Eclipse SUMO - Simulation of Urban MObility
Connection.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
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
20// C++ TraCI client API implementation
21/****************************************************************************/
22#pragma once
23#include <config.h>
24#include <vector>
25#include <map>
26#include <limits>
27#include <string>
28#include <sstream>
29#include <iomanip>
30#include <thread>
33
34
35// ===========================================================================
36// global definitions
37// ===========================================================================
38#define PRECISION 2
39
40
41// ===========================================================================
42// class definitions
43// ===========================================================================
44namespace libtraci {
50public:
51 static void connect(const std::string& host, int port, int numRetries, const std::string& label, FILE* const pipe) {
52 myConnections[label] = new Connection(host, port, numRetries, label, pipe);
53 }
54
56 return *myActive;
57 }
58
59 static bool isActive() {
60 return myActive != nullptr;
61 }
62
63 static void switchCon(const std::string& label) {
64 myActive = myConnections.find(label)->second;
65 }
66
67 const std::string& getLabel() {
68 return myLabel;
69 }
70
72 void close();
73
75 return mySubscriptionResults[domain];
76 }
77
79 return myContextSubscriptionResults[domain];
80 }
81
84
87 void simulationStep(double time);
88
89
92 void setOrder(int order);
93
101 void createCommand(int cmdID, int varID, const std::string* const objID, tcpip::Storage* add = nullptr) const;
102
103
114 void subscribe(int domID, const std::string& objID, double beginTime, double endTime,
115 int domain, double range, const std::vector<int>& vars, const libsumo::TraCIResults& params);
117
118
121
128 void check_resultState(tcpip::Storage& inMsg, int command, bool ignoreCommandId = false, std::string* acknowledgement = 0);
129
133 int check_commandGetResult(tcpip::Storage& inMsg, int command, int expectedType = -1, bool ignoreCommandId = false) const;
135
136 tcpip::Storage& doCommand(int command, int var, const std::string& id, tcpip::Storage* add = nullptr);
137 void addFilter(int var, tcpip::Storage* add = nullptr);
138
139 void readVariableSubscription(int responseID, tcpip::Storage& inMsg);
140 void readContextSubscription(int responseID, tcpip::Storage& inMsg);
141 void readVariables(tcpip::Storage& inMsg, const std::string& objectID, int variableCount, libsumo::SubscriptionResults& into);
142
143private:
144 template <class T>
145 static inline std::string toString(const T& t, std::streamsize accuracy = PRECISION) {
146 std::ostringstream oss;
147 oss.setf(std::ios::fixed, std::ios::floatfield);
148 oss << std::setprecision(accuracy);
149 oss << t;
150 return oss.str();
151 }
152
153 void readOutput();
154
160 Connection(const std::string& host, int port, int numRetries, const std::string& label, FILE* const pipe);
161
162private:
163 const std::string myLabel;
164 FILE* const myProcessPipe;
165 std::thread* myProcessReader;
172
173 std::map<int, libsumo::SubscriptionResults> mySubscriptionResults;
174 std::map<int, libsumo::ContextSubscriptionResults> myContextSubscriptionResults;
175
177 static std::map<const std::string, Connection*> myConnections;
178
179private:
182
183};
184
185}
#define PRECISION
Definition: Connection.h:38
C++ TraCI client API implementation.
Definition: Connection.h:49
void simulationStep(double time)
Sends a SimulationStep command.
Definition: Connection.cpp:123
static void connect(const std::string &host, int port, int numRetries, const std::string &label, FILE *const pipe)
Definition: Connection.h:51
Connection(const std::string &host, int port, int numRetries, const std::string &label, FILE *const pipe)
Constructor, connects to the specified SUMO server.
Definition: Connection.cpp:48
static bool isActive()
Definition: Connection.h:59
void close()
ends the simulation and closes the connection
Definition: Connection.cpp:92
void createCommand(int cmdID, int varID, const std::string *const objID, tcpip::Storage *add=nullptr) const
Sends a GetVariable / SetVariable request if mySocket is connected. Otherwise writes to myOutput only...
Definition: Connection.cpp:167
int check_commandGetResult(tcpip::Storage &inMsg, int command, int expectedType=-1, bool ignoreCommandId=false) const
Validates the result state of a command.
Definition: Connection.cpp:305
static Connection & getActive()
Definition: Connection.h:55
void addFilter(int var, tcpip::Storage *add=nullptr)
Definition: Connection.cpp:338
void readVariableSubscription(int responseID, tcpip::Storage &inMsg)
Definition: Connection.cpp:435
libsumo::ContextSubscriptionResults & getAllContextSubscriptionResults(const int domain)
Definition: Connection.h:78
tcpip::Socket mySocket
The socket.
Definition: Connection.h:167
std::map< int, libsumo::SubscriptionResults > mySubscriptionResults
Definition: Connection.h:173
void check_resultState(tcpip::Storage &inMsg, int command, bool ignoreCommandId=false, std::string *acknowledgement=0)
Validates the result state of a command.
Definition: Connection.cpp:266
tcpip::Storage myInput
The reusable input storage.
Definition: Connection.h:171
FILE *const myProcessPipe
Definition: Connection.h:164
void readVariables(tcpip::Storage &inMsg, const std::string &objectID, int variableCount, libsumo::SubscriptionResults &into)
Definition: Connection.cpp:347
std::map< int, libsumo::ContextSubscriptionResults > myContextSubscriptionResults
Definition: Connection.h:174
tcpip::Storage myOutput
The reusable output storage.
Definition: Connection.h:169
Connection & operator=(const Connection &)
Invalidated assignment operator.
void setOrder(int order)
Sends a SetOrder command.
Definition: Connection.cpp:151
libsumo::SubscriptionResults getAllSubscriptionResults(const int domain)
Definition: Connection.h:74
void subscribe(int domID, const std::string &objID, double beginTime, double endTime, int domain, double range, const std::vector< int > &vars, const libsumo::TraCIResults &params)
Sends a SubscribeContext or a SubscribeVariable request.
Definition: Connection.cpp:204
tcpip::Storage & doCommand(int command, int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Connection.cpp:328
static std::map< const std::string, Connection * > myConnections
Definition: Connection.h:177
const std::string myLabel
Definition: Connection.h:163
void readContextSubscription(int responseID, tcpip::Storage &inMsg)
Definition: Connection.cpp:443
const std::string & getLabel()
Definition: Connection.h:67
static Connection * myActive
Definition: Connection.h:176
static std::string toString(const T &t, std::streamsize accuracy=PRECISION)
Definition: Connection.h:145
std::thread * myProcessReader
Definition: Connection.h:165
static void switchCon(const std::string &label)
Definition: Connection.h:63
std::map< std::string, libsumo::SubscriptionResults > ContextSubscriptionResults
Definition: TraCIDefs.h:301
std::map< std::string, libsumo::TraCIResults > SubscriptionResults
{object->{variable->value}}
Definition: TraCIDefs.h:300
std::map< int, std::shared_ptr< libsumo::TraCIResult > > TraCIResults
{variable->value}
Definition: TraCIDefs.h:298