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Commit 46b4892b authored by Tobias Meuser's avatar Tobias Meuser
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Added tracking functionality to controller

parent 97c0ed5e
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src/de/tud/kom/p2psim/impl/topology/movement/vehicular/sumo/simulation/controller/traci/TraciSimulationController.java
View file @ 46b4892b
......@@ -12,6 +12,7 @@ import java.util.HashMap;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
import java.util.Map.Entry;
import java.util.Random;
import de.tud.kom.p2psim.api.simengine.SimulatorObserver;
......@@ -19,6 +20,7 @@ import de.tud.kom.p2psim.impl.simengine.Simulator;
import de.tud.kom.p2psim.impl.topology.PositionVector;
import de.tud.kom.p2psim.impl.topology.movement.vehicular.sumo.simulation.controller.VehicleInformationContainer;
import de.tudarmstadt.maki.simonstrator.api.Randoms;
import de.tudarmstadt.maki.simonstrator.api.Time;
import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.api.EdgeController;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.api.SimulationSetupExtractor;
......@@ -31,6 +33,8 @@ import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.Road
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.SerializableRoadNetwork;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.exception.NoAdditionalRouteAvailableException;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.exception.NoExitAvailableException;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.paths.VehiclePathTracker;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.paths.VehiclePathTrackerFactory;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.routing.DijkstraAlgorithm;
import de.tudarmstadt.maki.simonstrator.api.component.vehicular.roadnetwork.routing.RoutingAlgorithm;
import de.tudresden.sumo.cmd.Edge;
......@@ -56,6 +60,8 @@ import it.polito.appeal.traci.SumoTraciConnection;
public class TraciSimulationController implements VehicleController, SimulationSetupExtractor, EdgeController, SimulatorObserver {
private static final File TEMP_FILE = new File(new File(System.getProperty("java.io.tmpdir")), "road_network.tmp");
private static final boolean TRAIN_PATH_PROBABILITIES = true;
private Random _random = Randoms.getRandom(getClass());
private static final Map<String, TraciSimulationController> CONTROLLER = new HashMap<>();
......@@ -110,7 +116,7 @@ public class TraciSimulationController implements VehicleController, SimulationS
}
@Override
public synchronized void init() {
public synchronized void init(long pTimeScale) {
if (!_initalized) {
Random random = Randoms.getRandom("SUMO");
......@@ -136,12 +142,23 @@ public class TraciSimulationController implements VehicleController, SimulationS
for (int i = 0; i < _startTime; i++) {
System.out.println("Pre-Start Setup: " + i + " of " + _startTime + " steps done.");
try {
_connection.do_timestep();
} catch (Exception e) {
throw new AssertionError(e);
if (TRAIN_PATH_PROBABILITIES) {
Map<String, VehicleInformationContainer> positions = nextStep();
for (Entry<String, VehicleInformationContainer> entry : positions.entrySet()) {
VehiclePathTrackerFactory.getVehiclePathTracker().setEdge(entry.getKey(), entry.getValue().getRoute().getStart(), i * Time.SECOND);
}
} else {
try {
_connection.do_timestep();
} catch (Exception e) {
throw new AssertionError(e);
}
}
}
if (TRAIN_PATH_PROBABILITIES) {
VehiclePathTrackerFactory.getVehiclePathTracker().disableTracking();
}
}
}
......@@ -161,6 +178,13 @@ public class TraciSimulationController implements VehicleController, SimulationS
return _positons.get(pVehicleID).getPosition();
}
@Override
public double getVehicleLength(String pVehicleID) {
SumoCommand lengthCommand = Vehicle.getLength(pVehicleID);
Object requestObject = requestObject(lengthCommand);
return (Double) requestObject;
}
@Override
public double getVehicleHeading(String pVehicleID) {
return _positons.get(pVehicleID).getHeading();
......@@ -191,10 +215,10 @@ public class TraciSimulationController implements VehicleController, SimulationS
if (_observedAreaSet) {
if (_startX <= sumoPosition.x && sumoPosition.x <= _endX && _startY <= sumoPosition.y && sumoPosition.y <= _endY) {
result.add(new PositionVector(sumoPosition.x - _startX, sumoPosition.y - _startY, 0));
