /// @date 2007/10/24
25 : ///
26 : // TraCI server used to control sumo by a remote TraCI client
27 : /****************************************************************************/
28 : #pragma once
29 : #include <config.h>
30 :
31 : #include <map>
32 : #include <string>
33 : #include <set>
34 :
35 : #define BUILD_TCPIP
36 : #include <foreign/tcpip/socket.h>
37 : #include <foreign/tcpip/storage.h>
38 : #include <utils/common/NamedRTree.h>
39 : #include <utils/common/SUMOTime.h>
40 : #include <utils/common/ToString.h>
41 : #include <utils/geom/Boundary.h>
42 : #include <utils/geom/Position.h>
43 : #include <utils/geom/GeomHelper.h>
44 : #include <utils/options/OptionsCont.h>
45 : #include <microsim/MSNet.h>
46 : #include <microsim/traffic_lights/MSTrafficLightLogic.h>
47 : #include <libsumo/TraCIConstants.h>
48 : #include <libsumo/Subscription.h>
49 : #include <libsumo/TraCIDefs.h>
50 : #include "TraCIServerAPI_Lane.h"
51 :
52 :
53 : // ===========================================================================
54 : // class definitions
55 : // ===========================================================================
56 : /** @class TraCIServer
57 : * @brief TraCI server used to control sumo by a remote TraCI client
58 : */
59 : class TraCIServer final : public MSNet::VehicleStateListener, public libsumo::VariableWrapper, public MSNet::TransportableStateListener {
60 : public:
61 : /// @brief Definition of a method to be called for serving an associated commandID
62 : typedef bool(*CmdExecutor)(TraCIServer& server, tcpip::Storage& inputStorage, tcpip::Storage& outputStorage);
63 :
64 : SUMOTime getTargetTime() const {
65 : return myTargetTime;
66 : }
67 :
68 : static TraCIServer* getInstance() {
69 182957016 : return myInstance;
70 : }
71 :
72 : /// @name Initialisation and Shutdown
73 : /// @{
74 :
75 : /** @brief Initialises the server
76 : * @param[in] execs The (additional) command executors to use
77 : */
78 : static void openSocket(const std::map<int, CmdExecutor>& execs);
79 :
80 :
81 : /// @brief request termination of connection
82 : static void close();
83 :
84 :
85 : /** @brief check whether close was requested
86 : * @return Whether the connection was closed
87 : */
88 : static bool wasClosed();
89 : /// @}
90 :
91 :
92 : /// @brief process all commands until the next SUMO simulation step.
93 : /// It is guaranteed that t->getTargetTime() >= myStep after call
94 : /// (except the case that a load or close command is received)s
95 : int processCommands(const SUMOTime step, const bool afterMove = false);
96 :
97 : /// @brief clean up subscriptions
98 : void cleanup();
99 :
100 :
101 : void vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& info = "");
102 :
103 : void transportableStateChanged(const MSTransportable* const transportable, MSNet::TransportableState to, const std::string& info = "");
104 :
105 : /// @name Writing Status Messages
106 : /// @{
107 :
108 : /** @brief Writes a status command to the given storage
109 : * @param[in] commandId The id of the command to respond to
110 : * @param[in] status The status to send
111 : * @param[in] description The status description (error message, for example)
112 : * @param[in, filled] outputStorage The storage to write the status into
113 : */
114 : void writeStatusCmd(int commandId, int status, const std::string& description, tcpip::Storage& outputStorage);
115 :
116 :
117 : /** @brief Writes a status command to myOutputStorage
118 : * @param[in] commandId The id of the command to respond to
119 : * @param[in] status The status to send
120 : * @param[in] description The status description (error message, for example)
121 : */
122 : void writeStatusCmd(int commandId, int status, const std::string& description);
123 :
124 :
125 : /** @brief Writes a status command to the given storage with status = RTYPE_ERR
126 : * @param[in] commandId The id of the command to respond to
127 : * @param[in] description The status description (error message, for example)
128 : * @param[in, filled] outputStorage The storage to write the status into
129 : */
130 : bool writeErrorStatusCmd(int commandId, const std::string& description, tcpip::Storage& outputStorage);
131 : /// @}
132 :
133 :
134 :
135 : const std::map<MSNet::VehicleState, std::vector<std::string> >& getVehicleStateChanges() const {
136 68193 : if (myCurrentSocket == mySockets.end()) {
137 : // Requested in context of a subscription update
138 16668 : return myVehicleStateChanges;
139 : } else {
140 : // Requested in the context of a custom query by active client
141 51525 : return myCurrentSocket->second->vehicleStateChanges;
142 : }
143 : }
144 :
145 : const std::map<MSNet::TransportableState, std::vector<std::string> >& getTransportableStateChanges() const {
146 36 : if (myCurrentSocket == mySockets.end()) {
