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Person.cpp
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Person.cpp
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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2017-2024 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
/// @file Person.cpp
/// @author Leonhard Luecken
/// @date 15.09.2017
///
// C++ TraCI client API implementation
/****************************************************************************/
#include <config.h>
#include <microsim/transportables/MSTransportableControl.h>
#include <microsim/MSVehicleControl.h>
#include <microsim/MSEdge.h>
#include <microsim/MSLane.h>
#include <microsim/MSNet.h>
#include <microsim/MSStoppingPlace.h>
#include <microsim/transportables/MSPModel.h>
#include <microsim/transportables/MSPerson.h>
#include <microsim/transportables/MSStageDriving.h>
#include <microsim/transportables/MSStageWaiting.h>
#include <microsim/transportables/MSStageWalking.h>
#include <microsim/devices/MSDevice_Taxi.h>
#include <microsim/devices/MSDispatch_TraCI.h>
#include <libsumo/TraCIConstants.h>
#include <utils/geom/GeomHelper.h>
#include <utils/common/StringTokenizer.h>
#include <utils/common/SUMOTime.h>
#include <utils/emissions/PollutantsInterface.h>
#include <utils/router/PedestrianRouter.h>
#include <utils/vehicle/SUMOVehicleParserHelper.h>
#include "Helper.h"
#include "VehicleType.h"
#include "Person.h"
#define FAR_AWAY 1000.0
//#define DEBUG_MOVEXY
//#define DEBUG_MOVEXY_ANGLE
namespace libsumo {
// ===========================================================================
// static member initializations
// ===========================================================================
SubscriptionResults Person::mySubscriptionResults;
ContextSubscriptionResults Person::myContextSubscriptionResults;
// ===========================================================================
// static member definitions
// ===========================================================================
std::vector<std::string>
Person::getIDList() {
MSTransportableControl& c = MSNet::getInstance()->getPersonControl();
std::vector<std::string> ids;
for (MSTransportableControl::constVehIt i = c.loadedBegin(); i != c.loadedEnd(); ++i) {
if (i->second->getCurrentStageType() != MSStageType::WAITING_FOR_DEPART) {
ids.push_back(i->first);
}
}
return ids;
}
int
Person::getIDCount() {
return MSNet::getInstance()->getPersonControl().size();
}
TraCIPosition
Person::getPosition(const std::string& personID, const bool includeZ) {
return Helper::makeTraCIPosition(getPerson(personID)->getPosition(), includeZ);
}
TraCIPosition
Person::getPosition3D(const std::string& personID) {
return Helper::makeTraCIPosition(getPerson(personID)->getPosition(), true);
}
double
Person::getAngle(const std::string& personID) {
return GeomHelper::naviDegree(getPerson(personID)->getAngle());
}
double
Person::getSlope(const std::string& personID) {
MSPerson* person = getPerson(personID);
const double ep = person->getEdgePos();
const MSLane* lane = getSidewalk<MSEdge, MSLane>(person->getEdge());
if (lane == nullptr) {
lane = person->getEdge()->getLanes()[0];
}
const double gp = lane->interpolateLanePosToGeometryPos(ep);
return lane->getShape().slopeDegreeAtOffset(gp);
}
double
Person::getSpeed(const std::string& personID) {
return getPerson(personID)->getSpeed();
}
std::string
Person::getRoadID(const std::string& personID) {
return getPerson(personID)->getEdge()->getID();
}
std::string
Person::getLaneID(const std::string& personID) {
return Named::getIDSecure(getPerson(personID)->getLane(), "");
}
double
Person::getLanePosition(const std::string& personID) {
return getPerson(personID)->getEdgePos();
}
std::vector<TraCIReservation>
Person::getTaxiReservations(int onlyNew) {
std::vector<TraCIReservation> result;
