MSDevice_BTreceiver.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2013-2024 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// A BT receiver
/****************************************************************************/
#pragma once
#include <config.h>
 
#include <random>
#include "MSVehicleDevice.h"
#include "MSDevice_BTsender.h"
#include <utils/common/SUMOTime.h>
#include <utils/common/Command.h>
#include <utils/common/RandHelper.h>
 
 
// ===========================================================================
// class declarations
// ===========================================================================
class SUMOVehicle;
 
 
// ===========================================================================
// class definitions
// ===========================================================================
class MSDevice_BTreceiver {
public:
 
    static double getRange() {
        return myRange;
    }
 
 
    static SumoRNG* getRNG() {
        return &sRecognitionRNG;
    }
 
public:
 
    ~MSDevice_BTreceiver();
 
 
 
 
    bool notifyEnter(SUMOTrafficObject& veh, MSMoveReminder::Notification reason, const MSLane* enteredLane = 0);
 
 
    bool notifyMove(SUMOTrafficObject& veh, double oldPos, double newPos, double newSpeed);
 
 
    bool notifyLeave(SUMOTrafficObject& veh, double lastPos, MSMoveReminder::Notification reason, const MSLane* enteredLane = 0);
 
    class MeetingPoint {
    public:
        MeetingPoint(double _t, const MSDevice_BTsender::VehicleState& _observerState,
                     const MSDevice_BTsender::VehicleState& _seenState)
            : t(_t), observerState(_observerState), seenState(_seenState) {}
 
        ~MeetingPoint() {}
 
    public:
        const double t;
        const MSDevice_BTsender::VehicleState observerState;
        const MSDevice_BTsender::VehicleState seenState;
 
    private:
        MeetingPoint& operator=(const MeetingPoint&) = delete;
 
    };
 
 
 
    class SeenDevice {
    public:
        SeenDevice(const MeetingPoint& meetingBegin_)
            : meetingBegin(meetingBegin_), meetingEnd(0), lastView(meetingBegin_.t), nextView(-1.) {}
 
        ~SeenDevice() {
            delete meetingEnd;
            for (std::vector<MeetingPoint*>::iterator i = recognitionPoints.begin(); i != recognitionPoints.end(); ++i) {
                delete *i;
            }
            recognitionPoints.clear();
        }
 
 
    public:
        const MeetingPoint meetingBegin;
        MeetingPoint* meetingEnd;
        double lastView;
        double nextView;
        std::vector<MeetingPoint*> recognitionPoints;
        std::string receiverRoute;
        std::string senderRoute;
 
    private:
        SeenDevice& operator=(const SeenDevice&);
 
    };
 
 
 
    static void cleanUp(std::map<std::string, SeenDevice*>& c, std::map<std::string, std::vector<SeenDevice*> >& s);
 
    static SumoRNG* getRecognitionRNG() {
        return &sRecognitionRNG;
    }
 
    static void hasSendingPersons() {
        myHasPersons = true;
    }
 
protected:
    MSDevice_BTreceiver() {}
 
 
    static bool myWasInitialised;
 
    static bool myHasPersons;
 
    static double myRange;
 
    static double myOffTime;
 
 
    class VehicleInformation : public MSDevice_BTsender::VehicleInformation {
    public:
        VehicleInformation(const std::string& id, const double _range) : MSDevice_BTsender::VehicleInformation(id), range(_range) {}
 
        ~VehicleInformation() {
            std::map<std::string, SeenDevice*>::iterator i;
            for (i = currentlySeen.begin(); i != currentlySeen.end(); i++) {
                delete i->second;
            }
            std::map<std::string, std::vector<SeenDevice*> >::iterator j;
            std::vector<SeenDevice*>::iterator k;
            for (j = seen.begin(); j != seen.end(); j++) {
                for (k = j->second.begin(); k != j->second.end(); k++) {
                    delete *k;
                }
            }
        }
 
        const double range;
 
        std::map<std::string, SeenDevice*> currentlySeen;
 
        std::map<std::string, std::vector<SeenDevice*> > seen;
 
    private:
        VehicleInformation(const VehicleInformation&);
 
        VehicleInformation& operator=(const VehicleInformation&);
 
