//public void Update()
//{
// Readcars();
//}
void ReadCars()
{
Debug.Log("LLAMANDO");
carList.Clear();
/*int simtime = (int)*/
int simtime = ((Integer)(conn.do_job_get(Simulation.getCurrentTime()))).intValue();
carIds = (SumoStringList)conn.do_job_get(Vehicle.getIDList());
foreach (string id in carIds)
{
Debug.Log("id:" + id);
position = (SumoPosition2D)conn.do_job_get(Vehicle.getPosition(id));
car = new Auto(position.x, position.y, Convert.ToInt32(id));
speed = ((java.lang.Double)conn.do_job_get(Vehicle.getSpeed(id))).doubleValue();
angle = ((java.lang.Double)conn.do_job_get(Vehicle.getAngle(id))).doubleValue();
car.setSpeed(speed);
car.setAngle(angle);
carList.Add(car);
}
//printCars(cars);
conn.do_timestep();
}
public static List <string> GetAllowedVehiclesListFromSumoStringList(SumoStringList list)
{
List <string> finalList = new List <string>();
return(finalList);
}
public SumoCommand(Object input1, Object input2, Object input3, Object input)
{
this.cmd = new Command((int)input1);
this.input1 = (int)input1;
this.input2 = (int)input2;
cmd.Content().WriteUnsignedByte((int)input2);
cmd.Content().WriteStringASCII(input3.ToString());
if (input.GetType().Equals(typeof(StringList)))
{
StringList sl = (StringList)input;
cmd.Content().WriteUnsignedByte(Constants.TYPE_STRINGLIST);
cmd.Content().WriteInt(sl.Count());
foreach (string s in sl)
{
cmd.Content().WriteStringASCII(s);
}
}
else if (input.GetType().Equals(typeof(SumoStringList)))
{
SumoStringList sl = (SumoStringList)input;
cmd.Content().WriteUnsignedByte(Constants.TYPE_STRINGLIST);
cmd.Content().WriteInt(sl.getList().Count());
foreach (string s in sl.getList())
{
cmd.Content().WriteStringASCII(s);
}
}
else if (input.GetType().Equals(typeof(SumoTLSLogic)))
{
SumoTLSLogic stl = (SumoTLSLogic)input;
cmd.Content().WriteUnsignedByte(Constants.TYPE_COMPOUND);
cmd.Content().WriteInt(stl.phases.Count());
cmd.Content().WriteUnsignedByte(Constants.TYPE_STRING);
cmd.Content().WriteStringASCII(stl.subID);
cmd.Content().WriteUnsignedByte(Constants.TYPE_INTEGER);
cmd.Content().WriteInt(0);
cmd.Content().WriteUnsignedByte(Constants.TYPE_COMPOUND);
cmd.Content().WriteInt(0);
cmd.Content().WriteUnsignedByte(Constants.TYPE_INTEGER);
cmd.Content().WriteInt(stl.currentPhaseIndex);
cmd.Content().WriteUnsignedByte(Constants.TYPE_INTEGER);
cmd.Content().WriteInt(stl.phases.Count());
foreach (SumoTLSPhase phase in stl.phases)
{
Add_variable(phase);
}
}
else
{
Add_type(input);
Add_variable(input);
}
this.raw = new LinkedList <Object>();
this.raw.AddLast(input1);
this.raw.AddLast(input2);
this.raw.AddLast(input3);
this.raw.AddLast(input);
}
private void updateAllTrafficLights()
{
SumoStringList trafficLights = (SumoStringList)conn.Do_job_get(Trafficlights.GetIDList());
foreach (string s in trafficLights.getList())
{
//string phase = (string) conn.Do_job_get(Trafficlights.GetProgram(s));
string phase = (string)conn.Do_job_get(Trafficlights.GetRedYellowGreenState(s));
// TODO: ONLY WORKS FOR 3- or 4- lanes intersections!!!!!!!!!