MSDispatch* dispatcher = MSDevice_Taxi::getDispatchAlgorithm();
if (dispatcher != nullptr) {
MSDispatch_TraCI* traciDispatcher = dynamic_cast<MSDispatch_TraCI*>(dispatcher);
if (traciDispatcher == nullptr) {
throw TraCIException("device.taxi.dispatch-algorithm 'traci' has not been loaded");
}
for (Reservation* res : dispatcher->getReservations()) {
if (filterReservation(onlyNew, res, result)) {
if (res->state == Reservation::NEW) {
res->state = Reservation::RETRIEVED;
}
}
}
const bool includeRunning = onlyNew == 0 || (onlyNew & (Reservation::ASSIGNED | Reservation::ONBOARD)) != 0;
if (includeRunning) {
for (const Reservation* res : dispatcher->getRunningReservations()) {
filterReservation(onlyNew, res, result);
}
}
}
std::sort(result.begin(), result.end(), reservation_by_id_sorter());
return result;
}
int
Person::reservation_by_id_sorter::operator()(const TraCIReservation& r1, const TraCIReservation& r2) const {
return r1.id < r2.id;
}
std::string
Person::splitTaxiReservation(std::string reservationID, const std::vector<std::string>& personIDs) {
MSDispatch* dispatcher = MSDevice_Taxi::getDispatchAlgorithm();
if (dispatcher != nullptr) {
MSDispatch_TraCI* traciDispatcher = dynamic_cast<MSDispatch_TraCI*>(dispatcher);
if (traciDispatcher != nullptr) {
return traciDispatcher->splitReservation(reservationID, personIDs);
}
}
throw TraCIException("device.taxi.dispatch-algorithm 'traci' has not been loaded");
}
bool
Person::filterReservation(int onlyNew, const Reservation* res, std::vector<libsumo::TraCIReservation>& reservations) {
if (onlyNew != 0 && (onlyNew & res->state) == 0) {
return false;
}
std::vector<std::string> personIDs;
for (const MSTransportable* p : res->persons) {
personIDs.push_back(p->getID());
}
std::sort(personIDs.begin(), personIDs.end());
reservations.push_back(TraCIReservation(res->id,
personIDs,
res->group,
res->from->getID(),
res->to->getID(),
res->fromPos,
res->toPos,
STEPS2TIME(res->pickupTime),
STEPS2TIME(res->reservationTime),
res->state
));
return true;
}
TraCIColor
Person::getColor(const std::string& personID) {
const RGBColor& col = getPerson(personID)->getParameter().color;
TraCIColor tcol;
tcol.r = col.red();
tcol.g = col.green();
tcol.b = col.blue();
tcol.a = col.alpha();
return tcol;
}
std::string
Person::getTypeID(const std::string& personID) {
return getPerson(personID)->getVehicleType().getID();
}
double
Person::getWaitingTime(const std::string& personID) {
return getPerson(personID)->getWaitingSeconds();
}
std::string
Person::getNextEdge(const std::string& personID) {
return getPerson(personID)->getNextEdge();
}
std::vector<std::string>
Person::getEdges(const std::string& personID, int nextStageIndex) {
MSTransportable* p = getPerson(personID);
if (nextStageIndex >= p->getNumRemainingStages()) {
throw TraCIException("The stage index must be lower than the number of remaining stages.");
}
if (nextStageIndex < (p->getNumRemainingStages() - p->getNumStages())) {
throw TraCIException("The negative stage index must refer to a valid previous stage.");
}
std::vector<std::string> edgeIDs;
for (auto& e : p->getNextStage(nextStageIndex)->getEdges()) {
if (e != nullptr) {
edgeIDs.push_back(e->getID());
}
}
return edgeIDs;
}
TraCIStage
Person::getStage(const std::string& personID, int nextStageIndex) {
MSTransportable* p = getPerson(personID);
TraCIStage result;
if (nextStageIndex >= p->getNumRemainingStages()) {
throw TraCIException("The stage index must be lower than the number of remaining stages.");
}
if (nextStageIndex < (p->getNumRemainingStages() - p->getNumStages())) {
throw TraCIException("The negative stage index " + toString(nextStageIndex) + " must refer to a valid previous stage.");
}
//stageType, arrivalPos, edges, destStop, vType, and description can be retrieved directly from the base Stage class.
