TraCIServer.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2001-2018 German Aerospace Center (DLR) and others.
// This program and the accompanying materials
// are made available under the terms of the Eclipse Public License v2.0
// which accompanies this distribution, and is available at
// http://www.eclipse.org/legal/epl-v20.html
// SPDX-License-Identifier: EPL-2.0
/****************************************************************************/
// TraCI server used to control sumo by a remote TraCI client
/****************************************************************************/
#ifndef TRACISERVER_H
#define TRACISERVER_H


// ===========================================================================
// included modules
// ===========================================================================
#include <config.h>

#include <map>
#include <string>
#include <set>

#define BUILD_TCPIP
#include <foreign/tcpip/socket.h>
#include <foreign/tcpip/storage.h>
#include <utils/common/NamedRTree.h>
#include <utils/common/SUMOTime.h>
#include <utils/common/ToString.h>
#include <utils/geom/Boundary.h>
#include <utils/geom/Position.h>
#include <utils/geom/GeomHelper.h>
#include <utils/options/OptionsCont.h>
#include <microsim/MSNet.h>
#include <microsim/traffic_lights/MSTrafficLightLogic.h>
#include <libsumo/Subscription.h>
#include <libsumo/TraCIDefs.h>
#include "TraCIConstants.h"
#include "TraCIServerAPI_Lane.h"


// ===========================================================================
// class definitions
// ===========================================================================
class TraCIServer : public MSNet::VehicleStateListener, public libsumo::VariableWrapper {
public:
    typedef bool(*CmdExecutor)(TraCIServer& server, tcpip::Storage& inputStorage, tcpip::Storage& outputStorage);

    SUMOTime getTargetTime() const {
        return myTargetTime;
    }
    bool isEmbedded() const {
        return myAmEmbedded;
    }
    static TraCIServer* getInstance() {
        return myInstance;
    }


    static void openSocket(const std::map<int, CmdExecutor>& execs);


    static void close();


    static bool wasClosed();


    void processCommandsUntilSimStep(SUMOTime step);

    void cleanup();


#ifdef HAVE_PYTHON
    static std::string execute(std::string cmd);

    static void runEmbedded(std::string pyFile);
#endif

    void vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& info = "");


    void writeStatusCmd(int commandId, int status, const std::string& description, tcpip::Storage& outputStorage);


    void writeStatusCmd(int commandId, int status, const std::string& description);


    bool writeErrorStatusCmd(int commandId, const std::string& description, tcpip::Storage& outputStorage);



    const std::map<MSNet::VehicleState, std::vector<std::string> >& getVehicleStateChanges() const {
        if (myAmEmbedded) {
            return myVehicleStateChanges;
        } else if (myCurrentSocket == mySockets.end()) {
            // Requested in context of a subscription update
            return myVehicleStateChanges;
        } else {
            // Requested in the context of a custom query by active client
            return myCurrentSocket->second->vehicleStateChanges;
        }
    }

    void writeResponseWithLength(tcpip::Storage& outputStorage, tcpip::Storage& tempMsg);



    bool readTypeCheckingInt(tcpip::Storage& inputStorage, int& into);


    bool readTypeCheckingDouble(tcpip::Storage& inputStorage, double& into);


    bool readTypeCheckingString(tcpip::Storage& inputStorage, std::string& into);


    bool readTypeCheckingStringList(tcpip::Storage& inputStorage, std::vector<std::string>& into);


    bool readTypeCheckingColor(tcpip::Storage& inputStorage, libsumo::TraCIColor& into);


    bool readTypeCheckingPosition2D(tcpip::Storage& inputStorage, libsumo::TraCIPosition& into);


    bool readTypeCheckingByte(tcpip::Storage& inputStorage, int& into);


    bool readTypeCheckingUnsignedByte(tcpip::Storage& inputStorage, int& into);


    bool readTypeCheckingPolygon(tcpip::Storage& inputStorage, PositionVector& into);


