TraCI_Vehicle.cpp

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/****************************************************************************/
// C++ Vehicle API
/****************************************************************************/
// SUMO, Simulation of Urban MObility; see http://sumo.dlr.de/
// Copyright (C) 2012-2017 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.
//
/****************************************************************************/

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

#include <utils/geom/GeomHelper.h>
#include <utils/common/StringTokenizer.h>
#include <utils/common/StringUtils.h>
#include <utils/common/TplConvert.h>
#include <microsim/traffic_lights/MSTrafficLightLogic.h>
#include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
#include <microsim/devices/MSDevice.h>
#include <microsim/MSEdgeWeightsStorage.h>
#include <microsim/MSVehicle.h>
#include <microsim/MSVehicleType.h>
#include <microsim/MSNet.h>
#include <microsim/MSEdge.h>
#include <microsim/MSLane.h>
#include <traci-server/TraCIDefs.h>
#include <traci-server/TraCIConstants.h>
#include "TraCI.h"
#include "TraCI_Vehicle.h"


// ===========================================================================
// member definitions
// ===========================================================================

MSVehicle*
TraCI_Vehicle::getVehicle(const std::string& id) {
    SUMOVehicle* sumoVehicle = MSNet::getInstance()->getVehicleControl().getVehicle(id);
    if (sumoVehicle == 0) {
        throw TraCIException("Vehicle '" + id + "' is not known");
    }
    MSVehicle* v = dynamic_cast<MSVehicle*>(sumoVehicle);
    if (v == 0) {
        throw TraCIException("Vehicle '" + id +  "' is not a micro-simulation vehicle");
    }
    return v;
}


bool
TraCI_Vehicle::isVisible(const MSVehicle* veh) {
    return veh->isOnRoad() || veh->isParking() || veh->wasRemoteControlled();
}


bool
TraCI_Vehicle::onInit(const std::string& vehicleID) {
    SUMOVehicle* sumoVehicle = MSNet::getInstance()->getVehicleControl().getVehicle(vehicleID);
    return sumoVehicle == 0 || sumoVehicle->getLane() == 0;
}

std::vector<std::string>
TraCI_Vehicle::getIDList() {
    std::vector<std::string> ids;
    MSVehicleControl& c = MSNet::getInstance()->getVehicleControl();
    for (MSVehicleControl::constVehIt i = c.loadedVehBegin(); i != c.loadedVehEnd(); ++i) {
        if ((*i).second->isOnRoad() || (*i).second->isParking()) {
            ids.push_back((*i).first);
        }
    }
    return ids;
}

int
TraCI_Vehicle::getIDCount() {
    return (int)getIDList().size();
}

double
TraCI_Vehicle::getSpeed(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getSpeed() : INVALID_DOUBLE_VALUE;
}


double
TraCI_Vehicle::getSpeedWithoutTraCI(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getSpeedWithoutTraciInfluence() : INVALID_DOUBLE_VALUE;
}


TraCIPosition
TraCI_Vehicle::getPosition(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (isVisible(veh)) {
        return TraCI::makeTraCIPosition(veh->getPosition());
    } else {
        TraCIPosition result;
        result.x = INVALID_DOUBLE_VALUE;
        result.y = INVALID_DOUBLE_VALUE;
        result.z = INVALID_DOUBLE_VALUE;
        return result;
    }
}


double
TraCI_Vehicle::getAngle(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? GeomHelper::naviDegree(veh->getAngle()) : INVALID_DOUBLE_VALUE;
}


double
TraCI_Vehicle::getSlope(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return veh->isOnRoad() ? veh->getSlope() : INVALID_DOUBLE_VALUE;
}


std::string
TraCI_Vehicle::getRoadID(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getLane()->getEdge().getID() : "";
}


std::string
TraCI_Vehicle::getLaneID(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return veh->isOnRoad() ? veh->getLane()->getID() : "";
}


int
TraCI_Vehicle::getLaneIndex(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return veh->isOnRoad() ? veh->getLane()->getIndex() : INVALID_INT_VALUE;
}

std::string
TraCI_Vehicle::getTypeID(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getVehicleType().getID();
}

std::string
TraCI_Vehicle::getRouteID(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getRoute().getID();
}

int
TraCI_Vehicle::getRouteIndex(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return veh->hasDeparted() ? veh->getRoutePosition() : INVALID_INT_VALUE;
}

