Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2026 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 : class MFXOptionalLock;
52 :
53 : typedef std::vector<const MSEdge*> ConstMSEdgeVector;
54 :
55 :
56 : // ===========================================================================
57 : // class definitions
58 : // ===========================================================================
59 : /**
60 : * @class SUMOVehicle
61 : * @brief Representation of a vehicle
62 : */
63 : class SUMOVehicle : public SUMOTrafficObject {
64 : public:
65 :
66 : /// @brief Constructor
67 : SUMOVehicle(const std::string& id) : SUMOTrafficObject(id) {}
68 :
69 : /// @brief Destructor
70 0 : virtual ~SUMOVehicle() {}
71 :
72 : /** @brief Get the vehicle's lateral position on the lane
73 : * @return The lateral position of the vehicle (in m relative to the
74 : * centerline of the lane)
75 : */
76 : virtual double getLateralPositionOnLane() const = 0;
77 :
78 : /** @brief Get the vehicle's angle
79 : * @return The angle of the vehicle (in degree)
80 : */
81 : virtual double getAngle() const = 0;
82 :
83 : /// Returns the current route
84 : virtual const MSRoute& getRoute() const = 0;
85 :
86 : /// Returns the current route
87 : virtual ConstMSRoutePtr getRoutePtr() const = 0;
88 :
89 : /** @brief Returns the nSuccs'th successor of edge the vehicle is currently at
90 : *
91 : * If the rest of the route (counted from the current edge) than nSuccs,
92 : * 0 is returned.
93 : * @param[in] nSuccs The number of edge to look forward
94 : * @return The nSuccs'th following edge in the vehicle's route
95 : */
96 : virtual const MSEdge* succEdge(int nSuccs) const = 0;
97 :
98 : /** @brief Returns the starting point for reroutes (usually the current edge)
99 : *
100 : * This differs from myCurrEdge depending on braking distance and rail signals
101 : * @return The rerouting start point
102 : */
103 : virtual ConstMSEdgeVector::const_iterator getRerouteOrigin() const = 0;
104 :
105 : /** @brief Replaces the current route by the given edges
106 : *
107 : * It is possible that the new route is not accepted, if a) it does not
108 : * contain the vehicle's current edge, or b) something fails on insertion
109 : * into the routes container (see in-line comments).
110 : *
111 : * @param[in] edges The new list of edges to pass
112 : * @param[in] onInit Whether the vehicle starts with this route
113 : * @param[in] check Whether the route should be checked for validity
114 : * @param[in] removeStops Whether stops should be removed if they do not fit onto the new route
115 : * @return Whether the new route was accepted
116 : */
117 : 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;
118 :
119 : /** @brief Performs a rerouting using the given router
120 : *
121 : * Tries to find a new route between the current edge and the destination edge, first.
122 : * Tries to replace the current route by the new one using replaceRoute.
123 : *
124 : * @param[in] t The time for which the route is computed
125 : * @param[in] router The router to use
126 : * @return whether a valid route was found
127 : * @see replaceRoute
128 : */
129 : 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;
130 :
131 : /** @brief Validates the current or given route
132 : * @param[out] msg Description why the route is not valid (if it is the case)
133 : * @param[in] route The route to check (or 0 if the current route shall be checked)
134 : * @return Whether the vehicle's current route is valid
135 : */
136 : virtual bool hasValidRoute(std::string& msg, ConstMSRoutePtr route = 0) const = 0;
137 : /// @brief checks wether the vehicle can depart on the first edge
138 : virtual bool hasValidRouteStart(std::string& msg) = 0;
139 :
140 : /// @brief computes validity attributes for the current route
141 : virtual int getRouteValidity(bool update = true, bool silent = false, std::string* msgReturn = nullptr) = 0;
142 :
143 : /** @brief Returns an iterator pointing to the current edge in this vehicles route
144 : * @return The current route pointer
145 : */
146 : virtual const ConstMSEdgeVector::const_iterator& getCurrentRouteEdge() const = 0;
147 :
148 : /** @brief Returns the vehicle's emission model parameter
149 : *
150 : * @return The vehicle's emission parameters
151 : */
152 : virtual EnergyParams* getEmissionParameters() const = 0;
153 :
154 : /** @brief Replaces the vehicle's parameter
155 : */
156 : virtual void replaceParameter(const SUMOVehicleParameter* newParameter) = 0;
157 :
158 : /** @brief Called when the vehicle is inserted into the network
159 : *
160 : * Sets optional information about departure time, informs the vehicle
161 : * control about a further running vehicle.
