MSDevice_Battery.cpp

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2013-2017 German Aerospace Center (DLR) and others.
/****************************************************************************/
//
//   This program and the accompanying materials
//   are made available under the terms of the Eclipse Public License v2.0
//   which accompanies this distribution, and is available at
//   http://www.eclipse.org/legal/epl-v20.html
//
/****************************************************************************/
// The Battery parameters for the vehicle
/****************************************************************************/

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

#include <utils/common/TplConvert.h>
#include <utils/options/OptionsCont.h>
#include <utils/iodevices/OutputDevice.h>
#include <utils/common/SUMOTime.h>
#include <utils/geom/GeomHelper.h>
#include <utils/emissions/HelpersEnergy.h>
#include <microsim/MSNet.h>
#include <microsim/MSLane.h>
#include <microsim/MSEdge.h>
#include <microsim/MSVehicle.h>
#include "MSDevice_Tripinfo.h"
#include "MSDevice_Battery.h"

#define DEFAULT_MAX_CAPACITY 35000
#define DEFAULT_CHARGE_RATIO 0.5


// ===========================================================================
// method definitions
// ===========================================================================
// ---------------------------------------------------------------------------
// static initialisation methods
// ---------------------------------------------------------------------------
void
MSDevice_Battery::insertOptions(OptionsCont& oc) {
    insertDefaultAssignmentOptions("battery", "Battery", oc);
}


void
MSDevice_Battery::buildVehicleDevices(SUMOVehicle& v, std::vector<MSDevice*>& into) {
    // Check if vehicle should get a battery
    if (equippedByDefaultAssignmentOptions(OptionsCont::getOptions(), "battery", v)) {
        const HelpersEnergy& e = PollutantsInterface::getEnergyHelper();
        const SUMOVTypeParameter& typeParams = v.getVehicleType().getParameter();
        std::map<int, double> param;
        // obtain maximumBatteryCapacity
        const double maximumBatteryCapacity = typeParams.getDouble(toString(SUMO_ATTR_MAXIMUMBATTERYCAPACITY), DEFAULT_MAX_CAPACITY);

        // obtain actualBatteryCapacity
        double actualBatteryCapacity = 0;
        if (v.getParameter().getParameter(toString(SUMO_ATTR_ACTUALBATTERYCAPACITY), "-") == "-") {
            actualBatteryCapacity = maximumBatteryCapacity * DEFAULT_CHARGE_RATIO;
        } else {
            actualBatteryCapacity = TplConvert::_2double(v.getParameter().getParameter(toString(SUMO_ATTR_ACTUALBATTERYCAPACITY), "0").c_str());
        }

        const double powerMax = typeParams.getDouble(toString(SUMO_ATTR_MAXIMUMPOWER), 100.);
        const double stoppingTreshold = typeParams.getDouble(toString(SUMO_ATTR_STOPPINGTRESHOLD), 0.1);