MSStage* stage = p->getNextStage(nextStageIndex);
result.type = (int)stage->getStageType();
result.arrivalPos = stage->getArrivalPos();
for (auto e : stage->getEdges()) {
if (e != nullptr) {
result.edges.push_back(e->getID());
}
}
MSStoppingPlace* destinationStop = stage->getDestinationStop();
if (destinationStop != nullptr) {
result.destStop = destinationStop->getID();
}
result.description = stage->getStageDescription(p->isPerson());
result.length = stage->getDistance();
if (result.length == -1.) {
result.length = INVALID_DOUBLE_VALUE;
}
result.departPos = INVALID_DOUBLE_VALUE;
result.cost = INVALID_DOUBLE_VALUE;
result.depart = stage->getDeparted() >= 0 ? STEPS2TIME(stage->getDeparted()) : INVALID_DOUBLE_VALUE;
result.travelTime = INVALID_DOUBLE_VALUE;
if (stage->getArrived() >= 0) {
result.travelTime = STEPS2TIME(stage->getArrived() - stage->getDeparted());
} else if (stage->getDeparted() >= 0) {
result.travelTime = STEPS2TIME(SIMSTEP - stage->getDeparted());
}
// Some stage type dependant attributes
switch (stage->getStageType()) {
case MSStageType::DRIVING: {
MSStageDriving* const drivingStage = static_cast<MSStageDriving*>(stage);
result.vType = drivingStage->getVehicleType();
result.intended = drivingStage->getIntendedVehicleID();
if (result.depart < 0 && drivingStage->getIntendedDepart() >= 0) {
result.depart = STEPS2TIME(drivingStage->getIntendedDepart());
}
const std::set<std::string> lines = drivingStage->getLines();
for (auto line = lines.begin(); line != lines.end(); line++) {
if (line != lines.begin()) {
result.line += " ";
}
result.line += *line;
}
break;
}
case MSStageType::WALKING: {
auto* walkingStage = (MSStageWalking*) stage;
result.departPos = walkingStage->getDepartPos();
break;
}
case MSStageType::WAITING: {
auto* waitingStage = (MSStageWaiting*) stage;
if (waitingStage->getDuration() > 0) {
result.travelTime = STEPS2TIME(waitingStage->getDuration());
}
break;
}
default:
break;
}
return result;
}
int
Person::getRemainingStages(const std::string& personID) {
return getPerson(personID)->getNumRemainingStages();
}
std::string
Person::getVehicle(const std::string& personID) {
const SUMOVehicle* veh = getPerson(personID)->getVehicle();
if (veh == nullptr) {
return "";
} else {
return veh->getID();
}
}
std::string
Person::getParameter(const std::string& personID, const std::string& param) {
return getPerson(personID)->getParameter().getParameter(param, "");
}
LIBSUMO_GET_PARAMETER_WITH_KEY_IMPLEMENTATION(Person)
std::string
Person::getEmissionClass(const std::string& personID) {
return PollutantsInterface::getName(getPerson(personID)->getVehicleType().getEmissionClass());
}
std::string
Person::getShapeClass(const std::string& personID) {
return getVehicleShapeName(getPerson(personID)->getVehicleType().getGuiShape());
}
double
Person::getLength(const std::string& personID) {
return getPerson(personID)->getVehicleType().getLength();
}
double
Person::getSpeedFactor(const std::string& personID) {
return getPerson(personID)->getChosenSpeedFactor();
}
double
Person::getAccel(const std::string& personID) {
return getPerson(personID)->getVehicleType().getCarFollowModel().getMaxAccel();
}
double
Person::getDecel(const std::string& personID) {
return getPerson(personID)->getVehicleType().getCarFollowModel().getMaxDecel();
}
double Person::getEmergencyDecel(const std::string& personID) {
return getPerson(personID)->getVehicleType().getCarFollowModel().getEmergencyDecel();
}
double Person::getApparentDecel(const std::string& personID) {
return getPerson(personID)->getVehicleType().getCarFollowModel().getApparentDecel();
}
double Person::getActionStepLength(const std::string& personID) {
return getPerson(personID)->getVehicleType().getActionStepLengthSecs();
}
double
Person::getTau(const std::string& personID) {
return getPerson(personID)->getVehicleType().getCarFollowModel().getHeadwayTime();
}
double
Person::getImperfection(const std::string& personID) {
return getPerson(personID)->getVehicleType().getCarFollowModel().getImperfection();