162 : */
163 : virtual void onDepart() = 0;
164 :
165 : /** @brief Returns the information whether the vehicle is on a road (is simulated)
166 : * @return Whether the vehicle is simulated
167 : */
168 : virtual bool isOnRoad() const = 0;
169 :
170 : /** @brief Returns whether the vehicle is idling (waiting to re-enter the net
171 : * @return true if the vehicle is waiting to enter the net (eg after parking)
172 : */
173 : virtual bool isIdling() const = 0;
174 :
175 : /** @brief Returns the information whether the front of the vehhicle is on the given lane
176 : * @return Whether the vehicle's front is on that lane
177 : */
178 : virtual bool isFrontOnLane(const MSLane*) const = 0;
179 :
180 : /** @brief Returns the information whether the vehicle is parked
181 : * @return Whether the vehicle is parked
182 : */
183 : virtual bool isParking() const = 0;
184 :
185 : /** @brief Returns the information whether the vehicle is fully controlled
186 : * via TraCI
187 : * @return Whether the vehicle is remote-controlled
188 : */
189 : virtual bool isRemoteControlled() const = 0;
190 :
191 : /** @brief Returns the information whether the vehicle is fully controlled
192 : * via TraCI
193 : * @return Whether the vehicle was remote-controlled within the given time range
194 : */
195 : virtual bool wasRemoteControlled(SUMOTime lookBack = DELTA_T) const = 0;
196 :
197 : /** @brief Returns this vehicle's real departure time
198 : * @return This vehicle's real departure time
199 : */
200 : virtual SUMOTime getDeparture() const = 0;
201 :
202 : /** @brief Returns this vehicle's real departure position
203 : * @return This vehicle's real departure position
204 : */
205 : virtual double getDepartPos() const = 0;
206 :
207 : /** @brief Returns this vehicle's desired arrivalPos for its current route
208 : * (may change on reroute)
209 : * @return This vehicle's real arrivalPos
210 : */
211 : virtual double getArrivalPos() const = 0;
212 :
213 : /** @brief Sets this vehicle's desired arrivalPos for its current route
214 : */
215 : virtual void setArrivalPos(double arrivalPos) = 0;
216 :
217 : /** @brief Returns whether this vehicle has departed
218 : */
219 : virtual bool hasDeparted() const = 0;
220 :
221 : /** @brief Returns the edge on which this vehicle shall depart
222 : */
223 : virtual int getDepartEdge() const = 0;
224 :
225 : /** @brief Returns the distance that was already driven by this vehicle
226 : * @return the distance driven [m]
227 : */
228 : virtual double getOdometer() const = 0;
229 :
230 : /** @brief Returns the number of new routes this vehicle got
231 : * @return the number of new routes this vehicle got
232 : */
233 : virtual int getNumberReroutes() const = 0;
234 :
235 : /// @brief whether the given transportable is allowed to board this vehicle
236 : virtual bool allowsBoarding(const MSTransportable* t) const = 0;
237 :
238 : /** @brief Adds a person or container to this vehicle
239 : *
240 : * @param[in] transportable The person/container to add
241 : */
242 : virtual void addTransportable(MSTransportable* transportable) = 0;
243 :
244 : /** @brief Returns the number of persons
245 : * @return The number of passengers on-board
246 : */
247 : virtual int getPersonNumber() const = 0;
248 :
249 : /** @brief Returns the list of persons
250 : * @return The list of passengers on-board
251 : */
252 : virtual std::vector<std::string> getPersonIDList() const = 0;
253 :
254 : /** @brief Returns the number of containers
255 : * @return The number of contaiers on-board
256 : */
257 : virtual int getContainerNumber() const = 0;
258 :
259 : /// @brief removes a person or container
260 : virtual void removeTransportable(MSTransportable* t) = 0;
261 :
262 : /// @brief removes a person or containers mass
263 : virtual void removeTransportableMass(MSTransportable* t) = 0;
264 :
265 : /// @brief retrieve riding persons
266 : virtual const std::vector<MSTransportable*>& getPersons() const = 0;
267 :
268 : /// @brief retrieve riding containers
269 : virtual const std::vector<MSTransportable*>& getContainers() const = 0;
270 :
271 : /** @brief Adds a stop
272 : *
273 : * The stop is put into the sorted list.
