Lane.cpp

/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2017-2025 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    Lane.cpp
/// @author  Daniel Krajzewicz
/// @author  Mario Krumnow
/// @author  Jakob Erdmann
/// @author  Michael Behrisch
/// @author  Robert Hilbrich
/// @author  Leonhard Luecken
/// @date    30.05.2012
///
// C++ TraCI client API implementation
/****************************************************************************/
#include <config.h>

#include <microsim/MSNet.h>
#include <microsim/MSLane.h>
#include <microsim/MSEdge.h>
#include <microsim/MSVehicle.h>
#include <microsim/MSLink.h>
#include <microsim/MSInsertionControl.h>
#include <utils/geom/GeomHelper.h>
#include <libsumo/Helper.h>
#include <libsumo/StorageHelper.h>
#include <libsumo/TraCIConstants.h>
#include "Lane.h"


namespace libsumo {
// ===========================================================================
// static member initializations
// ===========================================================================
SubscriptionResults Lane::mySubscriptionResults;
ContextSubscriptionResults Lane::myContextSubscriptionResults;


// ===========================================================================
// static member definitions
// ===========================================================================
std::vector<std::string>
Lane::getIDList() {
    MSNet::getInstance(); // just to check that we actually have a network
    std::vector<std::string> ids;
    MSLane::insertIDs(ids);
    return ids;
}


int
Lane::getIDCount() {
    return (int)getIDList().size();
}


std::string
Lane::getEdgeID(const std::string& laneID) {
    return getLane(laneID)->getEdge().getID();
}


double
Lane::getLength(const std::string& laneID) {
    return getLane(laneID)->getLength();
}


double
Lane::getMaxSpeed(const std::string& laneID) {
    return getLane(laneID)->getSpeedLimit();
}

double
Lane::getFriction(const std::string& laneID) {
    return getLane(laneID)->getFrictionCoefficient();
}

int
Lane::getLinkNumber(const std::string& laneID) {
    return (int)getLane(laneID)->getLinkCont().size();
}


std::vector<TraCIConnection>
Lane::getLinks(const std::string& laneID) {
    std::vector<TraCIConnection> v;
    const MSLane* const lane = getLane(laneID);
    const SUMOTime currTime = MSNet::getInstance()->getCurrentTimeStep();
    for (const MSLink* const link : lane->getLinkCont()) {
        const std::string approachedLane = link->getLane() != nullptr ? link->getLane()->getID() : "";
        const bool hasPrio = link->havePriority();
        const double speed = MIN2(lane->getSpeedLimit(), link->getLane()->getSpeedLimit());
        const bool isOpen = link->opened(currTime, speed, speed, SUMOVTypeParameter::getDefault().length,
                                         SUMOVTypeParameter::getDefault().impatience, SUMOVTypeParameter::getDefaultDecel(), 0);
        const bool hasFoe = link->hasApproachingFoe(currTime, currTime, 0, SUMOVTypeParameter::getDefaultDecel());
        const std::string approachedInternal = link->getViaLane() != nullptr ? link->getViaLane()->getID() : "";
        const std::string state = SUMOXMLDefinitions::LinkStates.getString(link->getState());
        const std::string direction = SUMOXMLDefinitions::LinkDirections.getString(link->getDirection());
        const double length = link->getLength();
        v.push_back(TraCIConnection(approachedLane, hasPrio, isOpen, hasFoe, approachedInternal, state, direction, length));
    }
    return v;
}


std::vector<std::string>
Lane::getAllowed(const std::string& laneID) {
    SVCPermissions permissions = getLane(laneID)->getPermissions();
    if (permissions == SVCAll) {  // special case: write nothing
        permissions = 0;
    }
    return getVehicleClassNamesList(permissions);
}


std::vector<std::string>
Lane::getDisallowed(const std::string& laneID) {
    return getVehicleClassNamesList(invertPermissions((getLane(laneID)->getPermissions()))); // negation yields disallowed
}


std::vector<std::string>
Lane::getChangePermissions(const std::string& laneID, const int direction) {
    if (direction == libsumo::LANECHANGE_LEFT) {
        return getVehicleClassNamesList(getLane(laneID)->getChangeLeft());
    } else if (direction == libsumo::LANECHANGE_RIGHT) {
        return getVehicleClassNamesList(getLane(laneID)->getChangeRight());
    } else {
        throw TraCIException("Invalid direction for change permission (must be " + toString(libsumo::LANECHANGE_LEFT) + " or " + toString(libsumo::LANECHANGE_RIGHT));
    }
}