147 : // Requested in context of a subscription update
148 0 : return myTransportableStateChanges;
149 : } else {
150 : // Requested in the context of a custom query by active client
151 36 : return myCurrentSocket->second->transportableStateChanges;
152 : }
153 : }
154 :
155 : void writeResponseWithLength(tcpip::Storage& outputStorage, tcpip::Storage& tempMsg);
156 :
157 : void writePositionVector(tcpip::Storage& outputStorage, const libsumo::TraCIPositionVector& shape);
158 :
159 :
160 : /// @name Helpers for reading and checking values
161 : /// @{
162 :
163 : /** @brief Reads the value type and an int, verifying the type
164 : *
165 : * @param[in, changed] inputStorage The storage to read from
166 : * @param[out] into Holder of the read value
167 : * @return Whether an integer value was given (by data type)
168 : */
169 : bool readTypeCheckingInt(tcpip::Storage& inputStorage, int& into);
170 :
171 :
172 : /** @brief Reads the value type and a double, verifying the type
173 : *
174 : * @param[in, changed] inputStorage The storage to read from
175 : * @param[out] into Holder of the read value
176 : * @return Whether a double value was given (by data type)
177 : */
178 : bool readTypeCheckingDouble(tcpip::Storage& inputStorage, double& into);
179 :
180 :
181 : /** @brief Reads the value type and a string, verifying the type
182 : *
183 : * @param[in, changed] inputStorage The storage to read from
184 : * @param[out] into Holder of the read value
185 : * @return Whether a string value was given (by data type)
186 : */
187 : bool readTypeCheckingString(tcpip::Storage& inputStorage, std::string& into);
188 :
189 :
190 : /** @brief Reads the value type and a string list, verifying the type
191 : *
192 : * @param[in, changed] inputStorage The storage to read from
193 : * @param[out] into Holder of the read value
194 : * @return Whether a double value was given (by data type)
195 : */
196 : bool readTypeCheckingStringList(tcpip::Storage& inputStorage, std::vector<std::string>& into);
197 :
198 :
199 : /** @brief Reads the value type and a double list, verifying the type
200 : *
201 : * @param[in, changed] inputStorage The storage to read from
202 : * @param[out] into Holder of the read value
203 : * @return Whether a double value was given (by data type)
204 : */
205 : bool readTypeCheckingDoubleList(tcpip::Storage& inputStorage, std::vector<double>& into);
206 :
207 :
208 : /** @brief Reads the value type and a color, verifying the type
209 : *
210 : * @param[in, changed] inputStorage The storage to read from
211 : * @param[out] into Holder of the read value
212 : * @return Whether a color was given (by data type)
213 : */
214 : bool readTypeCheckingColor(tcpip::Storage& inputStorage, libsumo::TraCIColor& into);
215 :
216 :
217 : /** @brief Reads the value type and a 2D position, verifying the type
218 : *
219 : * @param[in, changed] inputStorage The storage to read from
220 : * @param[out] into Holder of the read value
221 : * @return Whether a 2D position was given (by data type)
222 : */
223 : bool readTypeCheckingPosition2D(tcpip::Storage& inputStorage, libsumo::TraCIPosition& into);
224 :
225 :
226 : /** @brief Reads the value type and a byte, verifying the type
227 : *
228 : * @param[in, changed] inputStorage The storage to read from
229 : * @param[out] into Holder of the read value
230 : * @return Whether a byte was given (by data type)
231 : */
232 : bool readTypeCheckingByte(tcpip::Storage& inputStorage, int& into);
233 :
234 :
235 : /** @brief Reads the value type and an unsigned byte, verifying the type
236 : *
237 : * @param[in, changed] inputStorage The storage to read from
238 : * @param[out] into Holder of the read value
239 : * @return Whether an unsigned byte was given (by data type)
240 : */
241 : bool readTypeCheckingUnsignedByte(tcpip::Storage& inputStorage, int& into);
242 :
243 :
244 : /** @brief Reads the value type and a polygon, verifying the type
245 : *
246 : * @param[in, changed] inputStorage The storage to read from
247 : * @param[out] into Holder of the read value
248 : * @return Whether an unsigned byte was given (by data type)
249 : */
250 : bool readTypeCheckingPolygon(tcpip::Storage& inputStorage, PositionVector& into);
251 : /// @}
252 :
253 :
254 : /// @brief updates myTargetTime and resets vehicle state changes after loading a simulation state
255 : /// @note Used in MSStateHandler to update the server's time after loading a state
256 : void stateLoaded(SUMOTime targetTime);
257 :
258 : std::vector<std::string>& getLoadArgs() {
259 13 : return myLoadArgs;
260 : }
261 :
262 : /// @name VariableWrapper interface
263 : /// @{
264 : void initWrapper(const int domainID, const int variable, const std::string& objID);
265 : bool wrapDouble(const std::string& objID, const int variable, const double value);
