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 SUMOVehicle.h
15 : /// @author Michael Behrisch
16 : /// @author Daniel Krajzewicz
17 : /// @author Jakob Erdmann
18 : /// @date Tue, 17 Feb 2009
19 : ///
20 : // Abstract base class for vehicle representations
21 : /****************************************************************************/
22 : #pragma once
23 : #include <config.h>
24 :
25 : #include <vector>
26 : #include <typeinfo>
27 : #include <utils/common/SUMOTime.h>
28 : #include <utils/common/Named.h>
29 : #include <utils/router/SUMOAbstractRouter.h>
30 : #include <utils/vehicle/SUMOVehicleParameter.h>
31 : #include <utils/vehicle/SUMOTrafficObject.h>
32 : #include <utils/iodevices/OutputDevice.h>
33 :
34 :
35 : // ===========================================================================
36 : // class declarations
37 : // ===========================================================================
38 : class MSRoute;
39 : class MSEdge;
40 : class MSLane;
41 : class MSPerson;
42 : class MSStop;
43 : class MSTransportable;
44 : class MSParkingArea;
45 : class MSChargingStation;
46 : class MSStoppingPlace;
47 : class MSVehicleDevice;
48 : class SUMOSAXAttributes;
49 : class EnergyParams;
50 : class PositionVector;
51 :
52 : typedef std::vector<const MSEdge*> ConstMSEdgeVector;
53 :
54 :
55 : // ===========================================================================
56 : // class definitions
57 : // ===========================================================================
58 : /**
59 : * @class SUMOVehicle
60 : * @brief Representation of a vehicle
61 : */
62 : class SUMOVehicle : public SUMOTrafficObject {
63 : public:
64 :
65 : /// @brief Constructor
66 : SUMOVehicle(const std::string& id) : SUMOTrafficObject(id) {}
67 :
68 : /// @brief Destructor
69 0 : virtual ~SUMOVehicle() {}
70 :
71 : /** @brief Get the vehicle's lateral position on the lane
72 : * @return The lateral position of the vehicle (in m relative to the
73 : * centerline of the lane)
74 : */
75 : virtual double getLateralPositionOnLane() const = 0;
76 :
77 : /** @brief Get the vehicle's angle
78 : * @return The angle of the vehicle (in degree)
79 : */
80 : virtual double getAngle() const = 0;
81 :
82 : /// Returns the current route
83 : virtual const MSRoute& getRoute() const = 0;
84 :
85 : /// Returns the current route
86 : virtual ConstMSRoutePtr getRoutePtr() const = 0;
87 :
88 : /** @brief Returns the nSuccs'th successor of edge the vehicle is currently at
89 : *
90 : * If the rest of the route (counted from the current edge) than nSuccs,
91 : * 0 is returned.
92 : * @param[in] nSuccs The number of edge to look forward
93 : * @return The nSuccs'th following edge in the vehicle's route
94 : */
95 : virtual const MSEdge* succEdge(int nSuccs) const = 0;
96 :
97 : /** @brief Returns the starting point for reroutes (usually the current edge)
98 : *
99 : * This differs from myCurrEdge depending on braking distance and rail signals
100 : * @return The rerouting start point
101 : */
102 : virtual ConstMSEdgeVector::const_iterator getRerouteOrigin() const = 0;
103 :
104 : /** @brief Replaces the current route by the given edges
105 : *
106 : * It is possible that the new route is not accepted, if a) it does not
107 : * contain the vehicle's current edge, or b) something fails on insertion
108 : * into the routes container (see in-line comments).
109 : *
110 : * @param[in] edges The new list of edges to pass
111 : * @param[in] onInit Whether the vehicle starts with this route
112 : * @param[in] check Whether the route should be checked for validity
113 : * @param[in] removeStops Whether stops should be removed if they do not fit onto the new route
114 : * @return Whether the new route was accepted
115 : */
116 : virtual bool replaceRouteEdges(ConstMSEdgeVector& edges, double cost, double savings, const std::string& info, bool onInit = false, bool check = false, bool removeStops = true, std::string* msgReturn = nullptr) = 0;
117 :
118 : /** @brief Performs a rerouting using the given router
119 : *
120 : * Tries to find a new route between the current edge and the destination edge, first.