    void setTargetTime(SUMOTime targetTime);

    std::vector<std::string>& getLoadArgs() {
        return myLoadArgs;
    }

    void initWrapper(const int domainID, const int variable, const std::string& objID);
    bool wrapDouble(const std::string& objID, const int variable, const double value);
    bool wrapInt(const std::string& objID, const int variable, const int value);
    bool wrapString(const std::string& objID, const int variable, const std::string& value);
    bool wrapStringList(const std::string& objID, const int variable, const std::vector<std::string>& value);
    bool wrapPosition(const std::string& objID, const int variable, const libsumo::TraCIPosition& value);
    bool wrapColor(const std::string& objID, const int variable, const libsumo::TraCIColor& value);
    tcpip::Storage& getWrapperStorage();


private:
    TraCIServer(const SUMOTime begin, const int port, const int numClients);


    virtual ~TraCIServer();



    struct SocketInfo {
    public:
        SocketInfo(tcpip::Socket* socket, SUMOTime t)
            : targetTime(t), socket(socket) {}
        ~SocketInfo() {
            delete socket;
        }
        SUMOTime targetTime;
        tcpip::Socket* socket;
        std::map<MSNet::VehicleState, std::vector<std::string> > vehicleStateChanges;
    private:
        SocketInfo(const SocketInfo&);
    };


    bool commandGetVersion();


    void postProcessSimulationStep();


    int readCommandID(int& commandStart, int& commandLength);

    int dispatchCommand();

    void checkClientOrdering();

    void processReorderingRequests();

    SUMOTime nextTargetTime() const;

    void sendOutputToAll() const;

    void sendSingleSimStepResponse();

    std::map<int, SocketInfo*>::iterator removeCurrentSocket();


private:
    static TraCIServer* myInstance;

    static bool myDoCloseConnection;

    tcpip::Socket* myServerSocket;

    std::map<int, SocketInfo*> mySockets;

    std::map<int, SocketInfo*> mySocketReorderRequests;

    std::map<int, SocketInfo*>::iterator myCurrentSocket;

    SUMOTime myTargetTime;

    tcpip::Storage myInputStorage;

    tcpip::Storage myOutputStorage;

    tcpip::Storage myWrapperStorage;

    tcpip::Storage mySubscriptionCache;

    const bool myAmEmbedded;

    std::map<int, CmdExecutor> myExecutors;

    std::map<int, int> myParameterSizes;

    std::vector<std::string> myLoadArgs;

    std::vector<libsumo::Subscription> mySubscriptions;

    libsumo::Subscription* myLastContextSubscription;

    std::map<MSNet::VehicleState, std::vector<std::string> > myVehicleStateChanges;

private:
    bool addObjectVariableSubscription(const int commandId, const bool hasContext);
    void initialiseSubscription(libsumo::Subscription& s);
    void removeSubscription(int commandId, const std::string& identity, int domain);
    bool processSingleSubscription(const libsumo::Subscription& s, tcpip::Storage& writeInto,
                                   std::string& errors);


    bool addSubscriptionFilter();
    void removeFilters();
    void addSubscriptionFilterLanes(std::vector<int> lanes);
    void addSubscriptionFilterNoOpposite();
    void addSubscriptionFilterDownstreamDistance(double dist);
    void addSubscriptionFilterUpstreamDistance(double dist);
    void addSubscriptionFilterCFManeuver();
    void addSubscriptionFilterLCManeuver();
    void addSubscriptionFilterTurnManeuver();
    void addSubscriptionFilterVClass(SVCPermissions vClasses);
    void addSubscriptionFilterVType(std::vector<std::string> vTypes);
    bool isVehicleToVehicleContextSubscription(const libsumo::Subscription& s);

    bool findObjectShape(int domain, const std::string& id, PositionVector& shape);

    bool centralObject(const libsumo::Subscription& s, const std::string& objID);


private:
    TraCIServer& operator=(const TraCIServer& s);

};


#endif