int increment = (phase.Length == 6 ? 2 : 3);
for (int i = 0; i < phase.Length; i += increment)
{
switch (phase.Substring(i, 1))
{
case "G":
case "g":
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen").gameObject.SetActive(true);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot1").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb1").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen1").gameObject.SetActive(true);
break;
case "Y":
case "y":
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb").gameObject.SetActive(true);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot1").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb1").gameObject.SetActive(true);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen1").gameObject.SetActive(false);
break;
case "r":
case "R":
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot").gameObject.SetActive(true);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot1").gameObject.SetActive(true);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb1").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen1").gameObject.SetActive(false);
break;
case "0":
case "o":
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/rot1").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gelb1").gameObject.SetActive(false);
trafficLights3D[s + i / increment].transform.Find("Traffic_light/gruen1").gameObject.SetActive(false);
break;
}
}
}
}
public virtual SumoStringList GetStringList(System.Object obj)
{
SumoStringList output = new SumoStringList();
try
{
if (obj.GetType().Equals(typeof(SumoStringList)))
{
output = (SumoStringList)obj;
}
}
catch (Exception ex)
{
MonoBehaviour.print(ex.GetBaseException());
}
return(output);
}
void ReadCoches()
{
Debug.Log("LLAMANDO");
coches.Clear();
int simtime = (int)conn.do_job_get(Simulation.getCurrentTime());
carIds = (SumoStringList)conn.do_job_get(Vehicle.getIDList());
foreach (string id in carIds)
{
Debug.Log(id + " ");
position = (SumoPosition2D)conn.do_job_get(Vehicle.getPosition(id));
coche = new Auto(position.x, position.y, Convert.ToInt32(id));
speed = (Double)conn.do_job_get(Vehicle.getSpeed(id));
coche.setSpeed(speed);
coches.Add(coche);
}
pintarCoches(coches);
conn.do_timestep();
}
bool ReadVehicles()
{
try
{
RemoveVehicles();
SumoStringList carIds = (SumoStringList)conn.do_job_get(de.tudresden.sumo.cmd.Vehicle.getIDList());
foreach (string id in carIds)
{
conn.do_timestep();
// create new car
GameObject newVehicle = Instantiate(carPrefab);
// assign id
newVehicle.GetComponent <VehicleContainer>().setId(id);
// get position
SumoPosition2D position = (SumoPosition2D)conn.do_job_get(de.tudresden.sumo.cmd.Vehicle.getPosition(id));
// assign position
newVehicle.transform.position = new Vector3((float)position.x, CarHeight, (float)position.y);
// get speed
double speed = double.Parse(conn.do_job_get(de.tudresden.sumo.cmd.Vehicle.getSpeed(id)).ToString());
// assign speed
newVehicle.GetComponent <VehicleContainer>().setSpeed(speed);
if (id.Contains("ev"))
{
// assign red color to EV
newVehicle.GetComponent <Renderer>().material.color = Color.red;
}
newVehicle.transform.parent = vehicleParent.transform;
// store vehicle
vehicles.Add(newVehicle);
}
}
catch (Exception e)
{
Debug.Log("Read Vehicles Exception : " + e.Message + " -- " + e.StackTrace);
return(false);
}
return(true);
}
/*
* ReadLanes
*
* Pseudo:
*
* conn.do_job_get(LaneIDList)
* linkList = new List<Link>()
* foreach(id in IDlist)
* vertices = conn.do_job_get(laneID.Vertices)
* width = conn.do_job_get(laneID.Width)
* allowed = conn.do_job_get(laneID.AllowedVehicles)
* type = switch(allowed)