TraCIPositionVector
Lane::getShape(const std::string& laneID) {
    TraCIPositionVector pv;
    const PositionVector& shp = getLane(laneID)->getShape();
    for (PositionVector::const_iterator pi = shp.begin(); pi != shp.end(); ++pi) {
        TraCIPosition p;
        p.x = pi->x();
        p.y = pi->y();
        p.z = pi->z();
        pv.value.push_back(p);
    }
    return pv;
}


double
Lane::getWidth(const std::string& laneID) {
    return getLane(laneID)->getWidth();
}


double
Lane::getCO2Emission(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::CO2>();
}


double
Lane::getCOEmission(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::CO>();
}


double
Lane::getHCEmission(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::HC>();
}


double
Lane::getPMxEmission(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::PM_X>();
}


double
Lane::getNOxEmission(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::NO_X>();
}

double
Lane::getFuelConsumption(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::FUEL>();
}


double
Lane::getNoiseEmission(const std::string& laneID) {
    return getLane(laneID)->getHarmonoise_NoiseEmissions();
}


double
Lane::getElectricityConsumption(const std::string& laneID) {
    return getLane(laneID)->getEmissions<PollutantsInterface::ELEC>();
}


double
Lane::getLastStepMeanSpeed(const std::string& laneID) {
    return getLane(laneID)->getMeanSpeed();
}


double
Lane::getLastStepOccupancy(const std::string& laneID) {
    return getLane(laneID)->getNettoOccupancy();
}


double
Lane::getLastStepLength(const std::string& laneID) {
    const MSLane* lane = getLane(laneID);
    double length = 0;
    const MSLane::VehCont& vehs = lane->getVehiclesSecure();
    for (MSLane::VehCont::const_iterator j = vehs.begin(); j != vehs.end(); ++j) {
        length += (*j)->getVehicleType().getLength();
    }
    if (vehs.size() > 0) {
        length = length / (double)vehs.size();
    }
    lane->releaseVehicles();
    return length;
}


double
Lane::getWaitingTime(const std::string& laneID) {
    return getLane(laneID)->getWaitingSeconds();
}


double
Lane::getTraveltime(const std::string& laneID) {
    const MSLane* lane = getLane(laneID);
    double meanSpeed = lane->getMeanSpeed();
    if (meanSpeed != 0) {
        return lane->getLength() / meanSpeed;
    } else {
        return 1000000.;
    }
}


int
Lane::getLastStepVehicleNumber(const std::string& laneID) {
    return (int)getLane(laneID)->getVehicleNumber();
}


int
Lane::getLastStepHaltingNumber(const std::string& laneID) {
    const MSLane* lane = getLane(laneID);
    int halting = 0;
    const MSLane::VehCont& vehs = lane->getVehiclesSecure();
    for (MSLane::VehCont::const_iterator j = vehs.begin(); j != vehs.end(); ++j) {
        if ((*j)->getSpeed() < SUMO_const_haltingSpeed) {
            ++halting;
        }
    }
    lane->releaseVehicles();
    return halting;
}


std::vector<std::string>
Lane::getLastStepVehicleIDs(const std::string& laneID) {
    const MSLane* lane = getLane(laneID);
    std::vector<std::string> vehIDs;
    const MSLane::VehCont& vehs = lane->getVehiclesSecure();
    for (MSLane::VehCont::const_iterator j = vehs.begin(); j != vehs.end(); ++j) {
        vehIDs.push_back((*j)->getID());
    }
    lane->releaseVehicles();
    return vehIDs;
}


std::vector<std::string>
Lane::getFoes(const std::string& laneID, const std::string& toLaneID) {
    if (toLaneID == "") {
        return getInternalFoes(laneID);
    }
    std::vector<std::string> foeIDs;
    const MSLink* const link = getLane(laneID)->getLinkTo(getLane(toLaneID));
    if (link == nullptr) {
        throw TraCIException("No connection from lane '" + laneID + "' to lane '" + toLaneID + "'");
    }
    for (const MSLink* foe : link->getFoeLinks()) {
        foeIDs.push_back(foe->getLaneBefore()->getID());
    }
    return foeIDs;
}


std::vector<std::string>
Lane::getInternalFoes(const std::string& laneID) {
    const MSLane* lane = getLane(laneID);
    const std::vector<const MSLane*>* foeLanes;
    std::vector<const MSLane*>::const_iterator it;
    std::vector<std::string> foeIDs;

    if ((lane->isInternal() || lane->isCrossing()) && lane->getLinkCont().size() > 0) {
        MSLink* link = lane->getLinkCont().front();
        foeLanes = &link->getFoeLanes();

