Eclipse SUMO - Simulation of Urban MObility
Vehicle.h
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1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2012-2022 German Aerospace Center (DLR) and others.
4 // This program and the accompanying materials are made available under the
5 // terms of the Eclipse Public License 2.0 which is available at
6 // https://www.eclipse.org/legal/epl-2.0/
7 // This Source Code may also be made available under the following Secondary
8 // Licenses when the conditions for such availability set forth in the Eclipse
9 // Public License 2.0 are satisfied: GNU General Public License, version 2
10 // or later which is available at
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12 // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 /****************************************************************************/
19 // C++ Vehicle API
20 /****************************************************************************/
21 #pragma once
22 #include <limits>
23 #include <vector>
24 #include <libsumo/TraCIDefs.h>
25 #include <libsumo/VehicleType.h>
26 #include <libsumo/TraCIConstants.h>
27 
28 
29 // ===========================================================================
30 // class declarations
31 // ===========================================================================
32 #ifndef LIBTRACI
33 class PositionVector;
34 class SUMOVehicle;
35 #endif
36 
37 
38 // ===========================================================================
39 // class definitions
40 // ===========================================================================
45 namespace LIBSUMO_NAMESPACE {
46 class Vehicle {
47 public:
50  static double getSpeed(const std::string& vehID);
51  static double getLateralSpeed(const std::string& vehID);
52  static double getAcceleration(const std::string& vehID);
53  static double getSpeedWithoutTraCI(const std::string& vehID);
54  static libsumo::TraCIPosition getPosition(const std::string& vehID, const bool includeZ = false);
55  static libsumo::TraCIPosition getPosition3D(const std::string& vehID);
56  static double getAngle(const std::string& vehID);
57  static double getSlope(const std::string& vehID);
58  static std::string getRoadID(const std::string& vehID);
59  static std::string getLaneID(const std::string& vehID);
60  static int getLaneIndex(const std::string& vehID);
61  static std::string getTypeID(const std::string& vehID);
62  static std::string getRouteID(const std::string& vehID);
63  static int getRouteIndex(const std::string& vehID);
64  static double getLanePosition(const std::string& vehID);
65  static double getLateralLanePosition(const std::string& vehID);
66  static double getCO2Emission(const std::string& vehID);
67  static double getCOEmission(const std::string& vehID);
68  static double getHCEmission(const std::string& vehID);
69  static double getPMxEmission(const std::string& vehID);
70  static double getNOxEmission(const std::string& vehID);
71  static double getFuelConsumption(const std::string& vehID);
72  static double getNoiseEmission(const std::string& vehID);
73  static double getElectricityConsumption(const std::string& vehID);
74  static int getPersonNumber(const std::string& vehID);
75  static std::vector<std::string> getPersonIDList(const std::string& vehID);
76  static std::pair<std::string, double> getLeader(const std::string& vehID, double dist = 0.);
77  static std::pair<std::string, double> getFollower(const std::string& vehID, double dist = 0.);
78  static double getWaitingTime(const std::string& vehID);
79  static double getAccumulatedWaitingTime(const std::string& vehID);
80  static double getAdaptedTraveltime(const std::string& vehID, double time, const std::string& edgeID);
81  static double getEffort(const std::string& vehID, double time, const std::string& edgeID);
82  static bool isRouteValid(const std::string& vehID);