* link = new Link(vertices,width,id,type)
* linkList.add(link)
* printLanes()
*
* */
void ReadAndPrintLanes()
{
try
{
lanes.Clear();
SumoStringList laneIDs = (SumoStringList)conn.do_job_get(Lane.getIDList());
foreach (string id in laneIDs)
{
// Get lane details
var laneShape = conn.do_job_get(Lane.getShape(id));
List <Vector3> laneShapeList = HelperMethods.GetPoisitonsListFromSumoStringList(laneShape.ToString(), 0);
double length = double.Parse(conn.do_job_get(Lane.getLength(id)).ToString());
double width = double.Parse(conn.do_job_get(Lane.getWidth(id)).ToString());
var allowedVehicles = (SumoStringList)conn.do_job_get(Lane.getAllowed(id));
List <string> allowedVehicleList = new List <string>();
if (allowedVehicles.size() > 0)
{
// do allowed vehicle parse here
// future use -- method not implemented
allowedVehicleList = HelperMethods.GetAllowedVehiclesListFromSumoStringList(allowedVehicles);
}
GameObject lane = DrawLane(laneShapeList[0], laneShapeList[1], (float)width);
lane.AddComponent <LaneContainer>();
lane.GetComponent <LaneContainer>().SetLaneProperties(id, laneShapeList[0], laneShapeList[1], length, width, allowedVehicleList);
lane.transform.parent = laneParent.transform;
lanes.Add(lane);
}
}
catch (Exception e) {
Debug.Log("Read Lanes Exception : " + e.Message + " -- " + e.StackTrace);
return;
}
}
public static SumoCommand SetRoute(string vehID, SumoStringList edgeList)
{
Object[] array = new Object[] { edgeList };
return(new SumoCommand(Constants.CMD_SET_VEHICLE_VARIABLE, Constants.VAR_ROUTE, vehID, array));
}
// Update is called once per frame
void Update()
{
watchdog.Start();
// Simulation step with realtime check
if ((unity3DstartTime.ElapsedMilliseconds > stepLengthSeconds * 1000 * simStep) && (simStep < maxSimSteps))
{
// Update egoVehicle coordinates for forwarding them to SUMO
double xEgo = 0;;
double yEgo = 0;;
double angleEgo = 0;;
if (enableEgoVehicle)
{
egoVehicle = GameObject.Find("egoVehicle_Peugot_WASD(Clone)");
if (egoVehicle == null)
{
egoVehicle = GameObject.Find("egoVehicle_Peugot(Clone)");
}
xEgo = egoVehicle.transform.position.x;
yEgo = egoVehicle.transform.position.z;
angleEgo = egoVehicle.transform.rotation.eulerAngles.y;
}
// Only do next time step if it's necessary (not to fast)
conn.Do_timestep();
simStep++;
if (enableEgoVehicle)
{
// Update egoVehicle
conn.Do_job_set(Vehicle.MoveToVTD("egoVehicle", "0", 0, xEgo, yEgo, angleEgo, 2));
}
// Before updating all vehicles store the vehicles from last step for steering angle approximation (and prob. other interpolations)
lastStepVehicles = vehicles.ToDictionary(i => i.Key, i => i.Value);
// Get IDs of all vehicles in Simulation
SumoStringList vehicleIDs = (SumoStringList)conn.Do_job_get(Vehicle.GetIDList());
vehicles.Clear();
foreach (string id in vehicleIDs.getList())
{
SumoPosition3D position = (SumoPosition3D)conn.Do_job_get(Vehicle.GetPosition3D(id));
double yawAngle = (double)conn.Do_job_get(Vehicle.GetAngle(id));
vehicles.Add(id, new SUMOCombinedPositionOrientation(id, position, yawAngle));
}
// Update all 3D vehicle models
update3DVehiclesInScene();
// Update all traffic lights every refreshTimeTrafficLightsMS miliseconds
if (trafficLightsUpdate.ElapsedMilliseconds > refreshTimeTrafficLightsMS)
{
updateAllTrafficLights();
trafficLightsUpdate.Reset();
trafficLightsUpdate.Start();
}
}
// Watchdog
long stopTime = watchdog.ElapsedMilliseconds;
if (stopTime > stepLengthSeconds * 1000)
{
watchDogCount++;
print("Warning: Stepwidth of " + stepLengthSeconds * 1000 + "ms is too short for calculation loop, needed " + stopTime +
