MSDevice_BTreceiver.h

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/****************************************************************************/
// A BT receiver
/****************************************************************************/
// SUMO, Simulation of Urban MObility; see http://sumo.sourceforge.net/
// Copyright (C) 2001-2013 DLR (http://www.dlr.de/) and contributors
/****************************************************************************/
//
//   This file is part of SUMO.
//   SUMO 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 3 of the License, or
//   (at your option) any later version.
//
/****************************************************************************/
#ifndef MSDevice_BTreceiver_h
#define MSDevice_BTreceiver_h


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

#include "MSDevice.h"
#include "MSDevice_BTsender.h"
#include <microsim/MSNet.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 MSDevice {
public:
    static void insertOptions(OptionsCont& oc);


    static void buildVehicleDevices(SUMOVehicle& v, std::vector<MSDevice*>& into);



public:
    ~MSDevice_BTreceiver();




    bool notifyEnter(SUMOVehicle& veh, Notification reason);


    bool notifyMove(SUMOVehicle& veh, SUMOReal oldPos, SUMOReal newPos, SUMOReal newSpeed);


    bool notifyLeave(SUMOVehicle& veh, SUMOReal lastPos, Notification reason);



    class MeetingPoint {
    public:
        MeetingPoint(SUMOReal _t, const Position& _observerPos, SUMOReal _observerSpeed,
                     const std::string& _observerLaneID, SUMOReal _observerLanePos,
                     const Position& _seenPos, SUMOReal _seenSpeed,
                     const std::string& _seenLaneID, SUMOReal _seenLanePos)
            : t(_t), observerPos(_observerPos), observerSpeed(_observerSpeed), observerLaneID(_observerLaneID), observerLanePos(_observerLanePos),
              seenPos(_seenPos), seenSpeed(_seenSpeed), seenLaneID(_seenLaneID), seenLanePos(_seenLanePos) {}

        ~MeetingPoint() {}

    public:
        SUMOReal t;
        Position observerPos;
        SUMOReal observerSpeed;
        std::string observerLaneID;
        SUMOReal observerLanePos;
        Position seenPos;
        SUMOReal seenSpeed;
        std::string seenLaneID;
        SUMOReal seenLanePos;

    };



    class SeenDevice {
    public:
        SeenDevice(const MeetingPoint& meetingBegin_)
            : meetingBegin(meetingBegin_), meetingEnd(meetingBegin_), lastView(meetingBegin_.t) {}

        ~SeenDevice() {
            for (std::vector<MeetingPoint*>::iterator i = recognitionPoints.begin(); i != recognitionPoints.end(); ++i) {
                delete *i;
            }
            recognitionPoints.clear();
        }


    public:
        MeetingPoint meetingBegin;
        MeetingPoint meetingEnd;
        SUMOReal lastView;
        std::vector<MeetingPoint*> recognitionPoints;

    };



    static void cleanUp(std::map<std::string, SeenDevice*>& c, std::map<std::string, std::vector<SeenDevice*> >& s);



protected:
    MSDevice_BTreceiver(SUMOVehicle& holder, const std::string& id, SUMOReal range);



private:
    SUMOReal myRange;

    static bool myWasInitialised;



    class VehicleState {
    public:
        VehicleState(SUMOReal _time, SUMOReal _speed, SUMOReal _angle, const Position& _position, const std::string& _laneID, SUMOReal _lanePos)
            : time(_time), speed(_speed), angle(_angle), position(_position), laneID(_laneID), lanePos(_lanePos) {}

        ~VehicleState() {}

        SUMOReal time;
        SUMOReal speed;
        SUMOReal angle;
        Position position;
        std::string laneID;
        SUMOReal lanePos;

    };



    class VehicleInformation : public Named {
    public:
        VehicleInformation(const std::string& id, const SUMOReal _range) : Named(id), range(_range), amOnNet(true), haveArrived(false) {}

        ~VehicleInformation() {}


        Boundary getBoxBoundary() const {
            Boundary ret;
            for (std::vector<VehicleState>::const_iterator i = updates.begin(); i != updates.end(); ++i) {
                ret.add((*i).position);
            }
            return ret;
        }

        const SUMOReal range;

        std::vector<VehicleState> updates;

        bool amOnNet;

        bool haveArrived;

        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,
                              const Position& receiverPos, const Position& receiverD);


        void enterRange(SUMOReal atOffset, const Position& thisPos, SUMOReal thisSpeed, const std::string& thisLaneID, SUMOReal thisLanePos,
                        const std::string& otherID, const Position& otherPos, SUMOReal otherSpeed, const std::string& otherLaneID, SUMOReal otherLanePos,
                        std::map<std::string, SeenDevice*>& currentlySeen);


        void leaveRange(std::map<std::string, SeenDevice*>& currentlySeen, std::map<std::string, std::vector<SeenDevice*> >& seen,
                        const Position& thisPos, SUMOReal thisSpeed, const std::string& thisLaneID, SUMOReal thisLanePos,
                        const std::string& otherID, const Position& otherPos, SUMOReal otherSpeed, const std::string& otherLaneID, SUMOReal otherLanePos,
                        SUMOReal tOffset);




        //SUMOReal recognizedAt(const std::string &otherID, SUMOReal tEnd, std::map<std::string, SeenDevice*> &currentlySeen);


        void addRecognitionPoint(SUMOReal tEnd, const Position& thisPos, SUMOReal thisSpeed, const std::string& thisLaneID, SUMOReal thisLanePos,
                                 const std::string& otherID, const Position& otherPos, SUMOReal otherSpeed, const std::string& otherLaneID, SUMOReal otherLanePos,
                                 std::map<std::string, SeenDevice*>& currentlySeen);


        void writeOutput(const std::string& id, const std::map<std::string, std::vector<SeenDevice*> >& seen,
                         bool allRecognitions);




    };


    static MTRand sRecognitionRNG;

    static std::map<std::string, VehicleInformation*> sVehicles;



private:
    MSDevice_BTreceiver(const MSDevice_BTreceiver&);

    MSDevice_BTreceiver& operator=(const MSDevice_BTreceiver&);


};

#endif

/****************************************************************************/