TraCIServer.h

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/****************************************************************************/
// TraCI server used to control sumo by a remote TraCI client
/****************************************************************************/
// SUMO, Simulation of Urban MObility; see http://sumo.dlr.de/
// Copyright (C) 2001-2017 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 TRACISERVER_H
#define TRACISERVER_H


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

#ifndef NO_TRACI

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

#include "TraCIDefs.h"
#include "TraCIConstants.h"

#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/shapes/PointOfInterest.h>
#include <utils/options/OptionsCont.h>
#include <microsim/MSNet.h>
#include <microsim/traffic_lights/MSTrafficLightLogic.h>
#include "TraCIServerAPI_Lane.h"



// ===========================================================================
// class definitions
// ===========================================================================
class TraCIServer : public MSNet::VehicleStateListener {
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 setVTDControlled(MSVehicle* v, Position xyPos, MSLane* l, double pos, double posLat, double angle,
                          int edgeOffset, ConstMSEdgeVector route, SUMOTime t);

    void postProcessVTD();

    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);


    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);

    void collectObjectsInRange(int domain, const PositionVector& shape, double range, std::set<std::string>& into);



    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, TraCIColor& into);


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


    bool readTypeCheckingBoundary(tcpip::Storage& inputStorage, Boundary& into);


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


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


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


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 mySubscriptionCache;

    const bool myAmEmbedded;

    std::map<int, CmdExecutor> myExecutors;

    std::map<int, int> myParameterSizes;

    std::map<std::string, MSVehicle*> myVTDControlledVehicles;


    class Subscription {
    public:
        Subscription(int commandIdArg, const std::string& idArg,
                     const std::vector<int>& variablesArg, const std::vector<std::vector<unsigned char> >& paramsArg,
                     SUMOTime beginTimeArg, SUMOTime endTimeArg, bool contextVarsArg, int contextDomainArg, double rangeArg)
            : commandId(commandIdArg), id(idArg), variables(variablesArg), parameters(paramsArg), beginTime(beginTimeArg), endTime(endTimeArg),
              contextVars(contextVarsArg), contextDomain(contextDomainArg), range(rangeArg) {}

        int commandId;
        std::string id;
        std::vector<int> variables;
        std::vector<std::vector<unsigned char> > parameters;
        SUMOTime beginTime;
        SUMOTime endTime;
        bool contextVars;
        int contextDomain;
        double range;

    };

    std::vector<Subscription> mySubscriptions;

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

    std::map<int, NamedRTree*> myObjects;

    LANE_RTREE_QUAL* myLaneTree;


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


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


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

};


#endif

#endif