"ms, Exceeded " + watchDogCount + " times, Current total offset: " + (unity3DstartTime.ElapsedMilliseconds - 1000 * simStep * stepLengthSeconds + stopTime) + " ms");
}
watchdog.Reset();
}
public static SumoCommand SetDisallowed(string laneID, SumoStringList disallowedClasses)
{
return(new SumoCommand(Constants.CMD_SET_LANE_VARIABLE, Constants.LANE_DISALLOWED, laneID, disallowedClasses));
}
public static SumoCommand setDisallowed(String laneID, SumoStringList paramSumoStringList)
{
return(new SumoCommand(Convert.ToInt32(195), Convert.ToInt32(53), laneID, paramSumoStringList));
}
public static SumoCommand add(String routeID, SumoStringList edges)
{
return(new SumoCommand(Convert.ToInt32(198), Convert.ToInt32(128), routeID, edges));
}
public SumoCommand(Object input1, Object input2, Object input3, Object[] array)
{
this.cmd = new Command((int)input1);
this.input1 = (int)input1;
this.input2 = (int)input2;
cmd.Content().WriteUnsignedByte((int)input2);
cmd.Content().WriteStringASCII(input3.ToString());
if ((int)input2 == Constants.VAR_COLOR)
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_COLOR);
for (int i = 0; i < array.Length; i++)
{
Add_variable(array[i]);
}
}
else if ((int)input2 == Constants.VAR_ROUTE)
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_STRINGLIST);
SumoStringList sl = (SumoStringList)array[0];
cmd.Content().WriteInt(sl.getList().Count());
foreach (string s in sl.getList())
{
cmd.Content().WriteStringASCII(s);
}
}
else if ((int)input2 == Constants.CMD_REROUTE_EFFORT || (int)input2 == Constants.CMD_REROUTE_TRAVELTIME || (int)input2 == Constants.CMD_RESUME)
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_COMPOUND);
cmd.Content().WriteInt(0);
}
else if ((int)input2 == Constants.VAR_VIEW_BOUNDARY)
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_BOUNDINGBOX);
for (int i = 0; i < array.Length; i++)
{
Add_variable(array[i]);
}
}
else if ((int)input2 == Constants.VAR_VIEW_OFFSET)
{
cmd.Content().WriteUnsignedByte(Constants.POSITION_2D);
for (int i = 0; i < array.Length; i++)
{
Add_variable(array[i]);
}
}
else if ((int)input1 == Constants.CMD_SET_POLYGON_VARIABLE && (int)input2 == Constants.ADD)
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_COMPOUND);
cmd.Content().WriteInt(5);
Add_type(array[3]);
Add_variable(array[3]);
Add_type(array[1]);
Add_variable(array[1]);
Add_type(array[2]);
Add_variable(array[2]);
Add_type(array[4]);
Add_variable(array[4]);
Add_type(array[0]);
Add_variable(array[0]);
}
else if ((int)input1 == Constants.CMD_SET_POI_VARIABLE && (int)input2 == Constants.VAR_POSITION)
{
cmd.Content().WriteUnsignedByte(Constants.POSITION_2D);
Add_variable(array[0]);
Add_variable(array[1]);
}
else if ((int)input1 == Constants.CMD_SET_POI_VARIABLE && (int)input2 == Constants.ADD)
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_COMPOUND);
cmd.Content().WriteInt(4);
Add_type(array[3]);
Add_variable(array[3]);
Add_type(array[2]);
Add_variable(array[2]);
Add_type(array[4]);
Add_variable(array[4]);
cmd.Content().WriteUnsignedByte(Constants.POSITION_2D);
Add_variable(array[0]);
Add_variable(array[1]);
}
else
{
cmd.Content().WriteUnsignedByte(Constants.TYPE_COMPOUND);
cmd.Content().WriteInt(array.Length);
for (int i = 0; i < array.Length; i++)
{
Add_type(array[i]);
Add_variable(array[i]);
}
}
this.raw = new LinkedList <Object>();
this.raw.AddLast(input1);
this.raw.AddLast(input2);
this.raw.AddLast(input3);
this.raw.AddLast(array);
}
private void Add_variable(Object input)
{
if (input.GetType().Equals(typeof(int)))
{
this.cmd.Content().WriteInt((int)input);
}
else if (input.GetType().Equals(typeof(string)))
{
