TraCIServer.h

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/****************************************************************************/
/****************************************************************************/
// SUMO, Simulation of Urban MObility; see http://sumo.sourceforge.net/
// Copyright (C) 2001-2011 DLR (http://www.dlr.de/) and contributors
/****************************************************************************/
//
//   This program is free software; you can redistribute it and/or modify
//   it under the terms of the GNU General Public License as published by
//   the Free Software Foundation; either version 2 of the License, or
//   (at your option) any later version.
//
/****************************************************************************/
#ifndef TRACISERVER_H
#define TRACISERVER_H


// ===========================================================================
// included modules
// ===========================================================================
#ifdef _MSC_VER
#include <windows_config.h>
#else
#include <config.h>
#endif

#ifndef NO_TRACI

#include "TraCIConstants.h"

#define BUILD_TCPIP
#include <foreign/tcpip/socket.h>
#include <foreign/tcpip/storage.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/shapes/Polygon.h>
#include <utils/shapes/PointOfInterest.h>
#include <utils/options/OptionsCont.h>
#include <microsim/MSVehicle.h>
#include <microsim/MSNet.h>
#include <microsim/traffic_lights/MSTrafficLightLogic.h>
#include "TraCIException.h"

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


// ===========================================================================
// class definitions
// ===========================================================================
namespace traci {
// TraCIServer
// Allows communication of sumo with external program. The external
// program will control sumo.
class TraCIServer : public MSNet::VehicleStateListener {
public:
    typedef bool(*CmdExecutor)(traci::TraCIServer& server, tcpip::Storage& inputStorage, tcpip::Storage& outputStorage);


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

    static void processCommandsUntilSimStep(SUMOTime step);

    static bool wasClosed();

    static void close();

#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);

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

    const std::map<MSNet::VehicleState, std::vector<std::string> > &getVehicleStateChanges() const {
        return myVehicleStateChanges;
    }

    std::map<int, CmdExecutor> &getExecutors() {
        return myExecutors;
    }

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


private:

    // Constructor
    TraCIServer(int port=0);

    // Destructor
    // final cleanup
    virtual ~TraCIServer();

    int dispatchCommand();

    void postProcessSimulationStep2();

    bool commandGetVersion();

    bool commandCloseConnection();

    bool commandAddVehicle();

    bool addSubscription(int commandId);

    static TraCIServer* myInstance;
    static bool myDoCloseConnection;

    tcpip::Socket* mySocket;

    // simulation begin and end time
    SUMOTime myTargetTime;


    tcpip::Storage myInputStorage;
    tcpip::Storage myOutputStorage;
    bool myDoingSimStep;
    bool myHaveWarnedDeprecation;
    const bool myAmEmbedded;

    std::map<int, CmdExecutor> myExecutors;


    class Subscription {
    public:
        Subscription(int commandIdArg, const std::string& idArg, const std::vector<int> &variablesArg,
                     SUMOTime beginTimeArg, SUMOTime endTimeArg)
            : commandId(commandIdArg), id(idArg), variables(variablesArg), beginTime(beginTimeArg), endTime(endTimeArg) {}
        int commandId;
        std::string id;
        std::vector<int> variables;
        SUMOTime beginTime;
        SUMOTime endTime;

    };

    std::vector<Subscription> mySubscriptions;

    bool processSingleSubscription(const TraCIServer::Subscription& s, tcpip::Storage& writeInto,
                                   std::string& errors);

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

};

}


#endif

#endif