121 : * Tries to replace the current route by the new one using replaceRoute.
122 : *
123 : * @param[in] t The time for which the route is computed
124 : * @param[in] router The router to use
125 : * @return whether a valid route was found
126 : * @see replaceRoute
127 : */
128 : virtual 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) = 0;
129 :
130 : /** @brief Validates the current or given route
131 : * @param[out] msg Description why the route is not valid (if it is the case)
132 : * @param[in] route The route to check (or 0 if the current route shall be checked)
133 : * @return Whether the vehicle's current route is valid
134 : */
135 : virtual bool hasValidRoute(std::string& msg, ConstMSRoutePtr route = 0) const = 0;
136 : /// @brief checks wether the vehicle can depart on the first edge
137 : virtual bool hasValidRouteStart(std::string& msg) = 0;
138 :
139 : /// @brief computes validity attributes for the current route
140 : virtual int getRouteValidity(bool update = true, bool silent = false, std::string* msgReturn = nullptr) = 0;
141 :
142 : /** @brief Returns an iterator pointing to the current edge in this vehicles route
143 : * @return The current route pointer
144 : */
145 : virtual const ConstMSEdgeVector::const_iterator& getCurrentRouteEdge() const = 0;
146 :
147 : /** @brief Returns the vehicle's emission model parameter
148 : *
149 : * @return The vehicle's emission parameters
150 : */
151 : virtual EnergyParams* getEmissionParameters() const = 0;
152 :
153 : /** @brief Replaces the vehicle's parameter
154 : */
155 : virtual void replaceParameter(const SUMOVehicleParameter* newParameter) = 0;
156 :
157 : /** @brief Called when the vehicle is inserted into the network
158 : *
159 : * Sets optional information about departure time, informs the vehicle
160 : * control about a further running vehicle.
161 : */
162 : virtual void onDepart() = 0;
163 :
164 : /** @brief Returns the information whether the vehicle is on a road (is simulated)
165 : * @return Whether the vehicle is simulated
166 : */
167 : virtual bool isOnRoad() const = 0;
168 :
169 : /** @brief Returns whether the vehicle is idling (waiting to re-enter the net
170 : * @return true if the vehicle is waiting to enter the net (eg after parking)
171 : */
172 : virtual bool isIdling() const = 0;
173 :
174 : /** @brief Returns the information whether the front of the vehhicle is on the given lane
175 : * @return Whether the vehicle's front is on that lane
176 : */
177 : virtual bool isFrontOnLane(const MSLane*) const = 0;
178 :
179 : /** @brief Returns the information whether the vehicle is parked
180 : * @return Whether the vehicle is parked
181 : */
182 : virtual bool isParking() const = 0;
183 :
184 : /** @brief Returns the information whether the vehicle is fully controlled
185 : * via TraCI
186 : * @return Whether the vehicle is remote-controlled
187 : */
188 : virtual bool isRemoteControlled() const = 0;
189 :
190 : /** @brief Returns the information whether the vehicle is fully controlled
191 : * via TraCI
192 : * @return Whether the vehicle was remote-controlled within the given time range
193 : */
194 : virtual bool wasRemoteControlled(SUMOTime lookBack = DELTA_T) const = 0;
195 :
196 : /** @brief Returns this vehicle's real departure time
197 : * @return This vehicle's real departure time
198 : */
199 : virtual SUMOTime getDeparture() const = 0;
200 :