this.cmd.Content().WriteStringASCII((string)input);
}
else if (input.GetType().Equals(typeof(Double)))
{
this.cmd.Content().WriteDouble((Double)input);
}
else if (input.GetType().Equals(typeof(Byte)))
{
this.cmd.Content().WriteByte((Byte)input);
}
else if (input.GetType().Equals(typeof(bool)))
{
bool b = (bool)input;
cmd.Content().WriteUnsignedByte(b ? 1 : 0);
}
else if (input.GetType().Equals(typeof(SumoColor)))
{
SumoColor sc = (SumoColor)input;
this.cmd.Content().WriteByte(sc.r);
this.cmd.Content().WriteByte(sc.g);
this.cmd.Content().WriteByte(sc.b);
this.cmd.Content().WriteByte(sc.a);
}
else if (input.GetType().Equals(typeof(SumoGeometry)))
{
SumoGeometry sg = (SumoGeometry)input;
cmd.Content().WriteUnsignedByte(sg.coords.Count());
foreach (SumoPosition2D pos in sg.coords)
{
cmd.Content().WriteDouble(pos.x);
cmd.Content().WriteDouble(pos.y);
}
}
else if (input.GetType().Equals(typeof(SumoPosition2D)))
{
SumoPosition2D pos = (SumoPosition2D)input;
cmd.Content().WriteDouble(pos.x);
cmd.Content().WriteDouble(pos.y);
}
else if (input.GetType().Equals(typeof(SumoTLSPhase)))
{
SumoTLSPhase stp = (SumoTLSPhase)input;
this.cmd.Content().WriteUnsignedByte(Constants.TYPE_INTEGER);
cmd.Content().WriteInt(stp.duration);
this.cmd.Content().WriteUnsignedByte(Constants.TYPE_INTEGER);
cmd.Content().WriteInt(stp.duration1);
this.cmd.Content().WriteUnsignedByte(Constants.TYPE_INTEGER);
cmd.Content().WriteInt(stp.duration2);
this.cmd.Content().WriteUnsignedByte(Constants.TYPE_STRING);
cmd.Content().WriteStringASCII(stp.phasedef);
}
else if (input.GetType().Equals(typeof(SumoStringList)))
{
SumoStringList sl = (SumoStringList)input;
cmd.Content().WriteInt(sl.getList().Count());
foreach (string s in sl.getList())
{
cmd.Content().WriteStringASCII(s);
}
}
}
public static SumoCommand setShape(String polyID, SumoStringList shape)
{
return(new SumoCommand(Convert.ToInt32(200), Convert.ToInt32(78), polyID, shape));
}
public static SumoCommand Add(string routeID, SumoStringList edges)
{
return(new SumoCommand(Constants.CMD_SET_ROUTE_VARIABLE, Constants.ADD, routeID, edges));
}
public /*synchronized*/ Object do_job_get(SumoCommand sc)
{
Object localObject1 = null;
ResponseContainer localResponseContainer = queryAndVerifySingle(sc.cmd);
Command localCommand = localResponseContainer.getResponse();
verifyGetVarResponse(localCommand, sc.response, sc.input2, sc.input3);
verify("", Convert.ToInt32(sc.output_type), Convert.ToInt32(localCommand.Content().readUnsignedByte()));
if (sc.output_type == 9)
{
localObject1 = Convert.ToInt32(localCommand.Content().readInt());
}
else if (sc.output_type == 11)
{
localObject1 = Convert.ToDouble(localCommand.Content().readDouble());
}
else if (sc.output_type == 12)
{
localObject1 = localCommand.Content().readStringUTF8();
}
else
{
double d1;
double d3;
if (sc.output_type == 1)
{
d1 = localCommand.Content().readDouble();
d3 = localCommand.Content().readDouble();
localObject1 = new SumoPosition2D(d1, d3);
}
else
{
double d6;
if (sc.output_type == 3)
{
d1 = localCommand.Content().readDouble();
d3 = localCommand.Content().readDouble();
d6 = localCommand.Content().readDouble();
localObject1 = new SumoPosition3D(d1, d3, d6);
}
else if (sc.output_type == 14)
{
SumoStringList localSumoStringList = new SumoStringList();
int k = localCommand.Content().readInt();
for (int i1 = 0; i1 < k; i1++)
{
localSumoStringList.add(localCommand.Content().readStringASCII());
}
localObject1 = localSumoStringList;
}
else if (sc.output_type == 5)
{
double d2 = localCommand.Content().readDouble();
double d4 = localCommand.Content().readDouble();
d6 = localCommand.Content().readDouble();