TraCIColor
TraCI_Vehicle::getColor(const std::string& vehicleID) {
    return TraCI::makeTraCIColor(getVehicle(vehicleID)->getParameter().color);
}

double
TraCI_Vehicle::getLanePosition(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return veh->isOnRoad() ? veh->getPositionOnLane() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getLateralLanePosition(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return veh->isOnRoad() ? veh->getLateralPositionOnLane() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getCO2Emission(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getCO2Emissions() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getCOEmission(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getCOEmissions() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getHCEmission(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getHCEmissions() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getPMxEmission(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getPMxEmissions() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getNOxEmission(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getNOxEmissions() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getFuelConsumption(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getFuelConsumption() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getNoiseEmission(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getHarmonoise_NoiseEmissions() : INVALID_DOUBLE_VALUE;
}

double
TraCI_Vehicle::getElectricityConsumption(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    return isVisible(veh) ? veh->getElectricityConsumption() : INVALID_DOUBLE_VALUE;
}

int
TraCI_Vehicle::getPersonNumber(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getPersonNumber();
}


std::pair<std::string, double>
TraCI_Vehicle::getLeader(const std::string& vehicleID, double dist) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        std::pair<const MSVehicle* const, double> leaderInfo = veh->getLeader(dist);
        return std::make_pair(
                   leaderInfo.first != 0 ? leaderInfo.first->getID() : "",
                   leaderInfo.second);
    } else {
        return std::make_pair("", -1);
    }
}


double
TraCI_Vehicle::getWaitingTime(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getWaitingSeconds();
}


double
TraCI_Vehicle::getAdaptedTraveltime(const std::string& vehicleID, const std::string& edgeID, int time) {
    MSVehicle* veh = getVehicle(vehicleID);
    MSEdge* edge = TraCI::getEdge(edgeID);
    double value = INVALID_DOUBLE_VALUE;;
    veh->getWeightsStorage().retrieveExistingTravelTime(edge, time, value);
    return value;
}


double
TraCI_Vehicle::getEffort(const std::string& vehicleID, const std::string& edgeID, int time) {
    MSVehicle* veh = getVehicle(vehicleID);
    MSEdge* edge = TraCI::getEdge(edgeID);
    double value = INVALID_DOUBLE_VALUE;;
    veh->getWeightsStorage().retrieveExistingEffort(edge, time, value);
    return value;
}


bool
TraCI_Vehicle::isRouteValid(const std::string& vehicleID) {
    std::string msg;
    return getVehicle(vehicleID)->hasValidRoute(msg);
}

std::vector<std::string>
TraCI_Vehicle::getEdges(const std::string& vehicleID) {
    std::vector<std::string> result;
    MSVehicle* veh = getVehicle(vehicleID);
    const MSRoute& r = veh->getRoute();
    for (MSRouteIterator i = r.begin(); i != r.end(); ++i) {
        result.push_back((*i)->getID());
    }
    return result;
}


int
TraCI_Vehicle::getSignalStates(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getSignals();
}

std::vector<TraCI_Vehicle::BestLanesData>
TraCI_Vehicle::getBestLanes(const std::string& vehicleID) {
    std::vector<BestLanesData> result;
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        const std::vector<MSVehicle::LaneQ>& bestLanes = veh->getBestLanes();
        for (std::vector<MSVehicle::LaneQ>::const_iterator i = bestLanes.begin(); i != bestLanes.end(); ++i) {
            BestLanesData bld;
            const MSVehicle::LaneQ& lq = *i;
            bld.laneID = lq.lane->getID();
            bld.length = lq.length;
            bld.nextOccupation = lq.nextOccupation;
            bld.bestLaneOffset = lq.bestLaneOffset;
            bld.allowsContinuation = lq.allowsContinuation;
            for (std::vector<MSLane*>::const_iterator j = lq.bestContinuations.begin(); j != lq.bestContinuations.end(); ++j) {
                if ((*j) != 0) {
                    bld.continuationLanes.push_back((*j)->getID());
                }
            }
            result.push_back(bld);
        }
    }
    return result;
}