201 : /** @brief Returns this vehicle's real departure position
202 : * @return This vehicle's real departure position
203 : */
204 : virtual double getDepartPos() const = 0;
205 :
206 : /** @brief Returns this vehicle's desired arrivalPos for its current route
207 : * (may change on reroute)
208 : * @return This vehicle's real arrivalPos
209 : */
210 : virtual double getArrivalPos() const = 0;
211 :
212 : /** @brief Sets this vehicle's desired arrivalPos for its current route
213 : */
214 : virtual void setArrivalPos(double arrivalPos) = 0;
215 :
216 : /** @brief Returns whether this vehicle has departed
217 : */
218 : virtual bool hasDeparted() const = 0;
219 :
220 : /** @brief Returns the distance that was already driven by this vehicle
221 : * @return the distance driven [m]
222 : */
223 : virtual double getOdometer() const = 0;
224 :
225 : /** @brief Returns the number of new routes this vehicle got
226 : * @return the number of new routes this vehicle got
227 : */
228 : virtual int getNumberReroutes() const = 0;
229 :
230 : /// @brief whether the given transportable is allowed to board this vehicle
231 : virtual bool allowsBoarding(const MSTransportable* t) const = 0;
232 :
233 : /** @brief Adds a person or container to this vehicle
234 : *
235 : * @param[in] transportable The person/container to add
236 : */
237 : virtual void addTransportable(MSTransportable* transportable) = 0;
238 :
239 : /** @brief Returns the number of persons
240 : * @return The number of passengers on-board
241 : */
242 : virtual int getPersonNumber() const = 0;
243 :
244 : /** @brief Returns the list of persons
245 : * @return The list of passengers on-board
246 : */
247 : virtual std::vector<std::string> getPersonIDList() const = 0;
248 :
249 : /** @brief Returns the number of containers
250 : * @return The number of contaiers on-board
251 : */
252 : virtual int getContainerNumber() const = 0;
253 :
254 : /// @brief removes a person or container
255 : virtual void removeTransportable(MSTransportable* t) = 0;
256 :
257 : /// @brief retrieve riding persons
258 : virtual const std::vector<MSTransportable*>& getPersons() const = 0;
259 :
260 : /// @brief retrieve riding containers
261 : virtual const std::vector<MSTransportable*>& getContainers() const = 0;
262 :
263 : /** @brief Adds a stop
264 : *
265 : * The stop is put into the sorted list.
266 : * @param[in] stop The stop to add
267 : * @return Whether the stop could be added
268 : */
269 : virtual bool addStop(const SUMOVehicleParameter::Stop& stopPar, std::string& errorMsg, SUMOTime untilOffset = 0,
270 : ConstMSEdgeVector::const_iterator* searchStart = 0) = 0;
271 :
272 : /// @brief return list of route indices and stop positions for the remaining stops
273 : virtual std::vector<std::pair<int, double> > getStopIndices() const = 0;
274 :
275 : /// @brief returns whether the vehicle serves a public transport line that serves the given stop
276 : virtual bool isLineStop(double position) const = 0;
277 :
278 : /// @brief deletes the next stop at the given index if it exists
279 : virtual bool abortNextStop(int nextStopIndex = 0) = 0;
280 :
281 :
282 : /**
283 : * returns the next imminent stop in the stop queue
284 : * @return the upcoming stop
285 : */
286 : virtual MSParkingArea* getNextParkingArea() = 0;
287 :
288 : /** @brief Replaces a stop
289 : *
290 : * The stop replace the next stop into the sorted list.