83  static std::vector<std::string> getRoute(const std::string& vehID);
84  static int getSignals(const std::string& vehID);
85  static std::vector<libsumo::TraCIBestLanesData> getBestLanes(const std::string& vehID);
86  static std::vector<libsumo::TraCINextTLSData> getNextTLS(const std::string& vehID);
87  static std::vector<libsumo::TraCINextStopData> getNextStops(const std::string& vehID);
88  static std::vector<libsumo::TraCINextStopData> getStops(const std::string& vehID, int limit = 0);
89  static int getStopState(const std::string& vehID);
90  static double getDistance(const std::string& vehID);
91  static double getDrivingDistance(const std::string& vehID, const std::string& edgeID, double position, int laneIndex = 0);
92  static double getDrivingDistance2D(const std::string& vehID, double x, double y);
93  static double getAllowedSpeed(const std::string& vehID);
94  static int getSpeedMode(const std::string& vehID);
95  static int getLaneChangeMode(const std::string& vehID);
96  static int getRoutingMode(const std::string& vehID);
97  static std::string getLine(const std::string& vehID);
98  static std::vector<std::string> getVia(const std::string& vehID);
99  static std::pair<int, int> getLaneChangeState(const std::string& vehID, int direction);
100  static double getLastActionTime(const std::string& vehID);
101  static std::vector<std::pair<std::string, double> > getNeighbors(const std::string& vehID, const int mode);
102  static double getFollowSpeed(const std::string& vehID, double speed, double gap, double leaderSpeed, double leaderMaxDecel, const std::string& leaderID = "");
103  static double getSecureGap(const std::string& vehID, double speed, double leaderSpeed, double leaderMaxDecel, const std::string& leaderID = "");
104  static double getStopSpeed(const std::string& vehID, double speed, double gap);
105  static double getStopDelay(const std::string& vehID);
106  static double getStopArrivalDelay(const std::string& vehID);
107  static double getTimeLoss(const std::string& vehID);
108  static std::vector<std::string> getTaxiFleet(int taxiState = 0);
110 
113 
116 
117  static void setStop(const std::string& vehID,
118  const std::string& edgeID,
119  double pos = 1.,
120  int laneIndex = 0,
121  double duration = libsumo::INVALID_DOUBLE_VALUE,
122  int flags = libsumo::STOP_DEFAULT,
123  double startPos = libsumo::INVALID_DOUBLE_VALUE,
124  double until = libsumo::INVALID_DOUBLE_VALUE);
125 
126  static void replaceStop(const std::string& vehID,
127  int nextStopIndex,
128  const std::string& edgeID,
129  double pos = 1.,
130  int laneIndex = 0,
131  double duration = libsumo::INVALID_DOUBLE_VALUE,
132  int flags = libsumo::STOP_DEFAULT,
133  double startPos = libsumo::INVALID_DOUBLE_VALUE,
134  double until = libsumo::INVALID_DOUBLE_VALUE,
135  int teleport = 0);
136 
137  static void rerouteParkingArea(const std::string& vehID,
138  const std::string& parkingAreaID);
139 
140  static void resume(const std::string& vehID);
141 
142  static void add(const std::string& vehID,
143  const std::string& routeID,
144  const std::string& typeID = "DEFAULT_VEHTYPE",
145  const std::string& depart = "now",
146  const std::string& departLane = "first",
147  const std::string& departPos = "base",
148  const std::string& departSpeed = "0",
149  const std::string& arrivalLane = "current",
150  const std::string& arrivalPos = "max",
151  const std::string& arrivalSpeed = "current",
152  const std::string& fromTaz = "",
153  const std::string& toTaz = "",
154  const std::string& line = "",
155  int personCapacity = 4,
156  int personNumber = 0);
157 
158  static void changeTarget(const std::string& vehID, const std::string& edgeID);
159  static void changeLane(const std::string& vehID, int laneIndex, double duration);
160  static void changeLaneRelative(const std::string& vehID, int indexOffset, double duration);