}
double
Person::getSpeedDeviation(const std::string& personID) {
return getPerson(personID)->getVehicleType().getSpeedFactor().getParameter()[1];
}
std::string
Person::getVehicleClass(const std::string& personID) {
return toString(getPerson(personID)->getVehicleType().getVehicleClass());
}
double
Person::getMinGap(const std::string& personID) {
return getPerson(personID)->getVehicleType().getMinGap();
}
double
Person::getMinGapLat(const std::string& personID) {
return getPerson(personID)->getVehicleType().getMinGapLat();
}
double
Person::getMaxSpeed(const std::string& personID) {
return getPerson(personID)->getMaxSpeed();
}
double
Person::getMaxSpeedLat(const std::string& personID) {
return getPerson(personID)->getVehicleType().getMaxSpeedLat();
}
std::string
Person::getLateralAlignment(const std::string& personID) {
return toString(getPerson(personID)->getVehicleType().getPreferredLateralAlignment());
}
double
Person::getWidth(const std::string& personID) {
return getPerson(personID)->getVehicleType().getWidth();
}
double
Person::getHeight(const std::string& personID) {
return getPerson(personID)->getVehicleType().getHeight();
}
int
Person::getPersonCapacity(const std::string& personID) {
return getPerson(personID)->getVehicleType().getPersonCapacity();
}
double
Person::getBoardingDuration(const std::string& personID) {
return STEPS2TIME(getPerson(personID)->getVehicleType().getBoardingDuration(true));
}
double
Person::getImpatience(const std::string& personID) {
return getPerson(personID)->getImpatience();
}
void
Person::setSpeed(const std::string& personID, double speed) {
getPerson(personID)->setSpeed(speed);
}
void
Person::setType(const std::string& personID, const std::string& typeID) {
MSVehicleType* vehicleType = MSNet::getInstance()->getVehicleControl().getVType(typeID);
if (vehicleType == nullptr) {
throw TraCIException("The vehicle type '" + typeID + "' is not known.");
}
getPerson(personID)->replaceVehicleType(vehicleType);
}
void
Person::add(const std::string& personID, const std::string& edgeID, double pos, double departInSecs, const std::string typeID) {
MSTransportable* p;
try {
p = getPerson(personID);
} catch (TraCIException&) {
p = nullptr;
}
if (p != nullptr) {
throw TraCIException("The person " + personID + " to add already exists.");
}
SUMOTime depart = TIME2STEPS(departInSecs);
SUMOVehicleParameter vehicleParams;
vehicleParams.id = personID;
MSVehicleType* vehicleType = MSNet::getInstance()->getVehicleControl().getVType(typeID);
if (!vehicleType) {
throw TraCIException("Invalid type '" + typeID + "' for person '" + personID + "'");
}
const MSEdge* edge = MSEdge::dictionary(edgeID);
if (!edge) {
throw TraCIException("Invalid edge '" + edgeID + "' for person: '" + personID + "'");
}
if (departInSecs < 0.) {
const int proc = (int) - departInSecs;
if (proc >= static_cast<int>(DepartDefinition::DEF_MAX)) {
throw TraCIException("Invalid departure time." + toString(depart) + " " + toString(proc));
}
vehicleParams.departProcedure = (DepartDefinition)proc;
vehicleParams.depart = MSNet::getInstance()->getCurrentTimeStep();
} else if (depart < MSNet::getInstance()->getCurrentTimeStep()) {
vehicleParams.depart = MSNet::getInstance()->getCurrentTimeStep();
WRITE_WARNINGF(TL("Departure time=% for person '%' is in the past; using current time=% instead."),
toString(departInSecs), personID, time2string(vehicleParams.depart));
} else {
vehicleParams.depart = depart;
}
vehicleParams.departPosProcedure = DepartPosDefinition::GIVEN;
if (fabs(pos) > edge->getLength()) {
throw TraCIException("Invalid departure position.");
}
if (pos < 0) {
pos += edge->getLength();
}
vehicleParams.departPos = pos;
SUMOVehicleParameter* params = new SUMOVehicleParameter(vehicleParams);
MSTransportable::MSTransportablePlan* plan = new MSTransportable::MSTransportablePlan();
plan->push_back(new MSStageWaiting(edge, nullptr, 0, depart, pos, "awaiting departure", true));
try {