        param[SUMO_ATTR_VEHICLEMASS] = typeParams.getDouble(toString(SUMO_ATTR_VEHICLEMASS), e.getDefaultParam(SUMO_ATTR_VEHICLEMASS));
        param[SUMO_ATTR_FRONTSURFACEAREA] = typeParams.getDouble(toString(SUMO_ATTR_FRONTSURFACEAREA), e.getDefaultParam(SUMO_ATTR_FRONTSURFACEAREA));
        param[SUMO_ATTR_AIRDRAGCOEFFICIENT] = typeParams.getDouble(toString(SUMO_ATTR_AIRDRAGCOEFFICIENT), e.getDefaultParam(SUMO_ATTR_AIRDRAGCOEFFICIENT));
        param[SUMO_ATTR_INTERNALMOMENTOFINERTIA] = typeParams.getDouble(toString(SUMO_ATTR_INTERNALMOMENTOFINERTIA), e.getDefaultParam(SUMO_ATTR_INTERNALMOMENTOFINERTIA));
        param[SUMO_ATTR_RADIALDRAGCOEFFICIENT] = typeParams.getDouble(toString(SUMO_ATTR_RADIALDRAGCOEFFICIENT), e.getDefaultParam(SUMO_ATTR_RADIALDRAGCOEFFICIENT));
        param[SUMO_ATTR_ROLLDRAGCOEFFICIENT] = typeParams.getDouble(toString(SUMO_ATTR_ROLLDRAGCOEFFICIENT), e.getDefaultParam(SUMO_ATTR_ROLLDRAGCOEFFICIENT));
        param[SUMO_ATTR_CONSTANTPOWERINTAKE] = typeParams.getDouble(toString(SUMO_ATTR_CONSTANTPOWERINTAKE), e.getDefaultParam(SUMO_ATTR_CONSTANTPOWERINTAKE));
        param[SUMO_ATTR_PROPULSIONEFFICIENCY] = typeParams.getDouble(toString(SUMO_ATTR_PROPULSIONEFFICIENCY), e.getDefaultParam(SUMO_ATTR_PROPULSIONEFFICIENCY));
        param[SUMO_ATTR_RECUPERATIONEFFICIENCY] = typeParams.getDouble(toString(SUMO_ATTR_RECUPERATIONEFFICIENCY), e.getDefaultParam(SUMO_ATTR_RECUPERATIONEFFICIENCY));

        // battery constructor
        MSDevice_Battery* device = new MSDevice_Battery(v, "battery_" + v.getID(),
                actualBatteryCapacity, maximumBatteryCapacity, powerMax, stoppingTreshold, param);

        // Add device to vehicle
        into.push_back(device);
    }
}


bool MSDevice_Battery::notifyMove(SUMOVehicle& veh, double /* oldPos */, double /* newPos */, double /* newSpeed */) {
    // Start vehicleStoppedTimer if the vehicle is stopped. In other case reset timer
    if (veh.getSpeed() < myStoppingTreshold) {
        // Increase vehicle stopped timer
        increaseVehicleStoppedTimer();
    } else {
        // Reset vehicle Stopped
        resetVehicleStoppedTimer();
    }

    // Update Energy from the battery
    if (getMaximumBatteryCapacity() != 0) {
        myParam[SUMO_ATTR_ANGLE] = myLastAngle == std::numeric_limits<double>::infinity() ? 0. : GeomHelper::angleDiff(myLastAngle, veh.getAngle());
        myConsum = PollutantsInterface::getEnergyHelper().compute(0, PollutantsInterface::ELEC, veh.getSpeed(), veh.getAcceleration(), veh.getSlope(), &myParam);

        // Energy lost/gained from vehicle movement (via vehicle energy model) [Wh]
        setActualBatteryCapacity(getActualBatteryCapacity() - myConsum);

        // saturate between 0 and myMaximumBatteryCapacity [Wh]
        if (getActualBatteryCapacity() < 0) {
            setActualBatteryCapacity(0);
            if (getMaximumBatteryCapacity() > 0) {
                WRITE_WARNING("Battery of vehicle '" + veh.getID() + "' is depleted.")
            }
        } else if (getActualBatteryCapacity() > getMaximumBatteryCapacity()) {
            setActualBatteryCapacity(getMaximumBatteryCapacity());
        }
        myLastAngle = veh.getAngle();
    }

    // Check if vehicle has under their position one charge Station
    const std::string chargingStationID = MSNet::getInstance()->getStoppingPlaceID(veh.getLane(), veh.getPositionOnLane(), SUMO_TAG_CHARGING_STATION);

    // If vehicle is over a charging station
    if (chargingStationID != "") {
        // if the vehicle is almost stopped, or charge in transit is enabled, then charge vehicle
        MSChargingStation* const cs = static_cast<MSChargingStation*>(MSNet::getInstance()->getStoppingPlace(chargingStationID, SUMO_TAG_CHARGING_STATION));
        if ((veh.getSpeed() < myStoppingTreshold) || cs->getChargeInTransit()) {
            // Set Flags Stopped/intransit to
            if (veh.getSpeed() < myStoppingTreshold) {
                // vehicle ist almost stopped, then is charging stopped
                myChargingStopped = true;