161  static void changeSublane(const std::string& vehID, double latDist);
162 
163  static void slowDown(const std::string& vehID, double speed, double duration);
164  static void openGap(const std::string& vehID, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel = -1, const std::string& referenceVehID = "");
165  static void deactivateGapControl(const std::string& vehID);
166  static void requestToC(const std::string& vehID, double leadTime);
167  static void setSpeed(const std::string& vehID, double speed);
168  static void setPreviousSpeed(const std::string& vehID, double prevspeed);
169  static void setSpeedMode(const std::string& vehID, int speedMode);
170  static void setLaneChangeMode(const std::string& vehID, int laneChangeMode);
171  static void setRoutingMode(const std::string& vehID, int routingMode);
172  static void setType(const std::string& vehID, const std::string& typeID);
173  static void setRouteID(const std::string& vehID, const std::string& routeID);
174  static void setRoute(const std::string& vehID, const std::string& edgeID);
175  static void setRoute(const std::string& vehID, const std::vector<std::string>& edgeIDs);
176  static void updateBestLanes(const std::string& vehID);
177  static void setAdaptedTraveltime(const std::string& vehID, const std::string& edgeID,
178  double time = libsumo::INVALID_DOUBLE_VALUE, double begSeconds = 0, double endSeconds = std::numeric_limits<double>::max());
179  static void setEffort(const std::string& vehID, const std::string& edgeID,
180  double effort = libsumo::INVALID_DOUBLE_VALUE, double begSeconds = 0, double endSeconds = std::numeric_limits<double>::max());
181  static void rerouteTraveltime(const std::string& vehID, const bool currentTravelTimes = true);
182  static void rerouteEffort(const std::string& vehID);
183  static void setSignals(const std::string& vehID, int signals);
184  static void moveTo(const std::string& vehID, const std::string& laneID, double position, int reason = libsumo::MOVE_AUTOMATIC);
185  static void moveToXY(const std::string& vehID, const std::string& edgeID, const int laneIndex, const double x, const double y, double angle = libsumo::INVALID_DOUBLE_VALUE, const int keepRoute = 1, double matchThreshold = 100);
186  static void remove(const std::string& vehID, char reason = libsumo::REMOVE_VAPORIZED);
187  static void setLine(const std::string& vehID, const std::string& line);
188  static void setVia(const std::string& vehID, const std::vector<std::string>& via);
189  static void highlight(const std::string& vehID, const libsumo::TraCIColor& col = libsumo::TraCIColor(255, 0, 0, 255), double size = -1, const int alphaMax = -1, const double duration = -1, const int type = 0);
190  static void dispatchTaxi(const std::string& vehID, const std::vector<std::string>& reservations);
192 
194 
196 
197  static void subscribeLeader(const std::string& vehID, double dist = 0., double begin = libsumo::INVALID_DOUBLE_VALUE, double end = libsumo::INVALID_DOUBLE_VALUE);
198 
199  static void addSubscriptionFilterLanes(const std::vector<int>& lanes, bool noOpposite = false, double downstreamDist = libsumo::INVALID_DOUBLE_VALUE, double upstreamDist = libsumo::INVALID_DOUBLE_VALUE);
200 
201  static void addSubscriptionFilterNoOpposite();
202 
203  static void addSubscriptionFilterDownstreamDistance(double dist);
204 
205  static void addSubscriptionFilterUpstreamDistance(double dist);
206 
207  static void addSubscriptionFilterCFManeuver(double downstreamDist = libsumo::INVALID_DOUBLE_VALUE, double upstreamDist = libsumo::INVALID_DOUBLE_VALUE);
208 
209  static void addSubscriptionFilterLCManeuver(int direction = libsumo::INVALID_INT_VALUE, bool noOpposite = false, double downstreamDist = libsumo::INVALID_DOUBLE_VALUE, double upstreamDist = libsumo::INVALID_DOUBLE_VALUE);
210 
211  static void addSubscriptionFilterLeadFollow(const std::vector<int>& lanes);