274 : * @param[in] stop The stop to add
275 : * @return Whether the stop could be added
276 : */
277 : virtual bool addStop(const SUMOVehicleParameter::Stop& stopPar, std::string& errorMsg, SUMOTime untilOffset = 0,
278 : ConstMSEdgeVector::const_iterator* searchStart = 0) = 0;
279 :
280 : /// @brief return list of route indices and stop positions for the remaining stops
281 : virtual std::vector<std::pair<int, double> > getStopIndices() const = 0;
282 :
283 : /// @brief returns whether the vehicle serves a public transport line that serves the given stop
284 : virtual bool isLineStop(double position) const = 0;
285 :
286 : /// @brief deletes the next stop at the given index if it exists
287 : virtual bool abortNextStop(int nextStopIndex = 0) = 0;
288 :
289 :
290 : /**
291 : * returns the next imminent stop in the stop queue
292 : * @return the upcoming stop
293 : */
294 : virtual MSParkingArea* getNextParkingArea() = 0;
295 :
296 : /** @brief Replaces a stop
297 : *
298 : * The stop replace the next stop into the sorted list.
299 : * @param[in] stop The stop to add
300 : * @return Whether the stop could be added
301 : */
302 : virtual bool replaceParkingArea(MSParkingArea* parkingArea, std::string& errorMsg) = 0;
303 :
304 : virtual const std::vector<std::string>& getParkingBadges() const = 0;
305 :
306 : /// @brief Returns the remaining stop duration for a stopped vehicle or 0
307 : virtual SUMOTime remainingStopDuration() const = 0;
308 :
309 : /** @brief Returns whether the vehicle is at a stop and waiting for a person or container to continue
310 : */
311 : virtual bool isStopped() const = 0;
312 : /** @brief Returns whether the vehicle is at a stop and waiting for a person or container to continue
313 : */
314 : virtual bool isStoppedTriggered() const = 0;
315 :
316 : /** @brief Returns whether the vehicle is at a stop and parking
317 : */
318 : virtual bool isStoppedParking() const = 0;
319 :
320 : /** @brief Returns whether the vehicle is stopped in the range of the given position */
321 : virtual bool isStoppedInRange(const double pos, const double tolerance, bool checkFuture = false) const = 0;
322 :
323 : /** @brief Returns whether the vehicle stops at the given stopping place */
324 : virtual bool stopsAt(MSStoppingPlace* stop) const = 0;
325 :
326 : /** @brief Returns whether the vehicle stops at the given edge */
327 : virtual bool stopsAtEdge(const MSEdge* edge) const = 0;
328 :
329 : /** @brief Returns whether the vehicle has to stop somewhere
330 : * @return Whether the vehicle has to stop somewhere
331 : */
332 : virtual bool hasStops() const = 0;
333 :
334 : /**
335 : * returns the list of stops not yet reached in the stop queue
336 : * @return the list of upcoming stops
337 : */
338 : virtual const std::list<MSStop>& getStops() const = 0;
339 :
340 : /**
341 : * returns the next imminent stop in the stop queue
342 : * @return the upcoming stop
343 : */
344 : virtual const MSStop& getNextStop() const = 0;
345 :
346 : /**
347 : * returns the next imminent stop in the stop queue
348 : * @return the upcoming stop
349 : */
350 : virtual MSStop& getNextStopMutable() = 0;