result.add(new PositionVector(sumoPosition.x - _startX, sumoPosition.y - _startY));
}
} else {
result.add(new PositionVector(sumoPosition.x, sumoPosition.y, 0));
result.add(new PositionVector(sumoPosition.x, sumoPosition.y));
}
}
......@@ -220,54 +244,61 @@ public class TraciSimulationController implements VehicleController, SimulationS
return result;
}
@Override
public boolean nextStep() {
if (Simulator.getEndTime() == Simulator.getCurrentTime()) {
return false;
}
try {
_connection.do_timestep();
private Map<String, VehicleInformationContainer> nextStep() {
try {
_connection.do_timestep();
try {
synchronized (_positons) {
_positons.clear();
try {
Map<String, VehicleInformationContainer> vehiclePositions = new HashMap<>();
int temp = (Integer) _connection.do_job_get(Simulation.getCurrentTime());
List<String> allVehicles = requestAllVehicles();
for (String vehicle : allVehicles) {
Location position = requestVehiclePosition(vehicle);
if (position != null) {
double heading = requestVehicleHeading(vehicle);
double speed = requestVehicleSpeed(vehicle);
RoadNetworkRoute route = requestVehicleRoute(vehicle);
_step = temp / 1000.0;
VehicleInformationContainer informationContainer = new VehicleInformationContainer(position, heading, speed, route);
if (_start == -1) {
_start = _step;
}
vehiclePositions.put(vehicle, informationContainer);
}
}
return vehiclePositions;
} catch (Exception e) {
throw new AssertionError(e);
}
} catch (Exception e) {
throw new AssertionError(e);
}
}
Map<String, VehicleInformationContainer> vehiclePositions = new HashMap<>();
@Override
public boolean nextStep(long pTimeScale) {
if (Simulator.getEndTime() == Simulator.getCurrentTime()) {
return false;
}
Map<String, VehicleInformationContainer> vehiclePositions = nextStep();
List<String> allVehicles = requestAllVehicles();
for (String vehicle : allVehicles) {
Location position = requestVehiclePosition(vehicle);
if (position != null) {
double heading = requestVehicleHeading(vehicle);
double speed = requestVehicleSpeed(vehicle);
RoadNetworkRoute route = requestVehicleRoute(vehicle);
try {
int temp = (Integer) _connection.do_job_get(Simulation.getCurrentTime());
VehicleInformationContainer informationContainer = new VehicleInformationContainer(position, heading, speed, route);
_step = temp / (pTimeScale / (double)Time.MILLISECOND);
vehiclePositions.put(vehicle, informationContainer);
}
}
_positons = vehiclePositions;
}
} catch (Exception e) {
e.printStackTrace();
}
if (_start == -1) {
_start = _step;
}
} catch (Exception e) {
throw new AssertionError(e);
}
return true;
} catch (RuntimeException e) {
throw e;
} catch (Exception e) {
e.printStackTrace();
if (vehiclePositions != null) {
_positons = vehiclePositions;
return true;
} else {
_positons.clear();
return false;
}
return false;
}
private Location requestVehiclePosition(String pVehicleID) {
......@@ -287,7 +318,7 @@ public class TraciSimulationController implements VehicleController, SimulationS
if (_observedAreaSet) {
if (_startX <= sumoPosition.x && sumoPosition.x <= _endX && _startY <= sumoPosition.y && sumoPosition.y <= _endY) {
return new PositionVector(sumoPosition.x - _startX, sumoPosition.y - _startY, 0);
return new PositionVector(sumoPosition.x - _startX, sumoPosition.y - _startY);
} else {
double diffX = _startX - sumoPosition.x;
if (diffX < 0 || sumoPosition.x - _endX < diffX) {
......@@ -312,7 +343,7 @@ public class TraciSimulationController implements VehicleController, SimulationS
return null;
}
} else {
return new PositionVector(sumoPosition.x, sumoPosition.y, 0);
return new PositionVector(sumoPosition.x, sumoPosition.y);
}
}
......@@ -329,7 +360,6 @@ public class TraciSimulationController implements VehicleController, SimulationS
Object angleObject = requestObject(angleCommand);
if (angleObject != null) {
return (Double) angleObject;
}
......@@ -844,8 +874,11 @@ public class TraciSimulationController implements VehicleController, SimulationS
length += (double) object;
}
return length / (_roadNetwork.getEdge(pEdgeID).getLaneAmount());
if ((_roadNetwork.getEdge(pEdgeID).getLaneAmount()) != 0) {
return length / (_roadNetwork.getEdge(pEdgeID).getLaneAmount());
} else {
return 0.0;
}
}
@Override
......
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