212 
213  static void addSubscriptionFilterTurn(double downstreamDist = libsumo::INVALID_DOUBLE_VALUE, double foeDistToJunction = libsumo::INVALID_DOUBLE_VALUE);
214 
215  static void addSubscriptionFilterVClass(const std::vector<std::string>& vClasses);
216 
217  static void addSubscriptionFilterVType(const std::vector<std::string>& vTypes);
218 
219  static void addSubscriptionFilterFieldOfVision(double openingAngle);
220 
221  static void addSubscriptionFilterLateralDistance(double lateralDist, double downstreamDist = libsumo::INVALID_DOUBLE_VALUE, double upstreamDist = libsumo::INVALID_DOUBLE_VALUE);
222 
223 #ifndef LIBTRACI
224 #ifndef SWIG
229  static void storeShape(const std::string& id, PositionVector& shape);
230 
231  static std::shared_ptr<VariableWrapper> makeWrapper();
232 
233  static bool handleVariable(const std::string& objID, const int variable, VariableWrapper* wrapper, tcpip::Storage* paramData);
234 
235 
236 private:
237  static bool isVisible(const SUMOVehicle* veh);
238 
239  static bool isOnInit(const std::string& vehID);
240 
241 private:
244 #endif
245 #endif
246 
248  Vehicle() = delete;
249 };
250 
251 
252 }
#define LIBSUMO_ID_PARAMETER_API
Definition: TraCIDefs.h:108
#define LIBSUMO_SUBSCRIPTION_API
Definition: TraCIDefs.h:56
#define LIBSUMO_VEHICLE_TYPE_GETTER
Definition: VehicleType.h:27
#define LIBSUMO_VEHICLE_TYPE_SETTER
Definition: VehicleType.h:51
static void updateBestLanes(const std::string &vehID)
static std::string getRouteID(const std::string &vehID)
static double getEffort(const std::string &vehID, double time, const std::string &edgeID)
static std::vector< std::string > getVia(const std::string &vehID)
static SubscriptionResults mySubscriptionResults
Definition: Vehicle.h:242
Vehicle()=delete
invalidated standard constructor
static double getHCEmission(const std::string &vehID)
static int getStopState(const std::string &vehID)
static void moveTo(const std::string &vehID, const std::string &laneID, double position, int reason=libsumo::MOVE_AUTOMATIC)
static std::vector< libsumo::TraCIBestLanesData > getBestLanes(const std::string &vehID)
static double getAngle(const std::string &vehID)
static void addSubscriptionFilterVType(const std::vector< std::string > &vTypes)
static double getPMxEmission(const std::string &vehID)
static void addSubscriptionFilterVClass(const std::vector< std::string > &vClasses)
static void changeLaneRelative(const std::string &vehID, int indexOffset, double duration)
static void changeSublane(const std::string &vehID, double latDist)
static void addSubscriptionFilterTurn(double downstreamDist=libsumo::INVALID_DOUBLE_VALUE, double foeDistToJunction=libsumo::INVALID_DOUBLE_VALUE)
static void setStop(const std::string &vehID, const std::string &edgeID, double pos=1., int laneIndex=0, double duration=libsumo::INVALID_DOUBLE_VALUE, int flags=libsumo::STOP_DEFAULT, double startPos=libsumo::INVALID_DOUBLE_VALUE, double until=libsumo::INVALID_DOUBLE_VALUE)
LIBSUMO_VEHICLE_TYPE_SETTER static LIBSUMO_SUBSCRIPTION_API void subscribeLeader(const std::string &vehID, double dist=0., double begin=libsumo::INVALID_DOUBLE_VALUE, double end=libsumo::INVALID_DOUBLE_VALUE)
static std::vector< std::string > getPersonIDList(const std::string &vehID)
static std::pair< int, int > getLaneChangeState(const std::string &vehID, int direction)
static double getLateralSpeed(const std::string &vehID)
static double getDistance(const std::string &vehID)
static void rerouteParkingArea(const std::string &vehID, const std::string &parkingAreaID)
static void addSubscriptionFilterLateralDistance(double lateralDist, double downstreamDist=libsumo::INVALID_DOUBLE_VALUE, double upstreamDist=libsumo::INVALID_DOUBLE_VALUE)
static void storeShape(const std::string &id, PositionVector &shape)
Saves the shape of the requested object in the given container.
