internal static TraCICommand GetCommand(string id, byte commandType, byte messageType, List <string> values)
{
var bytes = new List <byte> {
messageType
};
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(id));
if (values != null && values.Count > 0)
{
bytes.Add(TraCIConstants.TYPE_STRINGLIST);
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(values.Count));
foreach (var parameter in values)
{
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(parameter));
}
}
var command = new TraCICommand
{
Identifier = commandType,
Contents = bytes.ToArray()
};
return(command);
}
/// <summary>
/// Tells TraCI to reload the simulation with the given options
/// <remarks>Loading does not work when using multiple clients, currently</remarks>
/// </summary>
/// <param name="options">List of options to pass to SUMO</param>
public void SetOrder(int index)
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_GETVERSION,
Contents = BitConverter.GetBytes(index).Reverse().ToArray()
};
var response = Client.SendMessage(command);
}
/// <summary>
/// Instruct SUMO to stop the simulation and close
/// </summary>
public void Close()
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_CLOSE,
Contents = null
};
// ReSharper disable once UnusedVariable
var response = Client.SendMessage(command);
}
/// <summary>
/// Instruct SUMO to execute a single simulation step
/// Note: the size of the step is set via the relevant .sumcfg file
/// </summary>
/// <param name="targetTime">If this is not 0, SUMO will run until target time is reached</param>
public void SimStep(int targetTime = 0)
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_SIMSTEP,
Contents = TraCIDataConverter.GetTraCIBytesFromInt32(targetTime)
};
// ReSharper disable once UnusedVariable
var response = Client.SendMessage(command);
// TODO: handle response
}
/// <summary>
/// Inserts a completely new program.
/// </summary>
/// <param name="id"></param>
/// <param name="program"></param>
/// <returns></returns>
public TraCIResponse <object> SetCompleteRedYellowGreenDefinition(string id, TrafficLightProgram program)
{
// TODO: move this to TraCICommandHelper.ExecuteSetCommand
var bytes = new List <byte> {
TraCIConstants.TL_COMPLETE_PROGRAM_RYG
}; //messageType (0x2c)
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(id));
bytes.Add(TraCIConstants.TYPE_COMPOUND); //value type compound
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(5 + (program.Phases.Count * 4))); //item number
bytes.Add(TraCIConstants.TYPE_STRING); //value type string
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(program.ProgramId)); //program ID
bytes.Add(TraCIConstants.TYPE_INTEGER); //value type integer
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(0)); //Type (always 0)
bytes.Add(TraCIConstants.TYPE_COMPOUND); //value type compound
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(0)); //Compound Length (always 0!)
bytes.Add(TraCIConstants.TYPE_INTEGER); //value type integer
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(program.PhaseIndex)); //Phase Index
bytes.Add(TraCIConstants.TYPE_INTEGER); //value type integer
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(program.Phases.Count)); //Phase Number
foreach (var p in program.Phases) //Phases
{
bytes.Add(TraCIConstants.TYPE_DOUBLE); //value type integer
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromDouble(p.Duration)); //Duration[ms]
bytes.Add(TraCIConstants.TYPE_DOUBLE); //value type integer
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromDouble(0)); //unused
bytes.Add(TraCIConstants.TYPE_DOUBLE); //value type integer
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromDouble(0)); //unused
bytes.Add(TraCIConstants.TYPE_STRING); //value type string
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(p.Definition)); //State (light/priority-tuple)
}
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_SET_TL_VARIABLE,
Contents = bytes.ToArray()
};
var response = Client.SendMessage(command);
#warning is the try catch necessary?
try
{
return(TraCIDataConverter.ExtractDataFromResponse <object>(response, TraCIConstants.CMD_SET_TL_VARIABLE, TraCIConstants.TL_COMPLETE_PROGRAM_RYG));
}
catch
{
throw;
}
}
/// <summary>
/// Gets an identifying version number as described here: http://sumo.dlr.de/wiki/TraCI/Control-related_commands
/// </summary>
public int GetVersionId()
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_GETVERSION,
Contents = null
};
var response = Client.SendMessage(command);
if (response?.Length == 2)
{
return(BitConverter.ToInt32(response[1].Response.Take(4).Reverse().ToArray(), 0));
}
return(-1);
}
internal static TraCICommand GetCommand(string id, byte commandType, byte messageType)
{
var bytes = new List <byte> {
messageType
};
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(id));
var command = new TraCICommand
{
Identifier = commandType,
Contents = bytes.ToArray()
};
return(command);
}
internal static Tres ExecuteSetCommand <Tres, Tvalue>(TraCIClient client, string id, byte commandType, byte messageType, Tvalue value)
{
TraCICommand command = null;
switch (value)
{
case int i:
command = GetCommand(id, commandType, messageType, i);
break;
case double d:
command = GetCommand(id, commandType, messageType, d);
break;
case string s:
command = GetCommand(id, commandType, messageType, s);
break;
case List <string> los:
command = GetCommand(id, commandType, messageType, los);
break;
default:
{
throw new InvalidCastException($"Type {value.GetType().Name} is not implemented in method TraCICommandHelper.ExecuteSetCommand().");
}
}
if (command != null)
{
var response = client.SendMessage(command);
try
{
return((Tres)TraCIDataConverter.ExtractDataFromResponse(response, commandType, messageType));
}
catch
{
throw;
}
}
else
{
return(default(Tres));
}
}
/// <summary>
/// Gets a user friendly string describing the version of SUMO
/// </summary>
public string GetVersionString()
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_GETVERSION,
Contents = null
};
var response = Client.SendMessage(command);