std::vector<TraCI_Vehicle::NextTLSData>
TraCI_Vehicle::getNextTLS(const std::string& vehicleID) {
    std::vector<NextTLSData> result;
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        const MSLane* lane = veh->getLane();
        const std::vector<MSLane*>& bestLaneConts = veh->getBestLanesContinuation(lane);
        double seen = veh->getLane()->getLength() - veh->getPositionOnLane();
        int view = 1;
        MSLinkCont::const_iterator link = MSLane::succLinkSec(*veh, view, *lane, bestLaneConts);
        while (!lane->isLinkEnd(link)) {
            if (!lane->getEdge().isInternal()) {
                if ((*link)->isTLSControlled()) {
                    NextTLSData ntd;
                    ntd.id = (*link)->getTLLogic()->getID();
                    ntd.tlIndex = (*link)->getTLIndex();
                    ntd.dist = seen;
                    ntd.state = (char)(*link)->getState();
                    result.push_back(ntd);
                }
            }
            lane = (*link)->getViaLaneOrLane();
            if (!lane->getEdge().isInternal()) {
                view++;
            }
            seen += lane->getLength();
            link = MSLane::succLinkSec(*veh, view, *lane, bestLaneConts);
        }
    }
    return result;
}

int
TraCI_Vehicle::getStopState(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    int result = 0;
    if (veh->isStopped()) {
        const MSVehicle::Stop& stop = veh->getNextStop();
        result = (1 + (stop.parking ? 2 : 0) +
                  (stop.triggered ? 4 : 0) +
                  (stop.containerTriggered ? 8 : 0) +
                  (stop.busstop != 0 ? 16 : 0) +
                  (stop.containerstop != 0 ? 32 : 0) +
                  (stop.chargingStation != 0 ? 64 : 0) +
                  (stop.parkingarea != 0 ? 128 : 0));
    }
    return result;
}

double
TraCI_Vehicle::getDistance(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        double distance = veh->getRoute().getDistanceBetween(veh->getDepartPos(), veh->getPositionOnLane(), veh->getRoute().getEdges()[0],  &veh->getLane()->getEdge());
        if (distance == std::numeric_limits<double>::max()) {
            return INVALID_DOUBLE_VALUE;
        } else {
            return distance;
        }
    } else {
        return INVALID_DOUBLE_VALUE;
    }
}


double
TraCI_Vehicle::getDrivingDistance(const std::string& vehicleID, const std::string& edgeID, double position, int /* laneIndex */) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        double distance = veh->getRoute().getDistanceBetween(veh->getPositionOnLane(), position,
                          veh->getEdge(), TraCI::getEdge(edgeID));
        if (distance == std::numeric_limits<double>::max()) {
            return INVALID_DOUBLE_VALUE;
        }
        return distance;
    } else {
        return INVALID_DOUBLE_VALUE;
    }
}


double
TraCI_Vehicle::getDrivingDistance2D(const std::string& vehicleID, double x, double y) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        std::pair<MSLane*, double> roadPos = TraCI::convertCartesianToRoadMap(Position(x, y));
        double distance = veh->getRoute().getDistanceBetween(veh->getPositionOnLane(), roadPos.second,
                          veh->getEdge(), &roadPos.first->getEdge());
        if (distance == std::numeric_limits<double>::max()) {
            return INVALID_DOUBLE_VALUE;
        }
        return distance;
    } else {
        return INVALID_DOUBLE_VALUE;
    }
}



double
TraCI_Vehicle::getAllowedSpeed(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        return veh->getLane()->getVehicleMaxSpeed(veh);
    } else {
        return INVALID_DOUBLE_VALUE;
    }
}

double
TraCI_Vehicle::getSpeedFactor(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getChosenSpeedFactor();
}


int
TraCI_Vehicle::getSpeedMode(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getInfluencer().getSpeedMode();
}

std::string
TraCI_Vehicle::getLine(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getParameter().line;
}

std::vector<std::string>
TraCI_Vehicle::getVia(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getParameter().via;
}


std::pair<int, int>
TraCI_Vehicle::getLaneChangeState(const std::string& vehicleID, int direction) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh->isOnRoad()) {
        return veh->getLaneChangeModel().getSavedState(direction);
    } else {
        return std::make_pair((int)LCA_UNKNOWN, (int)LCA_UNKNOWN);
    }
}


