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
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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>
31 #include <foreign/tcpip/socket.h>
32 #include <libsumo/Subscription.h>
33 
34 
35 // ===========================================================================
36 // global definitions
37 // ===========================================================================
38 #define PRECISION 2
39 
40 
41 // ===========================================================================
42 // class definitions
43 // ===========================================================================
44 namespace libtraci {
49 class Connection {
50 public:
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 
55  static Connection& getActive() {
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 
143 private:
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 
162 private:
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 
179 private:
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:121
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:46
static bool isActive()
Definition: Connection.h:59
void close()
ends the simulation and closes the connection
Definition: Connection.cpp:90
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:165
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:303
void addFilter(int var, tcpip::Storage *add=nullptr)
Definition: Connection.cpp:336
void readVariableSubscription(int responseID, tcpip::Storage &inMsg)
Definition: Connection.cpp:433
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:264
tcpip::Storage myInput
The reusable input storage.
Definition: Connection.h:171
FILE *const myProcessPipe
Definition: Connection.h:164
const std::string & getLabel()
Definition: Connection.h:67
void readVariables(tcpip::Storage &inMsg, const std::string &objectID, int variableCount, libsumo::SubscriptionResults &into)
Definition: Connection.cpp:345
std::map< int, libsumo::ContextSubscriptionResults > myContextSubscriptionResults
Definition: Connection.h:174
tcpip::Storage myOutput
The reusable output storage.
Definition: Connection.h:169
static Connection & getActive()
Definition: Connection.h:55
Connection & operator=(const Connection &)
Invalidated assignment operator.
void setOrder(int order)
Sends a SetOrder command.
Definition: Connection.cpp:149
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:202
tcpip::Storage & doCommand(int command, int var, const std::string &id, tcpip::Storage *add=nullptr)
Definition: Connection.cpp:326
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:441
libsumo::ContextSubscriptionResults & getAllContextSubscriptionResults(const int domain)
Definition: Connection.h:78
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:279
std::map< std::string, libsumo::TraCIResults > SubscriptionResults
{object->{variable->value}}
Definition: TraCIDefs.h:278
std::map< int, std::shared_ptr< libsumo::TraCIResult > > TraCIResults
{variable->value}
Definition: TraCIDefs.h:276