266 : bool wrapInt(const std::string& objID, const int variable, const int value);
267 : bool wrapString(const std::string& objID, const int variable, const std::string& value);
268 : bool wrapStringList(const std::string& objID, const int variable, const std::vector<std::string>& value);
269 : bool wrapDoubleList(const std::string& objID, const int variable, const std::vector<double>& value);
270 : bool wrapPosition(const std::string& objID, const int variable, const libsumo::TraCIPosition& value);
271 : bool wrapPositionVector(const std::string& objID, const int variable, const libsumo::TraCIPositionVector& value);
272 : bool wrapColor(const std::string& objID, const int variable, const libsumo::TraCIColor& value);
273 : bool wrapStringDoublePair(const std::string& objID, const int variable, const std::pair<std::string, double>& value);
274 : bool wrapStringPair(const std::string& objID, const int variable, const std::pair<std::string, std::string>& value);
275 : tcpip::Storage& getWrapperStorage();
276 : /// @}
277 :
278 :
279 : private:
280 : /** @brief Constructor
281 : * @param[in] port The port to listen to (to open)
282 : */
283 : TraCIServer(const SUMOTime begin, const int port, const int numClients);
284 :
285 :
286 : /// @brief Destructor
287 : virtual ~TraCIServer();
288 :
289 :
290 :
291 : struct SocketInfo {
292 : public:
293 : /// @brief constructor
294 : SocketInfo(tcpip::Socket* socket, SUMOTime t)
295 2638 : : targetTime(t), socket(socket) {}
296 : /// @brief destructor
297 2630 : ~SocketInfo() {
298 2630 : delete socket;
299 2630 : }
300 : /// @brief next point of action for the client
301 : SUMOTime targetTime;
302 : /// @brief whether a "half step" has been done, executing only the move
303 : bool executeMove = false;
304 : /// @brief Socket object for this client
305 : tcpip::Socket* socket;
306 : /// @brief container for vehicle state changes since last step taken by this client
307 : std::map<MSNet::VehicleState, std::vector<std::string> > vehicleStateChanges;
308 : /// @brief container for transportable state changes since last step taken by this client
309 : std::map<MSNet::TransportableState, std::vector<std::string> > transportableStateChanges;
310 : private:
311 : SocketInfo(const SocketInfo&);
312 : };
313 :
314 : /// @name Server-internal command handling
315 : /// @{
316 :
317 : /** @brief Returns the TraCI-version
318 : * @return Always true
319 : */
320 : bool commandGetVersion();
321 :
322 : /** @brief Handles subscriptions to send after a simstep2 command
323 : */
324 : void postProcessSimulationStep();
325 : /// @}
326 :
327 :
328 : /// @brief Reads the next command ID from the input storage
329 : /// @return the command ID
330 : /// @param[out] the version with reference parameters provides information on the command start position and length used in dispatchCommand for checking purposes
331 : int readCommandID(int& commandStart, int& commandLength);
332 :
333 : /// @brief Handles command, writes response to myOutputStorage
334 : int dispatchCommand();
335 :
336 : /// @brief Called once after connection of all clients for executing SET_ORDER (and possibly prior GET_VERSION) commands,
337 : /// that should be executed before simulation starts (in processCommandsUntilNextSimStep()).
338 : void checkClientOrdering();
339 :
340 : /// @brief checks for and processes reordering requests (relevant for multiple clients)
341 : void processReorderingRequests();
342 :
343 : /// @brief get the minimal next target time among all clients
344 : SUMOTime nextTargetTime() const;
345 :
346 : /// @brief send out subscription results (actually just the content of myOutputStorage) to clients which will act in this step (i.e. with client target time <= myTargetTime)
347 : void sendOutputToAll() const;
348 :
349 : /// @brief sends an empty response to a simstep command to the current client. (This applies to a situation where the TraCI step frequency is higher than the SUMO step frequency)
350 : void sendSingleSimStepResponse();
351 :
352 : /// @brief removes myCurrentSocket from mySockets and returns an iterator pointing to the next member according to the ordering
353 : std::map<int, SocketInfo*>::iterator removeCurrentSocket();
354 :
355 :
356 : private:
357 : /// @brief Singleton instance of the server
358 : static TraCIServer* myInstance;
359 :
360 : /// @brief Whether the connection was set to be to close
361 : static bool myDoCloseConnection;
362 :
363 : /// @brief The socket connections to the clients
364 : /// the first component (index) determines the client's order (lowest index's commands are processed first), @see CMD_SETORDER
365 : std::map<int, SocketInfo*> mySockets;
366 :
367 : /// @brief This stores the setOrder(int) requests of the clients.