std::string
TraCI_Vehicle::getParameter(const std::string& vehicleID, const std::string& key) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (StringUtils::startsWith(key, "device.")) {
        StringTokenizer tok(key, ".");
        if (tok.size() < 3) {
            throw TraCIException("Invalid device parameter '" + key + "' for vehicle '" + vehicleID + "'");
        }
        try {
            return veh->getDeviceParameter(tok.get(1), key.substr(tok.get(0).size() + tok.get(1).size() + 2));
        } catch (InvalidArgument& e) {
            throw TraCIException("Vehicle '" + vehicleID + "' does not support device parameter '" + key + "' (" + e.what() + ").");
        }
    } else if (StringUtils::startsWith(key, "laneChangeModel.")) {
        const std::string attrName = key.substr(16);
        try {
            return veh->getLaneChangeModel().getParameter(attrName);
        } catch (InvalidArgument& e) {
            throw TraCIException("Vehicle '" + vehicleID + "' does not support laneChangeModel parameter '" + key + "' (" + e.what() + ").");
        }
    } else if (StringUtils::startsWith(key, "has.") && StringUtils::endsWith(key, ".device")) {
        StringTokenizer tok(key, ".");
        if (tok.size() != 3) {
            throw TraCIException("Invalid check for device. Expected format is 'has.DEVICENAME.device'");
        }
        return veh->hasDevice(tok.get(1)) ? "true" : "false";
    } else {
        return veh->getParameter().getParameter(key, "");
    }
}


const MSVehicleType&
TraCI_Vehicle::getVehicleType(const std::string& vehicleID) {
    return getVehicle(vehicleID)->getVehicleType();
}



/*
std::string
TraCI_Vehicle::getEmissionClass(const std::string& vehicleID) {
}

std::string
TraCI_Vehicle::getShapeClass(const std::string& vehicleID) {
}



double
TraCI_Vehicle::getLength(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getAccel(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getDecel(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getTau(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getImperfection(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getSpeedDeviation(const std::string& vehicleID) {
}

std::string
TraCI_Vehicle::getVClass(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getMinGap(const std::string& vehicleID) {
}

double
TraCI_Vehicle::getMaxSpeed(const std::string& vehicleID) {
}


double
TraCI_Vehicle::getWidth(const std::string& vehicleID) {
}
*/


void
TraCI_Vehicle::setStop(const std::string& vehicleID,
                       const std::string& edgeID,
                       double endPos,
                       int laneIndex,
                       SUMOTime duration,
                       int flags,
                       double startPos,
                       SUMOTime until) {
    MSVehicle* veh = getVehicle(vehicleID);
    // optional stop flags
    bool parking = false;
    bool triggered = false;
    bool containerTriggered = false;
    SumoXMLTag stoppingPlaceType = SUMO_TAG_NOTHING;

    parking = ((flags & 1) != 0);
    triggered = ((flags & 2) != 0);
    containerTriggered = ((flags & 4) != 0);
    if ((flags & 8) != 0) {
        stoppingPlaceType = SUMO_TAG_BUS_STOP;
    }
    if ((flags & 16) != 0) {
        stoppingPlaceType = SUMO_TAG_BUS_STOP;
    }
    if ((flags & 32) != 0) {
        stoppingPlaceType = SUMO_TAG_CHARGING_STATION;
    }
    if ((flags & 64) != 0) {
        stoppingPlaceType = SUMO_TAG_PARKING_AREA;
    }

    std::string error;
    if (stoppingPlaceType != SUMO_TAG_NOTHING) {
        // Forward command to vehicle
        if (!veh->addTraciStopAtStoppingPlace(edgeID, duration, until, parking, triggered, containerTriggered, stoppingPlaceType, error)) {
            throw TraCIException(error);
        }
    } else {
        // check
        if (startPos < 0) {
            throw TraCIException("Position on lane must not be negative.");
        }
        if (endPos < startPos) {
            throw TraCIException("End position on lane must be after start position.");
        }
        // get the actual lane that is referenced by laneIndex
        MSEdge* road = MSEdge::dictionary(edgeID);
        if (road == 0) {
            throw TraCIException("Unable to retrieve road with given id.");
        }
        const std::vector<MSLane*>& allLanes = road->getLanes();
        if ((laneIndex < 0) || laneIndex >= (int)(allLanes.size())) {
            throw TraCIException("No lane with index '" + toString(laneIndex) + "' on road '" + edgeID + "'.");
        }
        // Forward command to vehicle
        if (!veh->addTraciStop(allLanes[laneIndex], startPos, endPos, duration, until, parking, triggered, containerTriggered, error)) {
            throw TraCIException(error);
        }
    }
}