291 : * @param[in] stop The stop to add
292 : * @return Whether the stop could be added
293 : */
294 : virtual bool replaceParkingArea(MSParkingArea* parkingArea, std::string& errorMsg) = 0;
295 :
296 : /// @brief Returns the remaining stop duration for a stopped vehicle or 0
297 : virtual SUMOTime remainingStopDuration() const = 0;
298 :
299 : /** @brief Returns whether the vehicle is at a stop and waiting for a person or container to continue
300 : */
301 : virtual bool isStopped() const = 0;
302 : /** @brief Returns whether the vehicle is at a stop and waiting for a person or container to continue
303 : */
304 : virtual bool isStoppedTriggered() const = 0;
305 :
306 : /** @brief Returns whether the vehicle is at a stop and parking
307 : */
308 : virtual bool isStoppedParking() const = 0;
309 :
310 : /** @brief Returns whether the vehicle is stopped in the range of the given position */
311 : virtual bool isStoppedInRange(const double pos, const double tolerance, bool checkFuture = false) const = 0;
312 :
313 : /** @brief Returns whether the vehicle stops at the given stopping place */
314 : virtual bool stopsAt(MSStoppingPlace* stop) const = 0;
315 :
316 : /** @brief Returns whether the vehicle stops at the given edge */
317 : virtual bool stopsAtEdge(const MSEdge* edge) const = 0;
318 :
319 : /** @brief Returns whether the vehicle has to stop somewhere
320 : * @return Whether the vehicle has to stop somewhere
321 : */
322 : virtual bool hasStops() const = 0;
323 :
324 : /**
325 : * returns the list of stops not yet reached in the stop queue
326 : * @return the list of upcoming stops
327 : */
328 : virtual const std::list<MSStop>& getStops() const = 0;
329 :
330 : /**
331 : * returns the next imminent stop in the stop queue
332 : * @return the upcoming stop
333 : */
334 : virtual MSStop& getNextStop() = 0;
335 :
336 : /// @brief mark vehicle as active
337 : virtual void unregisterWaiting() = 0;
338 :
339 : /** @brief Returns parameters of the next stop or nullptr **/
340 : virtual const SUMOVehicleParameter::Stop* getNextStopParameter() const = 0;
341 :
342 : /**
343 : * schedule a new stop for the vehicle; each time a stop is reached, the vehicle
344 : * will wait for the given duration before continuing on its route
345 : * @param[in] stop Stop parameters
346 : * @param[out] errorMsg returned error message
347 : */
348 : virtual bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) = 0;
349 :
350 : virtual void setChosenSpeedFactor(const double factor) = 0;
351 :
352 : virtual SUMOTime getDepartDelay() const = 0;
353 :
354 : virtual SUMOTime getTimeLoss() const = 0;
355 :
356 : /// @brief get distance for coming to a stop (used for rerouting checks)
357 : virtual double getBrakeGap(bool delayed = false) const = 0;
358 :
359 : /// @brief Returns this vehicles impatience
360 : virtual double getImpatience() const = 0;
361 :
362 : /** @brief Returns this vehicle's devices
363 : * @return This vehicle's devices
364 : */
365 : virtual const std::vector<MSVehicleDevice*>& getDevices() const = 0;
366 :
367 : /// @brief Returns the vehicles's length
368 : virtual double getLength() const = 0;
369 :
370 : virtual SUMOTime getLastActionTime() const = 0;
371 :
372 : /// @brief get bounding rectangle
373 : virtual PositionVector getBoundingBox(double offset = 0) const = 0;
374 :
375 : /// @name parking memory io
376 : //@{
377 : virtual void rememberBlockedParkingArea(const MSStoppingPlace* pa, bool local) = 0;
378 : virtual SUMOTime sawBlockedParkingArea(const MSStoppingPlace* pa, bool local) const = 0;
379 : virtual void rememberParkingAreaScore(const MSStoppingPlace* pa, const std::string& score) = 0;
380 : virtual void resetParkingAreaScores() = 0;
381 : virtual int getNumberParkingReroutes() const = 0;
382 : virtual void setNumberParkingReroutes(int value) = 0;
383 :
384 : virtual void rememberBlockedChargingStation(const MSStoppingPlace* cs, bool local) = 0;
385 : virtual SUMOTime sawBlockedChargingStation(const MSStoppingPlace* cs, bool local) const = 0;
386 : virtual void rememberChargingStationScore(const MSStoppingPlace* cs, const std::string& score) = 0;
387 : virtual void resetChargingStationScores() = 0;
388 : //@}
389 :
390 : /// @name state io
391 : //@{
392 :
393 : /// Saves the states of a vehicle
394 : virtual void saveState(OutputDevice& out) = 0;
395 :
396 : /** @brief Loads the state of this vehicle from the given description
397 : */
398 : virtual void loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) = 0;
399 : //@}
400 : };
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