    };
 
 
 
    class BTreceiverUpdate : public Command {
    public:
        BTreceiverUpdate();
 
        ~BTreceiverUpdate();
 
        SUMOTime execute(SUMOTime currentTime);
 
 
        void updateVisibility(VehicleInformation& receiver, MSDevice_BTsender::VehicleInformation& sender);
 
 
        void enterRange(double atOffset, const MSDevice_BTsender::VehicleState& receiverState,
                        const std::string& senderID, const MSDevice_BTsender::VehicleState& senderState,
                        std::map<std::string, SeenDevice*>& currentlySeen);
 
 
        void leaveRange(VehicleInformation& receiverInfo, const MSDevice_BTsender::VehicleState& receiverState,
                        MSDevice_BTsender::VehicleInformation& senderInfo, const MSDevice_BTsender::VehicleState& senderState,
                        double tOffset);
 
 
 
 
        void addRecognitionPoint(const double tEnd, const MSDevice_BTsender::VehicleState& receiverState,
                                 const MSDevice_BTsender::VehicleState& senderState,
                                 SeenDevice* senderDevice) const;
 
 
        void writeOutput(const std::string& id, const std::map<std::string, std::vector<SeenDevice*> >& seen,
                         bool allRecognitions);
 
 
 
 
    };
 
 
    static double inquiryDelaySlots(const int backoffLimit);
 
    static SumoRNG sRecognitionRNG;
 
    static std::map<std::string, VehicleInformation*> sVehicles;
 
 
 
private:
    MSDevice_BTreceiver(const MSDevice_BTreceiver&);
 
    MSDevice_BTreceiver& operator=(const MSDevice_BTreceiver&);
 
};
 
 
class MSVehicleDevice_BTreceiver : public MSDevice_BTreceiver, public MSVehicleDevice {
public:
 
    static void insertOptions(OptionsCont& oc);
 
 
    static void buildVehicleDevices(SUMOVehicle& v, std::vector<MSVehicleDevice*>& into);
 
    const std::string deviceName() const {
        return "btreceiver";
    }
 
    bool notifyEnter(SUMOTrafficObject& veh, Notification reason, const MSLane* enteredLane = 0) {
        return MSDevice_BTreceiver::notifyEnter(veh, reason, enteredLane);
    }
 
    bool notifyMove(SUMOTrafficObject& veh, double oldPos, double newPos, double newSpeed) {
        return MSDevice_BTreceiver::notifyMove(veh, oldPos, newPos, newSpeed);
    }
 
    bool notifyLeave(SUMOTrafficObject& veh, double lastPos, Notification reason, const MSLane* enteredLane = 0) {
        return MSDevice_BTreceiver::notifyLeave(veh, lastPos, reason, enteredLane);
    }
 
 
    MSVehicleDevice_BTreceiver(SUMOVehicle& holder, const std::string& id) :
        MSVehicleDevice(holder, id) {
    }
 
};
 
class MSTransportableDevice_BTreceiver : public MSDevice_BTreceiver, public MSTransportableDevice {
public:
 
    static void insertOptions(OptionsCont& oc);
 
 
    static void buildDevices(MSTransportable& t, std::vector<MSTransportableDevice*>& into);
 
    const std::string deviceName() const {
        return "btreceiver";
    }
 
    bool notifyEnter(SUMOTrafficObject& veh, MSMoveReminder::Notification reason, const MSLane* enteredLane = 0) {
        return MSDevice_BTreceiver::notifyEnter(veh, reason, enteredLane);
    }
 
    bool notifyMove(SUMOTrafficObject& veh, double oldPos, double newPos, double newSpeed) {
        return MSDevice_BTreceiver::notifyMove(veh, oldPos, newPos, newSpeed);
    }
 
    bool notifyLeave(SUMOTrafficObject& veh, double lastPos, MSMoveReminder::Notification reason, const MSLane* enteredLane = 0) {
        return MSDevice_BTreceiver::notifyLeave(veh, lastPos, reason, enteredLane);
    }
 
 
private:
    MSTransportableDevice_BTreceiver(MSTransportable& holder, const std::string& id) :
        MSTransportableDevice(holder, id) {
    }
 
};