351 :
352 : /// @brief mark vehicle as active
353 : virtual void unregisterWaiting() = 0;
354 :
355 : /** @brief Returns parameters of the next stop or nullptr **/
356 : virtual const SUMOVehicleParameter::Stop* getNextStopParameter() const = 0;
357 :
358 : /// @brief get remaining stop duration or 0 if the vehicle isn't stopped
359 : virtual SUMOTime getStopDuration() const = 0;
360 :
361 : /**
362 : * schedule a new stop for the vehicle; each time a stop is reached, the vehicle
363 : * will wait for the given duration before continuing on its route
364 : * @param[in] stop Stop parameters
365 : * @param[out] errorMsg returned error message
366 : */
367 : virtual bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) = 0;
368 :
369 : virtual void setChosenSpeedFactor(const double factor) = 0;
370 :
371 : virtual SUMOTime getDepartDelay() const = 0;
372 :
373 : virtual SUMOTime getTimeLoss() const = 0;
374 :
375 : /// @brief get distance for coming to a stop (used for rerouting checks)
376 : virtual double getBrakeGap(bool delayed = false) const = 0;
377 :
378 : /// @brief Returns this vehicles impatience
379 : virtual double getImpatience() const = 0;
380 :
381 : /** @brief Returns this vehicle's devices
382 : * @return This vehicle's devices
383 : */
384 : virtual const std::vector<MSVehicleDevice*>& getDevices() const = 0;
385 :
386 : /// @brief Returns the vehicles's length
387 : virtual double getLength() const = 0;
388 :
389 : /* @brief Return whether this vehicle must be treated like a railway vehicle
390 : * either due to its vClass or the vClass of it's edge */
391 : virtual bool isRail() const = 0;
392 :
393 : virtual SUMOTime getLastActionTime() const = 0;
394 :
395 : /// @brief get bounding rectangle
396 : virtual PositionVector getBoundingBox(double offset = 0) const = 0;
397 :
398 : virtual std::unique_ptr<MFXOptionalLock> getScopeLock() = 0;
399 :
400 : /// @name parking memory io
401 : //@{
402 : virtual void rememberBlockedParkingArea(const MSStoppingPlace* pa, bool local) = 0;
403 : virtual SUMOTime sawBlockedParkingArea(const MSStoppingPlace* pa, bool local) const = 0;
404 : virtual void rememberParkingAreaScore(const MSStoppingPlace* pa, const std::string& score) = 0;
405 : virtual void resetParkingAreaScores() = 0;
406 : virtual int getNumberParkingReroutes() const = 0;
407 : virtual void setNumberParkingReroutes(int value) = 0;
408 :
409 : virtual void rememberBlockedChargingStation(const MSStoppingPlace* cs, bool local) = 0;
410 : virtual SUMOTime sawBlockedChargingStation(const MSStoppingPlace* cs, bool local) const = 0;
411 : virtual void rememberChargingStationScore(const MSStoppingPlace* cs, const std::string& score) = 0;
412 : virtual void resetChargingStationScores() = 0;
413 : //@}
414 :
415 : /// @name state io
416 : //@{
417 :
418 : /// Saves the states of a vehicle
419 : virtual void saveState(OutputDevice& out) = 0;
420 :
421 : /** @brief Loads the state of this vehicle from the given description
422 : */
423 : virtual void loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) = 0;
424 : //@}
425 : };
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