void commandSimulationStep(double time)
{ // progress the simulation in SUMO
// reset is used to initalize the global parameters
reset();
// Send command
writeUnsignedByte(1 + 1 + 4); // command length
writeUnsignedByte(CMD_SIMSTEP2); // look up TraCIConstants.h
// writeInt((int)(time*1000)); // TraCI accepts time in milli seconds
writeInt((int)(time)); // TraCI accepts time in milli seconds
sendExact(storageLength(storageStart));
extractCommandStatus(receiveExact(), CMD_SIMSTEP2, description);
if (departed == NULL) {
departed = (string_list*) malloc(sizeof(string_list)); // departed MUST point to HEAD
departed->string = NULL;
departed->next = NULL;
}
if (arrived == NULL) {
arrived = (string_list*) malloc(sizeof(string_list)); // arrived MUST point to HEAD
arrived->string = NULL;
arrived->next = NULL;
}
/* if (departed == NULL)
departed = (String_list)malloc(sizeof(String_list)); // departed MUST point to HEAD
if (arrived == NULL)
arrived = (String_list)malloc(sizeof(String_list)); // departed MUST point to HEAD
*/
processSubscriptions();
}
void commandGetVehicleVariable(char *vehID, int varID)// malloc for vehID and varID depends on speed or position
{
reset();
int domID = CMD_GET_VEHICLE_VARIABLE;//0xa4 specific for get vehicle variable command
// command length
writeUnsignedByte(1 + 1 + 1 + 4 + (int)strlen(vehID));
// command id
writeUnsignedByte(CMD_GET_VEHICLE_VARIABLE);
// variable id
writeUnsignedByte(varID);
// object id
writeString(vehID);
// send request message
sendExact(storageLength(storageStart));
// receive answer message
//receiveExact();
if (extractCommandStatus(receiveExact(), CMD_GET_VEHICLE_VARIABLE, description)){//<---RESPONSE_GET_VEHICLE_VARIABLE
// validate result state
if(tracker == NULL) {
// LOG_E(OMG, " client_traci_OMG::commandGetVehicleVariable(): Tracker is NULL \n");
//printf(" client_traci_OMG::commandGetVehicleVariable(): Tracker is NULL \n");
return;
}
int length = readUnsignedByte();
if(length ==0)
length = readInt();
int cmdId =readUnsignedByte();
if (cmdId != (CMD_GET_VEHICLE_VARIABLE+0x10)) {
//LOG_E(OMG, " Wrong response recieved\n");
//printf(" Wrong response recieved\n");
return;
}
int VariableID = readUnsignedByte();
char* rs = readString();
int valueDataType = readUnsignedByte();
UNUSED_VARIABLE(VariableID);
UNUSED_VARIABLE(rs);
UNUSED_VARIABLE(valueDataType);
UNUSED_VARIABLE(domID);
}
}
void commandClose()
{ reset();
// command length
writeUnsignedByte(0x02);
// command id
writeUnsignedByte(CMD_CLOSE);
// send request message
#ifdef STANDALONE
printf("closing the socket... \n");
#else
LOG_N(OMG,"closing the socket... \n");
#endif
sendExact(storageLength(storageStart));
extractCommandStatus(receiveExact(), CMD_CLOSE, description);
}
void init(int max_sim_time) {
#ifdef STANDALONE
printf(" Initializing TraCI...\n");
#else
LOG_N(OMG, " Initializing TraCI...\n");
#endif
char *objID = " ";
// size_t size = strlen(objID);
int noSubscribedVars = 2;
writeUnsignedByte(0);
writeInt(1 + 4 + 1 + 4 + 4 + 4 + (int) strlen(objID) + 1 + noSubscribedVars);
writeUnsignedByte(CMD_SUBSCRIBE_SIM_VARIABLE); // command id
writeInt(0); // begin time
writeInt(max_sim_time*1000); // end time
writeString(objID); // object id
writeUnsignedByte(noSubscribedVars); // variable number
writeUnsignedByte(VAR_DEPARTED_VEHICLES_IDS);
writeUnsignedByte(VAR_ARRIVED_VEHICLES_IDS);
// send request message
sendExact(storageLength(storageStart));
extractCommandStatus(receiveExact(), CMD_SUBSCRIBE_SIM_VARIABLE, description);
if (departed == NULL) {
departed = (string_list*) malloc(sizeof(string_list)); // departed MUST point to HEAD
departed->string = NULL;
departed->next = NULL;
}
if (arrived == NULL) {
arrived = (string_list*) malloc(sizeof(string_list)); // arrived MUST point to HEAD
arrived->string = NULL;
arrived->next = NULL;
}
processSubscriptions();
reset();
}
cGenericBuffer& operator<< (unsigned char Data) {writeUnsignedByte(Data); return *this;}
// TODO not working for now..need to find a way to get the same info without using CMD_SCENARIO (as not implemented by SUMO)
int commandGetMaxSUMONodesVariable()
{
reset();
int max_car = 0;
// command length
writeUnsignedByte(1 + 1 + 1 + 1 + 4 + 1 + 1 + 4);
// command id
writeUnsignedByte(CMD_SCENARIO);
// flag
writeUnsignedByte(0x00); // GET command for the generic environment-related values
// command id
//writeUnsignedByte(CMD_SCENARIO);
// domain id
writeUnsignedByte(0x01); // vehicle
writeInt(0); // first vehicular domain
// variable id
writeUnsignedByte(DOMVAR_MAXCOUNT); // get maximum number of vehicles
writeUnsignedByte(TYPE_INTEGER); // get maximum number of vehicles
writeInt(max_car); // get maximum number of vehicles
// send request message
sendExact(storageLength(storageStart));
// receive answer message
if (extractCommandStatus(receiveExact(), CMD_SCENARIO, description)){//<---RESPONSE_GET_VEHICLE_VARIABLE
// validate result state
if(tracker == NULL) {
//LOG_E(OMG, " client_traci_OMG::commandGetMaxSUMONodesVariable(): Tracker is NULL \n");
return -1;
}
int res = readUnsignedByte();
int Length = readUnsignedByte(); // to check with Int
int cmdId =readUnsignedByte();
if (cmdId != (CMD_SCENARIO)) {
//LOG_E(OMG, " Wrong response recieved \n");
return -1;
}
int flag = readUnsignedByte();
int dom = readUnsignedByte(); // domain
int domID = readInt(); // domain ID
int VariableID = readUnsignedByte();
int valueDataType = readUnsignedByte();
if (valueDataType == TYPE_INTEGER) {
max_car = readInt();
//LOG_N(OMG, " max Number SUMO nodes is: %f \n", max_car);
}
else {
//LOG_W(OMG, " No Matching Data Type Value \n");
}
UNUSED_VARIABLE(res);
UNUSED_VARIABLE(Length);
UNUSED_VARIABLE(flag);
UNUSED_VARIABLE(dom);
UNUSED_VARIABLE(domID);
UNUSED_VARIABLE(VariableID);
}
return max_car;
}