                // therefore isn't charging in transit
                myChargingInTransit = false;
            } else {
                // vehicle is moving, and the Charging station allow charge in transit
                myChargingStopped = false;

                // Therefore charge in transit
                myChargingInTransit = true;
            }

            // get pointer to charging station
            myActChargingStation = cs;

            // Only update charging start time if vehicle allow charge in transit, or in other case
            // if the vehicle not allow charge in transit but it's stopped.
            if ((myActChargingStation->getChargeInTransit()) || (veh.getSpeed() < myStoppingTreshold)) {
                // Update Charging start time
                increaseChargingStartTime();
            }

            // time it takes the vehicle at the station < charging station time delay?
            if (getChargingStartTime() > myActChargingStation->getChargeDelay()) {
                // Enable charging vehicle
                myActChargingStation->setChargingVehicle(true);

                // Calulate energy charged
                myEnergyCharged = myActChargingStation->getChargingPower() * myActChargingStation->getEfficency();

                // Convert from [Ws] to [Wh] (3600s / 1h):
                myEnergyCharged /= 3600;

                // Update Battery charge
                if ((myEnergyCharged + getActualBatteryCapacity()) > getMaximumBatteryCapacity()) {
                    setActualBatteryCapacity(getMaximumBatteryCapacity());
                } else {
                    setActualBatteryCapacity(getActualBatteryCapacity() + myEnergyCharged);
                }
            }
            // add charge value for output to myActChargingStation
            myActChargingStation->addChargeValueForOutput(myEnergyCharged, this);
        }
    }
    // In other case, vehicle will be not charged
    else {
        // Disable flags
        myChargingInTransit = false;
        myChargingStopped = false;

        // Disable charging vehicle
        if (myActChargingStation != NULL) {
            myActChargingStation->setChargingVehicle(false);
        }

        // Set charging station pointer to NULL
        myActChargingStation = NULL;

        // Set energy charged to 0
        myEnergyCharged = 0.00;

        // Reset timer
        resetChargingStartTime();
    }

    // Always return true.
    return true;
}


// ---------------------------------------------------------------------------
// MSDevice_Battery-methods
// ---------------------------------------------------------------------------
MSDevice_Battery::MSDevice_Battery(SUMOVehicle& holder, const std::string& id, const double actualBatteryCapacity, const double maximumBatteryCapacity,
                                   const double powerMax, const double stoppingTreshold, const std::map<int, double>& param) :
    MSDevice(holder, id),
    myActualBatteryCapacity(0),         // [actualBatteryCapacity <= maximumBatteryCapacity]
    myMaximumBatteryCapacity(0),        // [maximumBatteryCapacity >= 0]
    myPowerMax(0),                      // [maximumPower >= 0]
    myStoppingTreshold(0),              // [stoppingTreshold >= 0]
    myParam(param),
    myLastAngle(std::numeric_limits<double>::infinity()),
    myChargingStopped(false),           // Initially vehicle don't charge stopped
    myChargingInTransit(false),         // Initially vehicle don't charge in transit
    myConsum(0),                        // Initially the vehicle is stopped and therefore the consum is zero.
    myActChargingStation(NULL),         // Initially the vehicle isn't over a Charging Station
    myEnergyCharged(0),                 // Initially the energy charged is zero
    myVehicleStopped(0) {               // Initially the vehicle is stopped and the corresponding variable is 0

    if (maximumBatteryCapacity < 0) {
        WRITE_WARNING("Battery builder: Vehicle '" + getID() + "' doesn't have a valid value for parameter " + toString(SUMO_ATTR_MAXIMUMBATTERYCAPACITY) + " (" + toString(maximumBatteryCapacity) + ").")
    } else {
        myMaximumBatteryCapacity = maximumBatteryCapacity;
    }