double d8 = localCommand.Content().readDouble();
localObject1 = new SumoBoundingBox(d2, d4, d6, d8);
}
else
{
Object localObject3;
if (sc.input2 == 181)
{
int i = localCommand.Content().readByte();
localObject3 = new SumoStopFlags((byte)i);
localObject1 = localObject3;
if (sc.info.Equals("isStopped"))
{
localObject1 = Convert.ToBoolean(((SumoStopFlags)localObject3).stopped);
}
if (sc.info.Equals("isStoppedTriggered"))
{
localObject1 = Convert.ToBoolean(((SumoStopFlags)localObject3).triggered);
}
if (sc.info.Equals("isAtContainerStop"))
{
localObject1 = Convert.ToBoolean(((SumoStopFlags)localObject3).isContainerStop);
}
if (sc.info.Equals("isStoppedParking"))
{
localObject1 = Convert.ToBoolean(((SumoStopFlags)localObject3).getID() == 12);
}
if (sc.info.Equals("isAtBusStop"))
{
localObject1 = Convert.ToBoolean(((SumoStopFlags)localObject3).isBusStop);
}
}
else
{
int i3;
if (sc.output_type == 15)
{
Object localObject2 = null;
int i2;
int i7;
int i8;
Object localObject4;
if (sc.input2 == 39)
{
localObject3 = new SumoLinkList();
localCommand.Content().readUnsignedByte();
localCommand.Content().readInt();
i2 = localCommand.Content().readInt();
localObject2 = new StringList[i2];
for (int i4 = 0; i4 < i2; i4++)
{
localCommand.Content().readUnsignedByte();
i7 = localCommand.Content().readInt();
for (i8 = 0; i8 < i7; i8++)
{
localCommand.Content().readUnsignedByte();
localCommand.Content().readInt();
String str4 = localCommand.Content().readStringASCII();
localObject4 = localCommand.Content().readStringASCII();
String str5 = localCommand.Content().readStringASCII();
((SumoLinkList)localObject3).add(new SumoLink(str4, (String)localObject4, str5));
}
}
localObject1 = localObject3;
}
else
{
int m;
int i9;
int i10;
if (sc.input2 == 43)
{
localCommand.Content().readUnsignedByte();
localCommand.Content().readInt();
m = localCommand.Content().readInt();
for (i2 = 0; i2 < m; i2++)
{
localCommand.Content().readUnsignedByte();
String str1 = localCommand.Content().readStringASCII();
localCommand.Content().readUnsignedByte();
i7 = localCommand.Content().readInt();
localCommand.Content().readUnsignedByte();
i8 = localCommand.Content().readInt();
localCommand.Content().readUnsignedByte();
i9 = localCommand.Content().readInt();
localObject4 = new SumoTLSLogic(str1, i7, i8, i9);
localCommand.Content().readUnsignedByte();
i10 = localCommand.Content().readInt();
for (int i11 = 0; i11 < i10; i11++)
{
localCommand.Content().readUnsignedByte();
int i12 = localCommand.Content().readInt();
localCommand.Content().readUnsignedByte();
int i13 = localCommand.Content().readInt();
localCommand.Content().readUnsignedByte();
int i14 = localCommand.Content().readInt();
localCommand.Content().readUnsignedByte();
String str8 = localCommand.Content().readStringASCII();
((SumoTLSLogic)localObject4).add(new SumoTLSPhase(i12, i13, i14, str8));
}
localObject1 = localObject4;
}
}
else
{
int i5;
if (sc.input2 == 51)
{
localCommand.Content().readUnsignedByte();
localCommand.Content().readInt();
m = localCommand.Content().readInt();
SumoLinkList localSumoLinkList = new SumoLinkList();
for (i5 = 0; i5 < m; i5++)
{
localCommand.Content().readUnsignedByte();
String str2 = localCommand.Content().readStringASCII();
localCommand.Content().readUnsignedByte();
String str3 = localCommand.Content().readStringASCII();
localCommand.Content().readUnsignedByte();
i9 = (byte)localCommand.Content().readUnsignedByte();
localCommand.Content().readUnsignedByte();
byte b = (byte)localCommand.Content().readUnsignedByte();
localCommand.Content().readUnsignedByte();
i10 = (byte)localCommand.Content().readUnsignedByte();