static double getStopSpeed(const std::string &vehID, double speed, double gap)
static double getSlope(const std::string &vehID)
static int getRoutingMode(const std::string &vehID)
static void add(const std::string &vehID, const std::string &routeID, const std::string &typeID="DEFAULT_VEHTYPE", const std::string &depart="now", const std::string &departLane="first", const std::string &departPos="base", const std::string &departSpeed="0", const std::string &arrivalLane="current", const std::string &arrivalPos="max", const std::string &arrivalSpeed="current", const std::string &fromTaz="", const std::string &toTaz="", const std::string &line="", int personCapacity=4, int personNumber=0)
static double getNoiseEmission(const std::string &vehID)
static bool isOnInit(const std::string &vehID)
static void setEffort(const std::string &vehID, const std::string &edgeID, double effort=libsumo::INVALID_DOUBLE_VALUE, double begSeconds=0, double endSeconds=std::numeric_limits< double >::max())
static void setSpeed(const std::string &vehID, double speed)
static double getWaitingTime(const std::string &vehID)
static std::string getRoadID(const std::string &vehID)
static std::vector< std::pair< std::string, double > > getNeighbors(const std::string &vehID, const int mode)
static int getPersonNumber(const std::string &vehID)
static double getSecureGap(const std::string &vehID, double speed, double leaderSpeed, double leaderMaxDecel, const std::string &leaderID="")
static double getSpeedWithoutTraCI(const std::string &vehID)
static void setLaneChangeMode(const std::string &vehID, int laneChangeMode)
static std::string getTypeID(const std::string &vehID)
static double getDrivingDistance2D(const std::string &vehID, double x, double y)
static void addSubscriptionFilterNoOpposite()
static void setRoutingMode(const std::string &vehID, int routingMode)
static void addSubscriptionFilterLeadFollow(const std::vector< int > &lanes)
static void deactivateGapControl(const std::string &vehID)
static double getAccumulatedWaitingTime(const std::string &vehID)
static void setAdaptedTraveltime(const std::string &vehID, const std::string &edgeID, double time=libsumo::INVALID_DOUBLE_VALUE, double begSeconds=0, double endSeconds=std::numeric_limits< double >::max())
static double getFuelConsumption(const std::string &vehID)
static double getTimeLoss(const std::string &vehID)
static double getStopArrivalDelay(const std::string &vehID)
static bool isVisible(const SUMOVehicle *veh)
static void setSignals(const std::string &vehID, int signals)
static std::vector< libsumo::TraCINextStopData > getStops(const std::string &vehID, int limit=0)
static std::vector< libsumo::TraCINextStopData > getNextStops(const std::string &vehID)
static double getSpeed(const std::string &vehID)
static void openGap(const std::string &vehID, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel=-1, const std::string &referenceVehID="")
static void setRoute(const std::string &vehID, const std::string &edgeID)
static double getCOEmission(const std::string &vehID)
static double getDrivingDistance(const std::string &vehID, const std::string &edgeID, double position, int laneIndex=0)
static void dispatchTaxi(const std::string &vehID, const std::vector< std::string > &reservations)
static void rerouteEffort(const std::string &vehID)
static void rerouteTraveltime(const std::string &vehID, const bool currentTravelTimes=true)
static double getCO2Emission(const std::string &vehID)
static std::vector< std::string > getRoute(const std::string &vehID)
static std::shared_ptr< VariableWrapper > makeWrapper()
static libsumo::TraCIPosition getPosition3D(const std::string &vehID)
static void addSubscriptionFilterLCManeuver(int direction=libsumo::INVALID_INT_VALUE, bool noOpposite=false, double downstreamDist=libsumo::INVALID_DOUBLE_VALUE, double upstreamDist=libsumo::INVALID_DOUBLE_VALUE)
static std::vector< libsumo::TraCINextTLSData > getNextTLS(const std::string &vehID)
static double getStopDelay(const std::string &vehID)
static std::vector< std::string > getTaxiFleet(int taxiState=0)
static void replaceStop(const std::string &vehID, int nextStopIndex, const std::string &edgeID, double pos=1., int laneIndex=0, double duration=libsumo::INVALID_DOUBLE_VALUE, int flags=libsumo::STOP_DEFAULT, double startPos=libsumo::INVALID_DOUBLE_VALUE, double until=libsumo::INVALID_DOUBLE_VALUE, int teleport=0)
static ContextSubscriptionResults myContextSubscriptionResults
Definition: Vehicle.h:243
static std::pair< std::string, double > getLeader(const std::string &vehID, double dist=0.)