        for (it = foeLanes->begin(); foeLanes->end() != it; ++it) {
            foeIDs.push_back((*it)->getID());
        }
    }
    return foeIDs;
}


const std::vector<std::string>
Lane::getPendingVehicles(const std::string& laneID) {
    MSLane* const l = getLane(laneID); // validate laneID
    std::vector<std::string> vehIDs;
    for (const SUMOVehicle* veh : MSNet::getInstance()->getInsertionControl().getPendingVehicles()) {
        if (veh->getLane() == l) {
            vehIDs.push_back(veh->getID());
        }
    }
    return vehIDs;
}


double
Lane::getAngle(const std::string& laneID, double relativePosition) {
    double angle;
    MSLane* lane = getLane(laneID);
    if (relativePosition == libsumo::INVALID_DOUBLE_VALUE) {
        Position start = lane->getShape().front();
        Position end = lane->getShape().back();
        angle = start.angleTo2D(end);
    } else {
        angle = lane->getShape().rotationAtOffset(lane->interpolateLanePosToGeometryPos(relativePosition));
    }

    return GeomHelper::naviDegree(angle);
}


std::string
Lane::getBidiLane(const std::string& laneID) {
    const MSLane* bidi = getLane(laneID)->getBidiLane();
    return bidi == nullptr ? "" : bidi->getID();
}

void
Lane::setAllowed(const std::string& laneID, std::string allowedClass) {
    setAllowed(laneID, std::vector<std::string>({allowedClass}));
}


void
Lane::setAllowed(const std::string& laneID, std::vector<std::string> allowedClasses) {
    MSLane* const l = getLane(laneID);
    l->setPermissions(parseVehicleClasses(allowedClasses), MSLane::CHANGE_PERMISSIONS_PERMANENT);
    l->getEdge().rebuildAllowedLanes(false, true);
}


void
Lane::setDisallowed(const std::string& laneID, std::string disallowedClasses) {
    setDisallowed(laneID, std::vector<std::string>({disallowedClasses}));
}


void
Lane::setDisallowed(const std::string& laneID, std::vector<std::string> disallowedClasses) {
    MSLane* const l = getLane(laneID);
    l->setPermissions(invertPermissions(parseVehicleClasses(disallowedClasses)), MSLane::CHANGE_PERMISSIONS_PERMANENT); // negation yields allowed
    l->getEdge().rebuildAllowedLanes(false, true);
}


void
Lane::setChangePermissions(const std::string& laneID, std::vector<std::string> allowedClasses, const int direction) {
    MSLane* const l = getLane(laneID);
    if (direction == libsumo::LANECHANGE_LEFT) {
        l->setChangeLeft(parseVehicleClasses(allowedClasses));
    } else if (direction == libsumo::LANECHANGE_RIGHT) {
        l->setChangeRight(parseVehicleClasses(allowedClasses));
    } else {
        throw TraCIException("Invalid direction for change permission (must be " + toString(libsumo::LANECHANGE_LEFT) + " or " + toString(libsumo::LANECHANGE_RIGHT));
    }
}


void
Lane::setMaxSpeed(const std::string& laneID, double speed) {
    getLane(laneID)->setMaxSpeed(speed, false, true);
}


void
Lane::setLength(const std::string& laneID, double length) {
    getLane(laneID)->setLength(length);
}


void
Lane::setFriction(const std::string& laneID, double friction) {
    getLane(laneID)->setFrictionCoefficient(friction);
}


std::string
Lane::getParameter(const std::string& laneID, const std::string& param) {
    return getLane(laneID)->getParameter(param, "");
}


LIBSUMO_GET_PARAMETER_WITH_KEY_IMPLEMENTATION(Lane)


void
Lane::setParameter(const std::string& laneID, const std::string& key, const std::string& value) {
    getLane(laneID)->setParameter(key, value);
}


LIBSUMO_SUBSCRIPTION_IMPLEMENTATION(Lane, LANE)