void
TraCI_Vehicle::resume(const std::string& vehicleID) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (!veh->hasStops()) {
        throw TraCIException("Failed to resume vehicle '" + veh->getID() + "', it has no stops.");
    }
    if (!veh->resumeFromStopping()) {
        MSVehicle::Stop& sto = veh->getNextStop();
        std::ostringstream strs;
        strs << "reached: " << sto.reached;
        strs << ", duration:" << sto.duration;
        strs << ", edge:" << (*sto.edge)->getID();
        strs << ", startPos: " << sto.startPos;
        std::string posStr = strs.str();
        throw TraCIException("Failed to resume from stoppingfor vehicle '" + veh->getID() + "', " + posStr);
    }
}


void
TraCI_Vehicle::changeLane(const std::string& vehID, int laneIndex, SUMOTime duration) {
}


void
TraCI_Vehicle::add(const std::string& vehicleID,
                   const std::string& routeID,
                   const std::string& typeID,
                   std::string depart,
                   const std::string& departLane,
                   const std::string& departPos,
                   const std::string& departSpeed,
                   const std::string& arrivalLane,
                   const std::string& arrivalPos,
                   const std::string& arrivalSpeed,
                   const std::string& fromTaz,
                   const std::string& toTaz,
                   const std::string& line,
                   int personCapacity,
                   int personNumber) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (veh != 0) {
        throw TraCIException("The vehicle " + vehicleID + " to add already exists.");
    }
}

void
TraCI_Vehicle::moveTo(const std::string& vehicleID, const std::string& laneID, double position) {
}

void
TraCI_Vehicle::moveToXY(const std::string& vehicleID, const std::string& edgeID, const int lane, const double x, const double y, const double angle, const int keepRoute) {
}

void
TraCI_Vehicle::slowDown(const std::string& vehicleID, double speed, int duration) {
}

void
TraCI_Vehicle::setSpeed(const std::string& vehicleID, double speed) {
}

void
TraCI_Vehicle::setMaxSpeed(const std::string& vehicleID, double speed) {
}

void
TraCI_Vehicle::remove(const std::string& vehicleID, char reason) {
}

void
TraCI_Vehicle::setColor(const std::string& vehicleID, const TraCIColor& c) {
}

void
TraCI_Vehicle::setLine(const std::string& vehicleID, const std::string& line) {
}

void
TraCI_Vehicle::setVia(const std::string& vehicleID, const std::vector<std::string>& via) {
}

void
TraCI_Vehicle::setShapeClass(const std::string& vehicleID, const std::string& clazz) {
}

void
TraCI_Vehicle::setEmissionClass(const std::string& vehicleID, const std::string& clazz) {
}


void
TraCI_Vehicle::setParameter(const std::string& vehicleID, const std::string& key, const std::string& value) {
    MSVehicle* veh = getVehicle(vehicleID);
    if (StringUtils::startsWith(key, "device.")) {
        StringTokenizer tok(key, ".");
        if (tok.size() < 3) {
            throw TraCIException("Invalid device parameter '" + key + "' for vehicle '" + vehicleID + "'");
        }
        try {
            veh->setDeviceParameter(tok.get(1), key.substr(tok.get(0).size() + tok.get(1).size() + 2), value);
        } catch (InvalidArgument& e) {
            throw TraCIException("Vehicle '" + vehicleID + "' does not support device parameter '" + key + "' (" + e.what() + ").");
        }
    } else if (StringUtils::startsWith(key, "laneChangeModel.")) {
        const std::string attrName = key.substr(16);
        try {
            veh->getLaneChangeModel().setParameter(attrName, value);
        } catch (InvalidArgument& e) {
            throw TraCIException("Vehicle '" + vehicleID + "' does not support laneChangeModel parameter '" + key + "' (" + e.what() + ").");
        }
    } else if (StringUtils::startsWith(key, "has.") && StringUtils::endsWith(key, ".device")) {
        StringTokenizer tok(key, ".");
        if (tok.size() != 3) {
            throw TraCIException("Invalid request for device status change. Expected format is 'has.DEVICENAME.device'");
        }
        const std::string deviceName = tok.get(1);
        bool create;
        try {
            create = TplConvert::_2bool(value.c_str());
        } catch (BoolFormatException) {
            throw TraCIException("Changing device status requires a 'true' or 'false'");
        }
        if (!create) {
            throw TraCIException("Device removal is not supported for device of type '" + deviceName + "'");
        }
        try {
            veh->createDevice(deviceName);
        } catch (InvalidArgument& e) {
            throw TraCIException("Cannot create vehicle device (" + std::string(e.what()) + ").");
        }
    } else {
        ((SUMOVehicleParameter&) veh->getParameter()).addParameter(key, value);
    }
}


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