    if (actualBatteryCapacity > maximumBatteryCapacity) {
        WRITE_WARNING("Battery builder: Vehicle '" + getID() + "' has a " + toString(SUMO_ATTR_ACTUALBATTERYCAPACITY) + " ("  + toString(actualBatteryCapacity) + ") greater than it's " + toString(SUMO_ATTR_MAXIMUMBATTERYCAPACITY) + " (" + toString(maximumBatteryCapacity) + "). A max battery capacity value will be asigned");
        myActualBatteryCapacity = myMaximumBatteryCapacity;
    } else {
        myActualBatteryCapacity = actualBatteryCapacity;
    }

    if (powerMax < 0) {
        WRITE_WARNING("Battery builder: Vehicle '" + getID() + "' doesn't have a valid value for parameter " + toString(SUMO_ATTR_MAXIMUMPOWER) + " (" + toString(powerMax) + ").")
    } else {
        myPowerMax = powerMax;
    }

    if (stoppingTreshold < 0) {
        WRITE_WARNING("Battery builder: Vehicle '" + getID() + "' doesn't have a valid value for parameter " + toString(SUMO_ATTR_STOPPINGTRESHOLD) + " (" + toString(stoppingTreshold) + ").")
    } else {
        myStoppingTreshold = stoppingTreshold;
    }

    checkParam(SUMO_ATTR_VEHICLEMASS);
    checkParam(SUMO_ATTR_FRONTSURFACEAREA);
    checkParam(SUMO_ATTR_AIRDRAGCOEFFICIENT);
    checkParam(SUMO_ATTR_INTERNALMOMENTOFINERTIA);
    checkParam(SUMO_ATTR_RADIALDRAGCOEFFICIENT);
    checkParam(SUMO_ATTR_ROLLDRAGCOEFFICIENT);
    checkParam(SUMO_ATTR_CONSTANTPOWERINTAKE);
    checkParam(SUMO_ATTR_PROPULSIONEFFICIENCY);
    checkParam(SUMO_ATTR_RECUPERATIONEFFICIENCY);
}


MSDevice_Battery::~MSDevice_Battery() {
}


void
MSDevice_Battery::checkParam(const SumoXMLAttr paramKey, const double lower, const double upper) {
    if (myParam.find(paramKey) == myParam.end() || myParam.find(paramKey)->second < lower || myParam.find(paramKey)->second > upper) {
        WRITE_WARNING("Battery builder: Vehicle '" + getID() + "' doesn't have a valid value for parameter " + toString(paramKey) + " (" + toString(myParam[paramKey]) + ").");
        myParam[paramKey] = PollutantsInterface::getEnergyHelper().getDefaultParam(paramKey);
    }
}


void
MSDevice_Battery::setActualBatteryCapacity(const double actualBatteryCapacity) {
    if (actualBatteryCapacity < 0) {
        myActualBatteryCapacity = 0;
    } else if (actualBatteryCapacity > myMaximumBatteryCapacity) {
        myActualBatteryCapacity = myMaximumBatteryCapacity;
    } else {
        myActualBatteryCapacity = actualBatteryCapacity;
    }
}


void
MSDevice_Battery::setMaximumBatteryCapacity(const double maximumBatteryCapacity) {
    if (myMaximumBatteryCapacity < 0) {
        WRITE_WARNING("Trying to set into the battery device of vehicle '" + getID() + "' an invalid " + toString(SUMO_ATTR_MAXIMUMBATTERYCAPACITY) + " (" + toString(maximumBatteryCapacity) + ").")
    } else {
        myMaximumBatteryCapacity = maximumBatteryCapacity;
    }
}