MSTransportable* person = MSNet::getInstance()->getPersonControl().buildPerson(params, vehicleType, plan, nullptr);
MSNet::getInstance()->getPersonControl().add(person);
} catch (ProcessError& e) {
delete params;
delete plan;
throw TraCIException(e.what());
}
}
MSStage*
Person::convertTraCIStage(const TraCIStage& stage, const std::string personID) {
MSStoppingPlace* bs = nullptr;
if (!stage.destStop.empty()) {
bs = MSNet::getInstance()->getStoppingPlace(stage.destStop, SUMO_TAG_BUS_STOP);
if (bs == nullptr) {
bs = MSNet::getInstance()->getStoppingPlace(stage.destStop, SUMO_TAG_PARKING_AREA);
if (bs == nullptr) {
throw TraCIException("Invalid stopping place id '" + stage.destStop + "' for person: '" + personID + "'");
} else {
// parkingArea is not a proper arrival place
bs = nullptr;
}
}
}
switch (stage.type) {
case STAGE_DRIVING: {
if (stage.edges.empty()) {
throw TraCIException("The stage should have at least one edge");
}
std::string toId = stage.edges.back();
MSEdge* to = MSEdge::dictionary(toId);
if (!to) {
throw TraCIException("Invalid edge '" + toId + "' for person: '" + personID + "'");
}
//std::string fromId = stage.edges.front();
//MSEdge* from = MSEdge::dictionary(fromId);
//if (!from) {
// throw TraCIException("Invalid edge '" + fromId + "' for person: '" + personID + "'");
//}
if (stage.line.empty()) {
throw TraCIException("Empty lines parameter for person: '" + personID + "'");
}
double arrivalPos = stage.arrivalPos;
if (arrivalPos == INVALID_DOUBLE_VALUE) {
if (bs != nullptr) {
arrivalPos = bs->getEndLanePosition();
} else {
arrivalPos = to->getLength();
}
}
return new MSStageDriving(nullptr, to, bs, arrivalPos, StringTokenizer(stage.line).getVector());
}
case STAGE_WALKING: {
MSTransportable* p = getPerson(personID);
ConstMSEdgeVector edges;
try {
MSEdge::parseEdgesList(stage.edges, edges, "<unknown>");
} catch (ProcessError& e) {
throw TraCIException(e.what());
}
if (edges.empty()) {
throw TraCIException("Empty edge list for walking stage of person '" + personID + "'.");
}
double arrivalPos = stage.arrivalPos;
if (fabs(arrivalPos) > edges.back()->getLength()) {
throw TraCIException("Invalid arrivalPos for walking stage of person '" + personID + "'.");
}
if (arrivalPos < 0) {
arrivalPos += edges.back()->getLength();
}
double speed = p->getMaxSpeed();
return new MSStageWalking(p->getID(), edges, bs, -1, speed, p->getArrivalPos(), arrivalPos, MSPModel::UNSPECIFIED_POS_LAT);
}
case STAGE_WAITING: {
MSTransportable* p = getPerson(personID);
if (stage.travelTime < 0) {
throw TraCIException("Duration for person: '" + personID + "' must not be negative");
}
return new MSStageWaiting(p->getArrivalEdge(), nullptr, TIME2STEPS(stage.travelTime), 0, p->getArrivalPos(), stage.description, false);
}
default:
return nullptr;
}
}
void
Person::appendStage(const std::string& personID, const TraCIStage& stage) {
MSTransportable* p = getPerson(personID);
MSStage* personStage = convertTraCIStage(stage, personID);
p->appendStage(personStage);
}
void
Person::replaceStage(const std::string& personID, const int stageIndex, const TraCIStage& stage) {
MSTransportable* p = getPerson(personID);
if (stageIndex >= p->getNumRemainingStages()) {
throw TraCIException("Specified stage index: is not valid for person " + personID);
}
MSStage* personStage = convertTraCIStage(stage, personID);
// removing the current stage triggers abort+proceed so the replacement
// stage must be ready beforehand
p->appendStage(personStage, stageIndex + 1);
p->removeStage(stageIndex);
}
void
Person::appendDrivingStage(const std::string& personID, const std::string& toEdge, const std::string& lines, const std::string& stopID) {
MSTransportable* p = getPerson(personID);
const MSEdge* edge = MSEdge::dictionary(toEdge);
if (!edge) {
throw TraCIException("Invalid edge '" + toEdge + "' for person: '" + personID + "'");
}
if (lines.size() == 0) {
throw TraCIException("Empty lines parameter for person: '" + personID + "'");
}
MSStoppingPlace* bs = nullptr;
if (stopID != "") {
bs = MSNet::getInstance()->getStoppingPlace(stopID, SUMO_TAG_BUS_STOP);