if (response?.Length == 2)
{
var strlen = response[1].Response.Skip(4).Take(4).Reverse().ToArray();
var idl = BitConverter.ToInt32(strlen, 0);
var ver = Encoding.ASCII.GetString(response[1].Response, 8, idl);
return(ver);
}
return(null);
}
/// <summary>
/// Tells TraCI to reload the simulation with the given options
/// <remarks>Loading does not work when using multiple clients, currently</remarks>
/// </summary>
/// <param name="options">List of options to pass to SUMO</param>
public void Load(List <string> options)
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_LOAD
};
var n = new List <byte>();
n.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(options.Count));
foreach (var opt in options)
{
n.AddRange(TraCIDataConverter.GetTraCIBytesFromInt32(opt.Length));
n.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(opt));
}
command.Contents = n.ToArray();
// ReSharper disable once UnusedVariable
var response = Client.SendMessage(command);
}
internal static byte[] GetMessageBytes(TraCICommand command)
{
return(GetMessagesBytes(new[] { command }));
}
/// <summary>
/// Instruct SUMO to execute a single simulation step
/// Note: the size of the step is set via the relevant .sumcfg file
/// </summary>
/// <param name="targetTime">If this is not 0, SUMO will run until target time is reached</param>
public TraCIResponse <object> SimStep(double targetTime = 0)
{
var command = new TraCICommand
{
Identifier = TraCIConstants.CMD_SIMSTEP,
Contents = TraCIDataConverter.GetTraCIBytesFromDouble(targetTime)
};
var response = Client.SendMessage(command);
var tmp = TraCIDataConverter.ExtractDataFromResponse <object>(response, TraCIConstants.CMD_SIMSTEP);
if (tmp.Content != null)
{
var listOfSubscriptions = tmp.Content as List <TraCISubscriptionResponse>;
foreach (var item in listOfSubscriptions)
{
bool isVariableSubscription = true;
SubscriptionEventArgs eventArgs;
// subscription can only be Variable or Context Subrciption. If it isnt the first then it is the latter
var subscription = item as TraCIVariableSubscriptionResponse;
if (subscription != null)
{
eventArgs = new VariableSubscriptionEventArgs(
item.ObjectId,
item.VariableCount,
subscription.ResponseByVariableCode
);
isVariableSubscription = true;
}
else
{
var i = (item as TraCIContextSubscriptionResponse);
eventArgs = new ContextSubscriptionEventArgs
(
i.ObjectId,
i.VariableSubscriptionByObjectId,
i.ContextDomain,
i.VariableCount,
i.ObjectCount
);
isVariableSubscription = false;
}
eventArgs.Responses = item.Responses;
switch (item.ResponseCode)
{
case TraCIConstants.RESPONSE_SUBSCRIBE_INDUCTIONLOOP_VARIABLE:
Client.OnInductionLoopSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_MULTIENTRYEXIT_VARIABLE:
Client.OnMultiEntryExitSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_TL_VARIABLE:
Client.OnTrafficLightSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_LANE_VARIABLE:
Client.OnLaneSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_VEHICLE_VARIABLE:
Client.OnVehicleSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_VEHICLETYPE_VARIABLE:
Client.OnVehicleTypeSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_ROUTE_VARIABLE:
Client.OnRouteSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_POI_VARIABLE:
Client.OnPOISubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_POLYGON_VARIABLE:
Client.OnPolygonSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_JUNCTION_VARIABLE:
Client.OnJunctionSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_EDGE_VARIABLE:
Client.OnEdgeSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_SIM_VARIABLE:
Client.OnSimulationSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_GUI_VARIABLE:
Client.OnGUISubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_LANEAREA_VARIABLE:
Client.OnLaneAreaSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_PERSON_VARIABLE:
Client.OnPersonSubscription(eventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_INDUCTIONLOOP_CONTEXT:
Client.OnInductionLoopContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_LANE_CONTEXT:
Client.OnLaneContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_VEHICLE_CONTEXT:
Client.OnVehicleContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_POI_CONTEXT:
Client.OnPOIContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_POLYGON_CONTEXT:
Client.OnPolygonContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_JUNCTION_CONTEXT:
Client.OnJunctionContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
case TraCIConstants.RESPONSE_SUBSCRIBE_EDGE_CONTEXT:
Client.OnEdgeContextSubscription(eventArgs as ContextSubscriptionEventArgs);
break;
default:
throw new ArgumentOutOfRangeException();
}
}
}
return(tmp);
}
internal static TraCIResponse <Tres> ExecuteSetCommand <Tres, Tvalue>(TraCIClient client, string id, byte commandType, byte messageType, Tvalue value)
{
TraCICommand command = null;
switch (value)
{
case byte b:
command = GetCommand(id, commandType, messageType, b);
break;
case int i:
command = GetCommand(id, commandType, messageType, i);
break;
case double d:
command = GetCommand(id, commandType, messageType, d);
break;
case string s:
command = GetCommand(id, commandType, messageType, s);
break;
case List <string> los:
command = GetCommand(id, commandType, messageType, los);
break;
case CompoundObject co:
command = GetCommand(id, commandType, messageType, co);
break;
case Color c:
command = GetCommand(id, commandType, messageType, c);
break;
case Position2D p2d:
command = GetCommand(id, commandType, messageType, p2d);
break;
case Polygon p:
command = GetCommand(id, commandType, messageType, p);
break;
case BoundaryBox bb:
command = GetCommand(id, commandType, messageType, bb);
break;
default:
{
throw new InvalidCastException($"Type {value.GetType().Name} is not implemented in method TraCICommandHelper.ExecuteSetCommand().");
}
}
if (command != null)
{
var response = client.SendMessage(command);
try
{
return(TraCIDataConverter.ExtractDataFromResponse <Tres>(response, commandType, messageType));
}
catch
{
throw;
}
}
else
{
return(default);