void
MSDevice_Battery::setPowerMax(const double powerMax) {
    if (myPowerMax < 0) {
        WRITE_WARNING("Trying to set into the battery device of vehicle '" + getID() + "' an invalid " + toString(SUMO_ATTR_MAXIMUMPOWER) + " (" + toString(powerMax) + ").")
    } else {
        myPowerMax = powerMax;
    }
}


void
MSDevice_Battery::setStoppingTreshold(const double stoppingTreshold) {
    if (stoppingTreshold < 0) {
        WRITE_WARNING("Trying to set into the battery device of vehicle '" + getID() + "' an invalid " + toString(SUMO_ATTR_STOPPINGTRESHOLD) + " (" + toString(stoppingTreshold) + ").")
    } else {
        myStoppingTreshold = stoppingTreshold;
    }
}


void
MSDevice_Battery::resetChargingStartTime() {
    myChargingStartTime = 0;
}


void
MSDevice_Battery::increaseChargingStartTime() {
    myChargingStartTime += TS;
}


void
MSDevice_Battery::resetVehicleStoppedTimer() {
    myVehicleStopped = 0;
}


void
MSDevice_Battery::increaseVehicleStoppedTimer() {
    myVehicleStopped++;
}


double
MSDevice_Battery::getActualBatteryCapacity() const {
    return myActualBatteryCapacity;
}


double
MSDevice_Battery::getMaximumBatteryCapacity() const {
    return myMaximumBatteryCapacity;
}


double
MSDevice_Battery::getMaximumPower() const {
    return myPowerMax;
}


double
MSDevice_Battery::getConsum() const {
    return myConsum;
}


bool
MSDevice_Battery::isChargingStopped() const {
    return myChargingStopped;
}


bool
MSDevice_Battery::isChargingInTransit() const {
    return myChargingInTransit;
}


double
MSDevice_Battery::getChargingStartTime() const {
    return myChargingStartTime;
}


std::string
MSDevice_Battery::getChargingStationID() const {
    if (myActChargingStation != NULL) {
        return myActChargingStation->getID();
    } else {
        return "NULL";
    }
}

double
MSDevice_Battery::getEnergyCharged() const {
    return myEnergyCharged;
}


int
MSDevice_Battery::getVehicleStopped() const {
    return myVehicleStopped;
}


double
MSDevice_Battery::getStoppingTreshold() const {
    return myStoppingTreshold;
}


std::string
MSDevice_Battery::getParameter(const std::string& key) const {
    if (key == toString(SUMO_ATTR_ACTUALBATTERYCAPACITY)) {
        return toString(getActualBatteryCapacity());
    } else if (key == toString(SUMO_ATTR_ENERGYCONSUMED)) {
        return toString(getConsum());
    } else if (key == toString(SUMO_ATTR_ENERGYCHARGED)) {
        return toString(getEnergyCharged());
    } else if (key == toString(SUMO_ATTR_MAXIMUMBATTERYCAPACITY)) {
        return toString(getMaximumBatteryCapacity());
    } else if (key == toString(SUMO_ATTR_CHARGINGSTATIONID)) {
        return getChargingStationID();
    }
    throw InvalidArgument("Parameter '" + key + "' is not supported for device of type '" + deviceName() + "'");
}


void
MSDevice_Battery::setParameter(const std::string& key, const std::string& value) {
    double doubleValue;
    try {
        doubleValue = TplConvert::_2double(value.c_str());
    } catch (NumberFormatException) {
        throw InvalidArgument("Setting parameter '" + key + "' requires a number for device of type '" + deviceName() + "'");
    }
    if (key == toString(SUMO_ATTR_ACTUALBATTERYCAPACITY)) {
        setActualBatteryCapacity(doubleValue);
    } else if (key == toString(SUMO_ATTR_MAXIMUMBATTERYCAPACITY)) {
        setMaximumBatteryCapacity(doubleValue);
    } else {
        throw InvalidArgument("Setting parameter '" + key + "' is not supported for device of type '" + deviceName() + "'");
    }
}

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