if (bs == nullptr) {
throw TraCIException("Invalid stopping place id '" + stopID + "' for person: '" + personID + "'");
}
}
p->appendStage(new MSStageDriving(nullptr, edge, bs, edge->getLength() - NUMERICAL_EPS, StringTokenizer(lines).getVector()));
}
void
Person::appendWaitingStage(const std::string& personID, double duration, const std::string& description, const std::string& stopID) {
MSTransportable* p = getPerson(personID);
if (duration < 0) {
throw TraCIException("Duration for person: '" + personID + "' must not be negative");
}
MSStoppingPlace* bs = nullptr;
if (stopID != "") {
bs = MSNet::getInstance()->getStoppingPlace(stopID, SUMO_TAG_BUS_STOP);
if (bs == nullptr) {
throw TraCIException("Invalid stopping place id '" + stopID + "' for person: '" + personID + "'");
}
}
p->appendStage(new MSStageWaiting(p->getArrivalEdge(), nullptr, TIME2STEPS(duration), 0, p->getArrivalPos(), description, false));
}
void
Person::appendWalkingStage(const std::string& personID, const std::vector<std::string>& edgeIDs, double arrivalPos, double duration, double speed, const std::string& stopID) {
MSTransportable* p = getPerson(personID);
ConstMSEdgeVector edges;
try {
MSEdge::parseEdgesList(edgeIDs, edges, "<unknown>");
} catch (ProcessError& e) {
throw TraCIException(e.what());
}
if (edges.empty()) {
throw TraCIException("Empty edge list for walking stage of person '" + personID + "'.");
}
if (fabs(arrivalPos) > edges.back()->getLength()) {
throw TraCIException("Invalid arrivalPos for walking stage of person '" + personID + "'.");
}
if (arrivalPos < 0) {
arrivalPos += edges.back()->getLength();
}
if (speed < 0) {
speed = p->getMaxSpeed();
}
MSStoppingPlace* bs = nullptr;
if (stopID != "") {
bs = MSNet::getInstance()->getStoppingPlace(stopID, SUMO_TAG_BUS_STOP);
if (bs == nullptr) {
throw TraCIException("Invalid stopping place id '" + stopID + "' for person: '" + personID + "'");
}
}
p->appendStage(new MSStageWalking(p->getID(), edges, bs, TIME2STEPS(duration), speed, p->getArrivalPos(), arrivalPos, MSPModel::UNSPECIFIED_POS_LAT));
}
void
Person::removeStage(const std::string& personID, int nextStageIndex) {
MSTransportable* p = getPerson(personID);
if (nextStageIndex >= p->getNumRemainingStages()) {
throw TraCIException("The stage index must be lower than the number of remaining stages.");
}
if (nextStageIndex < 0) {
throw TraCIException("The stage index may not be negative.");
}
p->removeStage(nextStageIndex);
}
void
Person::rerouteTraveltime(const std::string& personID) {
MSPerson* p = getPerson(personID);
if (p->getNumRemainingStages() == 0) {
throw TraCIException("Person '" + personID + "' has no remaining stages.");
}
const MSEdge* from = p->getEdge();
double departPos = p->getEdgePos();
// reroute to the start of the next-non-walking stage
int firstIndex;
if (p->getCurrentStageType() == MSStageType::WALKING) {
firstIndex = 0;
} else if (p->getCurrentStageType() == MSStageType::WAITING) {
if (p->getNumRemainingStages() < 2 || p->getStageType(1) != MSStageType::WALKING) {
throw TraCIException("Person '" + personID + "' cannot reroute after the current stop.");
}
firstIndex = 1;
} else {
throw TraCIException("Person '" + personID + "' cannot reroute in stage type '" + toString((int)p->getCurrentStageType()) + "'.");
}
int nextIndex = firstIndex + 1;
for (; nextIndex < p->getNumRemainingStages(); nextIndex++) {
if (p->getStageType(nextIndex) != MSStageType::WALKING) {
break;
}
}
MSStage* destStage = p->getNextStage(nextIndex - 1);
const MSEdge* to = destStage->getEdges().back();
double arrivalPos = destStage->getArrivalPos();
double speed = p->getMaxSpeed();
ConstMSEdgeVector newEdges;
MSNet::getInstance()->getPedestrianRouter(0).compute(from, to, departPos, arrivalPos, speed, 0, nullptr, newEdges);
if (newEdges.empty()) {
throw TraCIException("Could not find new route for person '" + personID + "'.");
}
ConstMSEdgeVector oldEdges = p->getNextStage(firstIndex)->getEdges();
assert(!oldEdges.empty());