MSLane*
Lane::getLane(const std::string& id) {
    MSLane* const lane = MSLane::dictionary(id);
    if (lane == nullptr) {
        throw TraCIException("Lane '" + id + "' is not known");
    }
    return lane;
}


void
Lane::storeShape(const std::string& id, PositionVector& shape) {
    shape = getLane(id)->getShape();
}


std::shared_ptr<VariableWrapper>
Lane::makeWrapper() {
    return std::make_shared<Helper::SubscriptionWrapper>(handleVariable, mySubscriptionResults, myContextSubscriptionResults);
}


bool
Lane::handleVariable(const std::string& objID, const int variable, VariableWrapper* wrapper, tcpip::Storage* paramData) {
    switch (variable) {
        case TRACI_ID_LIST:
            return wrapper->wrapStringList(objID, variable, getIDList());
        case ID_COUNT:
            return wrapper->wrapInt(objID, variable, getIDCount());
        case LANE_LINK_NUMBER:
            return wrapper->wrapInt(objID, variable, getLinkNumber(objID));
        case LANE_EDGE_ID:
            return wrapper->wrapString(objID, variable, getEdgeID(objID));
        case VAR_LENGTH:
            return wrapper->wrapDouble(objID, variable, getLength(objID));
        case VAR_MAXSPEED:
            return wrapper->wrapDouble(objID, variable, getMaxSpeed(objID));
        case VAR_FRICTION:
            return wrapper->wrapDouble(objID, variable, getFriction(objID));
        case LANE_ALLOWED:
            return wrapper->wrapStringList(objID, variable, getAllowed(objID));
        case LANE_DISALLOWED:
            return wrapper->wrapStringList(objID, variable, getDisallowed(objID));
        case LANE_CHANGES:
            return wrapper->wrapStringList(objID, variable, getChangePermissions(objID, StoHelp::readTypedByte(*paramData)));
        case VAR_CO2EMISSION:
            return wrapper->wrapDouble(objID, variable, getCO2Emission(objID));
        case VAR_COEMISSION:
            return wrapper->wrapDouble(objID, variable, getCOEmission(objID));
        case VAR_HCEMISSION:
            return wrapper->wrapDouble(objID, variable, getHCEmission(objID));
        case VAR_PMXEMISSION:
            return wrapper->wrapDouble(objID, variable, getPMxEmission(objID));
        case VAR_NOXEMISSION:
            return wrapper->wrapDouble(objID, variable, getNOxEmission(objID));
        case VAR_FUELCONSUMPTION:
            return wrapper->wrapDouble(objID, variable, getFuelConsumption(objID));
        case VAR_NOISEEMISSION:
            return wrapper->wrapDouble(objID, variable, getNoiseEmission(objID));
        case VAR_ELECTRICITYCONSUMPTION:
            return wrapper->wrapDouble(objID, variable, getElectricityConsumption(objID));
        case LAST_STEP_VEHICLE_NUMBER:
            return wrapper->wrapInt(objID, variable, getLastStepVehicleNumber(objID));
        case LAST_STEP_MEAN_SPEED:
            return wrapper->wrapDouble(objID, variable, getLastStepMeanSpeed(objID));
        case LAST_STEP_VEHICLE_ID_LIST:
            return wrapper->wrapStringList(objID, variable, getLastStepVehicleIDs(objID));
        case LAST_STEP_OCCUPANCY:
            return wrapper->wrapDouble(objID, variable, getLastStepOccupancy(objID));
        case LAST_STEP_VEHICLE_HALTING_NUMBER:
            return wrapper->wrapInt(objID, variable, getLastStepHaltingNumber(objID));
        case LAST_STEP_LENGTH:
            return wrapper->wrapDouble(objID, variable, getLastStepLength(objID));
        case VAR_WAITING_TIME:
            return wrapper->wrapDouble(objID, variable, getWaitingTime(objID));
        case VAR_CURRENT_TRAVELTIME:
            return wrapper->wrapDouble(objID, variable, getTraveltime(objID));
        case VAR_WIDTH:
            return wrapper->wrapDouble(objID, variable, getWidth(objID));
        case VAR_SHAPE:
            return wrapper->wrapPositionVector(objID, variable, getShape(objID));
        case VAR_PENDING_VEHICLES:
            return wrapper->wrapStringList(objID, variable, getPendingVehicles(objID));
        case VAR_ANGLE:
            return wrapper->wrapDouble(objID, variable, getAngle(objID, StoHelp::readTypedDouble(*paramData)));
        case VAR_BIDI:
            return wrapper->wrapString(objID, variable, getBidiLane(objID));
        case VAR_FOES:
            return wrapper->wrapStringList(objID, variable, getFoes(objID, StoHelp::readTypedString(*paramData)));
        case LANE_LINKS:
            return wrapper->wrapConnectionVector(objID, variable, getLinks(objID));
        case VAR_PARAMETER:
            return wrapper->wrapString(objID, variable, getParameter(objID, StoHelp::readTypedString(*paramData)));
        case VAR_PARAMETER_WITH_KEY:
            return wrapper->wrapStringPair(objID, variable, getParameterWithKey(objID, StoHelp::readTypedString(*paramData)));
        default:
            return false;
    }
}
}


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