368 : std::map<int, SocketInfo*> mySocketReorderRequests;
369 :
370 : /// @brief The currently active client socket
371 : std::map<int, SocketInfo*>::iterator myCurrentSocket;
372 :
373 : /// @brief The time step to reach until processing the next commands
374 : SUMOTime myTargetTime;
375 :
376 : /// @brief The storage to read from
377 : tcpip::Storage myInputStorage;
378 :
379 : /// @brief The storage to write to
380 : tcpip::Storage myOutputStorage;
381 :
382 : /// @brief A temporary storage to let the wrapper write to
383 : tcpip::Storage myWrapperStorage;
384 :
385 : /// @brief The last timestep's subscription results
386 : tcpip::Storage mySubscriptionCache;
387 :
388 : /// @brief Map of commandIds -> their executors; applicable if the executor applies to the method footprint
389 : std::map<int, CmdExecutor> myExecutors;
390 :
391 : /// @brief Set of variables which have parameters
392 : std::set<std::pair<int, int>> myParameterized;
393 :
394 : std::vector<std::string> myLoadArgs;
395 :
396 : /// @brief The list of known, still valid subscriptions
397 : std::vector<libsumo::Subscription> mySubscriptions;
398 :
399 : /// @brief The last modified context subscription (the one to add a filter to, see @addSubscriptionFilter(), currently only for vehicle to vehicle context)
400 : libsumo::Subscription* myLastContextSubscription;
401 :
402 : /// @brief Changes in the states of simulated vehicles
403 : /// @note
404 : /// Server cache myVehicleStateChanges is used for managing last steps subscription updates
405 : /// and for client information in case that myAmEmbedded==true, which implies a single client.
406 : /// For the potential multiclient case (myAmEmbedded==false), each socket in mySockets is associated
407 : /// with a proper vehicleStateChanges container mySockets[...].second->vehicleStateChanges
408 : /// Performance could be improved if for a single client, myVehicleStateChanges is used only.
409 : std::map<MSNet::VehicleState, std::vector<std::string> > myVehicleStateChanges;
410 :
411 : /// @brief Changes in the states of simulated transportables
412 : /// @note
413 : /// Server cache myTransportableStateChanges is used for managing last steps subscription updates
414 : /// and for client information in case that myAmEmbedded==true, which implies a single client.
415 : /// For the potential multiclient case (myAmEmbedded==false), each socket in mySockets is associated
416 : /// with a proper TransportableStateChanges container mySockets[...].second->TransportableStateChanges
417 : /// Performance could be improved if for a single client, myTransportableStateChanges is used only.
418 : std::map<MSNet::TransportableState, std::vector<std::string> > myTransportableStateChanges;
419 :
420 : private:
421 : bool addObjectVariableSubscription(const int commandId, const bool hasContext);
422 : void initialiseSubscription(libsumo::Subscription& s);
423 : void removeSubscription(int commandId, const std::string& identity, int domain);
424 : bool processSingleSubscription(const libsumo::Subscription& s, tcpip::Storage& writeInto,
425 : std::string& errors);
426 :
427 :
428 : bool addSubscriptionFilter();
429 : void removeFilters();
430 : void addSubscriptionFilterLanes(std::vector<int> lanes);
431 : void addSubscriptionFilterNoOpposite();
432 : void addSubscriptionFilterDownstreamDistance(double dist);
433 : void addSubscriptionFilterUpstreamDistance(double dist);
434 : void addSubscriptionFilterLeadFollow();
435 : // TODO: for libsumo, implement convenience definitions present in python client:
436 : // void addSubscriptionFilterCF();
437 : // void addSubscriptionFilterLC(int direction);
438 : void addSubscriptionFilterTurn(double dist);
439 : void addSubscriptionFilterVClass(SVCPermissions vClasses);
440 : void addSubscriptionFilterVType(std::set<std::string> vTypes);
441 : /** @brief Filter only vehicles within field of vision
442 : *
443 : * @param[in] openingAngle The opening angle of the circle sector
444 : */
445 : void addSubscriptionFilterFieldOfVision(double openingAngle);
446 : /** @brief Filter only vehicles within the given lateral distance
447 : *
448 : * @param[in] dist The lateral distance
449 : */
450 : void addSubscriptionFilterLateralDistance(double dist);
451 :
452 : /// @brief check whether a found objID refers to the central object of a context subscription
453 : bool centralObject(const libsumo::Subscription& s, const std::string& objID);
454 :
455 :
456 : private:
457 : /// @brief Invalidated assignment operator
458 : TraCIServer& operator=(const TraCIServer& s) = delete;
459 :
460 : };
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