if (oldEdges.front()->getFunction() != SumoXMLEdgeFunc::NORMAL) {
oldEdges.erase(oldEdges.begin());
}
//std::cout << " remainingStages=" << p->getNumRemainingStages() << " oldEdges=" << toString(oldEdges) << " newEdges=" << toString(newEdges) << " firstIndex=" << firstIndex << " nextIndex=" << nextIndex << "\n";
if (newEdges == oldEdges && (firstIndex + 1 == nextIndex)) {
return;
}
if (newEdges.front() != from) {
// @note: maybe this should be done automatically by the router
newEdges.insert(newEdges.begin(), from);
}
p->reroute(newEdges, departPos, firstIndex, nextIndex);
}
void
Person::moveTo(const std::string& personID, const std::string& laneID, double pos, double posLat) {
MSPerson* p = getPerson(personID);
MSLane* l = MSLane::dictionary(laneID);
if (l == nullptr) {
throw TraCIException("Unknown lane '" + laneID + "'.");
}
if (posLat == INVALID_DOUBLE_VALUE) {
posLat = 0;
} else if (fabs(posLat) >= (0.5 * (l->getWidth() + p->getVehicleType().getWidth()) + MSPModel::SIDEWALK_OFFSET)) {
// see MSPModel_Striping::moveToXY
throw TraCIException("Invalid lateral position " + toString(posLat) + " on lane '" + laneID + "'.");
}
switch (p->getStageType(0)) {
case MSStageType::WALKING: {
MSStageWalking* s = dynamic_cast<MSStageWalking*>(p->getCurrentStage());
assert(s != 0);
s->getPState()->moveTo(p, l, pos, posLat, SIMSTEP);
break;
}
default:
throw TraCIException("Command moveTo is not supported for person '" + personID + "' while " + p->getCurrentStageDescription() + ".");
}
}
void
Person::moveToXY(const std::string& personID, const std::string& edgeID, const double x, const double y, double angle, const int keepRoute, double matchThreshold) {
MSPerson* p = getPerson(personID);
const bool doKeepRoute = (keepRoute & 1) != 0;
const bool mayLeaveNetwork = (keepRoute & 2) != 0;
const bool ignorePermissions = (keepRoute & 4) != 0;
SUMOVehicleClass vClass = ignorePermissions ? SVC_IGNORING : p->getVClass();
Position pos(x, y);
#ifdef DEBUG_MOVEXY
const double origAngle = angle;
#endif
// angle must be in [0,360] because it will be compared against those returned by naviDegree()
// angle set to INVALID_DOUBLE_VALUE is ignored in the evaluated and later set to the angle of the matched lane
if (angle != INVALID_DOUBLE_VALUE) {
while (angle >= 360.) {
angle -= 360.;
}
while (angle < 0.) {
angle += 360.;
}
}
Position currentPos = p->getPosition();
#ifdef DEBUG_MOVEXY
std::cout << std::endl << "begin person " << p->getID() << " lanePos:" << p->getEdgePos() << " edge:" << Named::getIDSecure(p->getEdge()) << "\n";
std::cout << " want pos:" << pos << " edgeID:" << edgeID << " origAngle:" << origAngle << " angle:" << angle << " keepRoute:" << keepRoute << std::endl;
#endif
ConstMSEdgeVector edges;
MSLane* lane = nullptr;
double lanePos;
double lanePosLat = 0;
double bestDistance = std::numeric_limits<double>::max();
int routeOffset = 0;
bool found = false;
double maxRouteDistance = matchThreshold;
ConstMSEdgeVector ev;
ev.push_back(p->getEdge());
int routeIndex = 0;
MSLane* currentLane = const_cast<MSLane*>(getSidewalk<MSEdge, MSLane>(p->getEdge()));
switch (p->getStageType(0)) {
case MSStageType::WALKING: {
MSStageWalking* s = dynamic_cast<MSStageWalking*>(p->getCurrentStage());
assert(s != 0);
ev = s->getEdges();
routeIndex = (int)(s->getRouteStep() - s->getRoute().begin());
}
break;
default:
break;
}
if (doKeepRoute) {
// case a): vehicle is on its earlier route
// we additionally assume it is moving forward (SUMO-limit);
// note that the route ("edges") is not changed in this case
found = Helper::moveToXYMap_matchingRoutePosition(pos, edgeID,
ev, routeIndex, vClass, true,
bestDistance, &lane, lanePos, routeOffset);
} else {
double speed = pos.distanceTo2D(p->getPosition()); // !!!veh->getSpeed();
found = Helper::moveToXYMap(pos, maxRouteDistance, mayLeaveNetwork, edgeID, angle,
speed, ev, routeIndex, currentLane, p->getEdgePos(), currentLane != nullptr,
vClass, true,
bestDistance, &lane, lanePos, routeOffset, edges);
