client_traci_OMG.c 12.6 KB
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/*******************************************************************************
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    OpenAirInterface
    Copyright(c) 1999 - 2014 Eurecom
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    OpenAirInterface is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
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    OpenAirInterface is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
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    You should have received a copy of the GNU General Public License
    along with OpenAirInterface.The full GNU General Public License is
    included in this distribution in the file called "COPYING". If not,
    see <http://www.gnu.org/licenses/>.
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  Contact Information
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  OpenAirInterface Admin: openair_admin@eurecom.fr
  OpenAirInterface Tech : openair_tech@eurecom.fr
  OpenAirInterface Dev  : openair4g-devel@eurecom.fr

  Address      : Eurecom, Compus SophiaTech 450, route des chappes, 06451 Biot, France.
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*******************************************************************************/

/*! \file client_traci_OMG.c
* \brief The OMG TraCI to send/receive commands from/to  SUMO via socket interfaces.
* \author  S. Uppoor, J. Harri
* \date 2012
* \version 0.1
* \company INRIA, Eurecom
* \email: sandesh.uppor@inria.fr, haerri@eurecom.fr
* \note
* \warning
*/

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/time.h>
#include <string.h>

#include "client_traci_OMG.h"
#include "TraCIConstants.h"

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#define UNUSED_VARIABLE(vARIABLE)   (void)(vARIABLE)

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int handshake(char *hoststr,int portno){
    
   check_endianness(); // check endianness
   int i;

   for(i = 0; i< 10; i++) {
        if ( connection_(hoststr,portno) <0 ) {
           #ifdef STANDALONE  
            printf("connection error...trying again in 3 seconds\n");
          #else
            LOG_E(OMG, " Could not connect to TraCIServer - sleeping before trying again...\n");
         #endif
            sleep(5);
        }
        else {
        #ifdef STANDALONE  
  	  printf(" SUMO now connected to OMG on host address\n");
        #else
          LOG_N(OMG, " SUMO now connected to OMG on host address %s and port %i .\n", hoststr, portno);
	#endif
 	      return 0;  
	}
   }
    #ifdef STANDALONE  
      printf(" SUMO unreachable...giving up...\n"); 
    #else
      LOG_E(OMG, " SUMO unreachable...giving up...\n");
     #endif
    return -1;
}

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) {
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    departed = (string_list*) malloc(sizeof(string_list)); // departed MUST point to HEAD
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    departed->string = NULL;
    departed->next = NULL;
  }
  if (arrived == NULL) {
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    arrived = (string_list*) malloc(sizeof(string_list));  // arrived MUST point to HEAD
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    arrived->string = NULL;
    arrived->next = NULL;
  } 
    
  processSubscriptions();

  reset();
}

void processSubscriptions() {
   int noSubscriptions = readInt();

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   string_list* tmp_departed = departed;
   string_list* tmp_arrived = arrived;
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   int s;
   for (s = 0; s<noSubscriptions; ++s) {
    
      int respStart = readInt();
      int respLength = readUnsignedByte();
      if (respLength == 0)
         respLength = readInt();

     
      int cmdId = readUnsignedByte();
      if (cmdId<0xe0||cmdId>0xef) {  // only responses to subscription to supported types (vehicles, TLC, polygones...) are accepted
         //LOG_W(OMG, " Invalide Subscription response: %d\n",cmdId);
         //printf(" Invalide Subscription response: %d\n",cmdId);
         return;
      }
      char *objID = readString();
      int varNo = readUnsignedByte();
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      UNUSED_VARIABLE(objID);
      UNUSED_VARIABLE(respStart);

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      int i;
      for (i=0; i<varNo; ++i) {
          int varID = readUnsignedByte();
          
          bool ok = readUnsignedByte()==RTYPE_OK;
          int valueDataType = readUnsignedByte();
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          UNUSED_VARIABLE(valueDataType);
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          if (ok&&cmdId==CMD_SUBSCRIBE_SIM_VARIABLE+0x10&&varID==VAR_DEPARTED_VEHICLES_IDS) {
               tmp_departed = readStringList(tmp_departed);
               //printf(" OMG Got departed cars\n");
               continue;
           }
           if (ok&&cmdId==CMD_SUBSCRIBE_SIM_VARIABLE+0x10&&varID==VAR_ARRIVED_VEHICLES_IDS) {
               tmp_arrived = readStringList(tmp_arrived);
  		//printf(" OMG Got arrived cars\n");
               continue;
           }
       }
    }
}

int extractCommandStatus(storage *s, unsigned char commandId, char * description)
{
	 int success=0;

         if(s == NULL) {
           //LOG_E(OMG, " client_traci_OMG::extractCommandStatus():  Tracker is NULL \n");
           //printf(" client_traci_OMG::extractCommandStatus():  Tracker is NULL \n");
           return success=0;
	}

	// validate the the message response from SUMO
	int storageLength_ = storageLength(s);

	// tracker currently points to the begining of the recieved data in the linked list        
        tracker = s;
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//         storage *freeTracker = tracker;   // save it for calling free
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	int commandLength = readUnsignedByte();
        
	// CommandID needs to fit
        int rcvdCommandId = readUnsignedByte();
        if (rcvdCommandId == (int)commandId)
	{
                //printf("%d",rcvdCommandId);
                //LOG_E(OMG, " Server answered to command\n");
		//printf(" Server answered to command\n");
	}
	// Get result and description
	unsigned char result = readUnsignedByte();
	if (result != RTYPE_OK)
	{       
                
                printf(" Server returned error\n");
		return success=0;
		
	}
	
	if (result == RTYPE_OK) {
		// printf(" Server returned success\n");
		success=1;
        }

       	description = readString();
	// print description if needed 

	
        //free actual message content
	//depends on the message which is handled

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        /*   if (commandId != CMD_GET_VEHICLE_VARIABLE)
        freeStorage(freeTracker);*/

        UNUSED_VARIABLE(commandLength);
        UNUSED_VARIABLE(storageLength_);
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	return success;
}


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) {
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    		departed = (string_list*) malloc(sizeof(string_list)); // departed MUST point to HEAD
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    		departed->string = NULL;
    		departed->next = NULL;
  	}
  	if (arrived == NULL) {
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    		arrived = (string_list*) malloc(sizeof(string_list));  // arrived MUST point to HEAD
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    		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 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 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();
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        UNUSED_VARIABLE(VariableID);
        UNUSED_VARIABLE(rs);
        UNUSED_VARIABLE(valueDataType);
        UNUSED_VARIABLE(domID);
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    }
}

// 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"); 
	  }
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      UNUSED_VARIABLE(res);
      UNUSED_VARIABLE(Length);
      UNUSED_VARIABLE(flag);
      UNUSED_VARIABLE(dom);
      UNUSED_VARIABLE(domID);
      UNUSED_VARIABLE(VariableID);
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	}   

    return max_car;
}




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void GetSpeed(node_struct* node, char * sumo_id)
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{
    commandGetVehicleVariable(sumo_id, VAR_SPEED);
    double speed_double = readDouble();
    node->mob->speed = speed_double;
}

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void GetPosition(node_struct* node, char * sumo_id)
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{    
    commandGetVehicleVariable(sumo_id, VAR_POSITION);
    double x_double = readDouble();
    if (x_double < 0.0)
      x_double = 0.0;

   double y_double = readDouble();
    if (y_double < 0.0)
      y_double = 0.0;

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    node->x_pos = x_double;
    node->y_pos = y_double;
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}