static double getAcceleration(const std::string &vehID)
static double getLateralLanePosition(const std::string &vehID)
static void addSubscriptionFilterFieldOfVision(double openingAngle)
static void setLine(const std::string &vehID, const std::string &line)
static int getSignals(const std::string &vehID)
static void setPreviousSpeed(const std::string &vehID, double prevspeed)
static void setSpeedMode(const std::string &vehID, int speedMode)
static void requestToC(const std::string &vehID, double leadTime)
static double getFollowSpeed(const std::string &vehID, double speed, double gap, double leaderSpeed, double leaderMaxDecel, const std::string &leaderID="")
static void slowDown(const std::string &vehID, double speed, double duration)
static void remove(const std::string &vehID, char reason=libsumo::REMOVE_VAPORIZED)
static int getRouteIndex(const std::string &vehID)
static void addSubscriptionFilterDownstreamDistance(double dist)
static void addSubscriptionFilterUpstreamDistance(double dist)
static double getElectricityConsumption(const std::string &vehID)
static bool handleVariable(const std::string &objID, const int variable, VariableWrapper *wrapper, tcpip::Storage *paramData)
static double getLastActionTime(const std::string &vehID)
static std::string getLine(const std::string &vehID)
static void changeLane(const std::string &vehID, int laneIndex, double duration)
static int getSpeedMode(const std::string &vehID)
static double getAdaptedTraveltime(const std::string &vehID, double time, const std::string &edgeID)
static void setRouteID(const std::string &vehID, const std::string &routeID)
static double getAllowedSpeed(const std::string &vehID)
static void moveToXY(const std::string &vehID, const std::string &edgeID, const int laneIndex, const double x, const double y, double angle=libsumo::INVALID_DOUBLE_VALUE, const int keepRoute=1, double matchThreshold=100)
static std::string getLaneID(const std::string &vehID)
static bool isRouteValid(const std::string &vehID)
static void addSubscriptionFilterLanes(const std::vector< int > &lanes, bool noOpposite=false, double downstreamDist=libsumo::INVALID_DOUBLE_VALUE, double upstreamDist=libsumo::INVALID_DOUBLE_VALUE)
static void addSubscriptionFilterCFManeuver(double downstreamDist=libsumo::INVALID_DOUBLE_VALUE, double upstreamDist=libsumo::INVALID_DOUBLE_VALUE)
static void highlight(const std::string &vehID, const libsumo::TraCIColor &col=libsumo::TraCIColor(255, 0, 0, 255), double size=-1, const int alphaMax=-1, const double duration=-1, const int type=0)
static void setType(const std::string &vehID, const std::string &typeID)
static std::pair< std::string, double > getFollower(const std::string &vehID, double dist=0.)
static double getNOxEmission(const std::string &vehID)
static libsumo::TraCIPosition getPosition(const std::string &vehID, const bool includeZ=false)
static void changeTarget(const std::string &vehID, const std::string &edgeID)
static void setVia(const std::string &vehID, const std::vector< std::string > &via)
static void resume(const std::string &vehID)
static double getLanePosition(const std::string &vehID)
static int getLaneIndex(const std::string &vehID)
static int getLaneChangeMode(const std::string &vehID)
A list of positions.
Representation of a vehicle.
Definition: SUMOVehicle.h:60
TRACI_CONST double INVALID_DOUBLE_VALUE
TRACI_CONST int MOVE_AUTOMATIC
std::map< std::string, libsumo::SubscriptionResults > ContextSubscriptionResults
Definition: TraCIDefs.h:279
TRACI_CONST int STOP_DEFAULT
std::map< std::string, libsumo::TraCIResults > SubscriptionResults
{object->{variable->value}}
Definition: TraCIDefs.h:278
TRACI_CONST int INVALID_INT_VALUE
TRACI_CONST int REMOVE_VAPORIZED
A 3D-position.
Definition: TraCIDefs.h:164