if (edges.size() != 0 && ev.size() > 1) {
// try to rebuild the route
const MSEdge* origEdge = p->getEdge();
assert(lane != nullptr);
const MSJunction* originalTarget = nullptr;
if (origEdge->isNormal()) {
if (routeIndex == 0) {
if (origEdge->getToJunction() == ev[1]->getToJunction() || origEdge->getToJunction() == ev[1]->getFromJunction()) {
originalTarget = origEdge->getToJunction();
} else {
originalTarget = origEdge->getFromJunction();
}
} else {
if (origEdge->getToJunction() == ev[routeIndex - 1]->getToJunction() || origEdge->getToJunction() == ev[routeIndex - 1]->getFromJunction()) {
originalTarget = origEdge->getFromJunction();
} else {
originalTarget = origEdge->getToJunction();
}
}
} else {
originalTarget = origEdge->getToJunction();
assert(originalTarget == origEdge->getFromJunction());
}
const MSEdge* newEdge = edges[0];
if (edges[0]->getFromJunction() == originalTarget || edges[0]->getToJunction() == originalTarget) {
edges = ev;
edges[routeIndex] = newEdge;
}
}
}
if ((found && bestDistance <= maxRouteDistance) || mayLeaveNetwork) {
// compute lateral offset
if (found) {
const double perpDist = lane->getShape().distance2D(pos, false);
if (perpDist != GeomHelper::INVALID_OFFSET) {
lanePosLat = perpDist;
if (!mayLeaveNetwork) {
lanePosLat = MIN2(lanePosLat, 0.5 * (lane->getWidth() + p->getVehicleType().getWidth()));
}
// figure out whether the offset is to the left or to the right
PositionVector tmp = lane->getShape();
try {
tmp.move2side(-lanePosLat); // moved to left
} catch (ProcessError&) {
WRITE_WARNINGF(TL("Could not determine position on lane '%' at lateral position %."), lane->getID(), toString(-lanePosLat));
}
//std::cout << " lane=" << lane->getID() << " posLat=" << lanePosLat << " shape=" << lane->getShape() << " tmp=" << tmp << " tmpDist=" << tmp.distance2D(pos) << "\n";
if (tmp.distance2D(pos) > perpDist) {
lanePosLat = -lanePosLat;
}
}
}
if (found && !mayLeaveNetwork && MSGlobals::gLateralResolution < 0) {
// mapped position may differ from pos
pos = lane->geometryPositionAtOffset(lanePos, -lanePosLat);
}
assert((found && lane != 0) || (!found && lane == 0));
switch (p->getStageType(0)) {
case MSStageType::WALKING: {
if (angle == INVALID_DOUBLE_VALUE) {
// walking angle cannot be deduced from road angle so we always use the last pos
angle = GeomHelper::naviDegree(p->getPosition().angleTo2D(pos));
}
break;
}
case MSStageType::WAITING_FOR_DEPART:
case MSStageType::WAITING: {
if (p->getNumRemainingStages() <= 1 || p->getStageType(1) != MSStageType::WALKING) {
// insert walking stage after the current stage
ConstMSEdgeVector route({p->getEdge()});
const double departPos = p->getCurrentStage()->getArrivalPos();
p->appendStage(new MSStageWalking(p->getID(), route, nullptr, -1, -1, departPos, departPos, MSPModel::UNSPECIFIED_POS_LAT), 1);
}
// abort waiting stage and proceed to walking stage
p->removeStage(0);
assert(p->getStageType(0) == MSStageType::WALKING);
if (angle == INVALID_DOUBLE_VALUE) {
if (lane != nullptr && !lane->getEdge().isWalkingArea()) {
angle = GeomHelper::naviDegree(lane->getShape().rotationAtOffset(lanePos));
} else {
// compute angle outside road network or on walkingarea from old and new position
angle = GeomHelper::naviDegree(p->getPosition().angleTo2D(pos));
}
}
break;
}
default:
throw TraCIException("Command moveToXY is not supported for person '" + personID + "' while " + p->getCurrentStageDescription() + ".");
}
Helper::setRemoteControlled(p, pos, lane, lanePos, lanePosLat, angle, routeOffset, edges, MSNet::getInstance()->getCurrentTimeStep());
} else {
if (lane == nullptr) {
throw TraCIException("Could not map person '" + personID + "' no road found within " + toString(maxRouteDistance) + "m.");
} else {
throw TraCIException("Could not map person '" + personID + "' distance to road is " + toString(bestDistance) + ".");
}
}
}
/** untested setter functions which alter the person's vtype ***/
void
Person::setParameter(const std::string& personID, const std::string& key, const std::string& value) {