MSDevice_BTreceiver.h

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/****************************************************************************/
// A BT receiver
/****************************************************************************/
// SUMO, Simulation of Urban MObility; see http://sumo.dlr.de/
// Copyright (C) 2013-2017 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.
//
/****************************************************************************/
#ifndef MSDevice_BTreceiver_h
#define MSDevice_BTreceiver_h


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

#include <random>
#include "MSDevice.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 MSDevice {
public:
    static void insertOptions(OptionsCont& oc);


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


    static double getRange() {
        return myRange;
    }



public:
    ~MSDevice_BTreceiver();




    bool notifyEnter(SUMOVehicle& veh, Notification reason, const MSLane* enteredLane = 0);


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


    bool notifyLeave(SUMOVehicle& veh, double lastPos, Notification reason, const MSLane* enteredLane = 0);

    const std::string deviceName() const {
        return "btreceiver";
    }


    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&);

    };



    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);



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



private:
    static bool myWasInitialised;

    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 std::mt19937 sRecognitionRNG;

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



private:
    MSDevice_BTreceiver(const MSDevice_BTreceiver&);

    MSDevice_BTreceiver& operator=(const MSDevice_BTreceiver&);


};

#endif

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