localCommand.Content().readUnsignedByte();
String str6 = localCommand.Content().readStringASCII();
localCommand.Content().readUnsignedByte();
String str7 = localCommand.Content().readStringASCII();
localCommand.Content().readUnsignedByte();
double d9 = localCommand.Content().readDouble();
localSumoLinkList.add(new SumoLink(str2, str3, (byte)i9, b, (byte)i10, d9, str6, str7)); //CUIDADO
}
localObject1 = localSumoLinkList;
}
else
{
m = localCommand.Content().readInt();
Object[] localObject5 = new Object[m];
for (i3 = 0; i3 < m; i3++)
{
i5 = localCommand.Content().readUnsignedByte();
localObject5[i3] = get_value(i5, localCommand);
}
localObject1 = localObject5;
}
}
}
}
else
{
int j;
if (sc.output_type == 6)
{
j = localCommand.Content().readUnsignedByte();
SumoGeometry localSumoGeometry = new SumoGeometry();
for (i3 = 0; i3 < j; i3++)
{
double d5 = Convert.ToDouble((Double)get_value(11, localCommand));
double d7 = Convert.ToDouble((Double)get_value(11, localCommand));
localSumoGeometry.add(new SumoPosition2D(d5, d7));
}
localObject1 = localSumoGeometry;
}
else if (sc.output_type == 17)
{
j = localCommand.Content().readUnsignedByte();
int n = localCommand.Content().readUnsignedByte();
i3 = localCommand.Content().readUnsignedByte();
int i6 = localCommand.Content().readUnsignedByte();
localObject1 = new SumoColor(j, n, i3, i6);
}
else if (sc.output_type == 7)
{
localObject1 = Convert.ToInt16(localCommand.Content().readUnsignedByte());
}
}
}
}
}
}
return(localObject1);
}
public virtual Object Do_job_get(SumoCommand sc)
{
lock (this)
{
Object output = null;
ResponseContainer rc = QueryAndVerifySingle(sc.cmd);
Command resp = rc.GetResponse();
VerifyGetVarResponse(resp, sc.response, sc.input2, sc.input3);
Verify("", sc.output_type, (int)resp.Content().ReadUnsignedByte());
if (sc.output_type == Constants.TYPE_INTEGER)
{
output = resp.Content().ReadInt();
}
else if (sc.output_type == Constants.TYPE_DOUBLE)
{
output = resp.Content().ReadDouble();
}
else if (sc.output_type == Constants.TYPE_STRING)
{
output = resp.Content().ReadStringUTF8();
}
else if (sc.output_type == Constants.POSITION_2D)
{
double x = resp.Content().ReadDouble();
double y = resp.Content().ReadDouble();
output = new SumoPosition2D(x, y);
}
else if (sc.output_type == Constants.POSITION_3D)
{
double x = resp.Content().ReadDouble();
double y = resp.Content().ReadDouble();
double z = resp.Content().ReadDouble();
output = new SumoPosition3D(x, y, z);
}
else if (sc.output_type == Constants.TYPE_STRINGLIST)
{
SumoStringList ssl = new SumoStringList();
int laenge = resp.Content().ReadInt();
for (int i = 0; i < laenge; i++)
{
ssl.Add(resp.Content().ReadStringASCII());
}
output = ssl;
}
else if (sc.output_type == Constants.TYPE_BOUNDINGBOX)
{
double min_x = resp.Content().ReadDouble();
double min_y = resp.Content().ReadDouble();
double max_x = resp.Content().ReadDouble();
double max_y = resp.Content().ReadDouble();
output = new SumoBoundingBox(min_x, min_y, max_x, max_y);
}
else if (sc.output_type == Constants.TYPE_COMPOUND)
{
Object[] obj = null;
if (sc.input2 == Constants.TL_CONTROLLED_LINKS)
{
SumoLinkList sll = new SumoLinkList();
resp.Content().ReadUnsignedByte();
resp.Content().ReadInt();
int laenge = resp.Content().ReadInt();
obj = new StringList[laenge];
for (int i = 0; i < laenge; i++)
{
resp.Content().ReadUnsignedByte();
int anzahl = resp.Content().ReadInt();
for (int i1 = 0; i1 < anzahl; i1++)
{
resp.Content().ReadUnsignedByte();
resp.Content().ReadInt();
string from = resp.Content().ReadStringASCII();
string to = resp.Content().ReadStringASCII();
string over = resp.Content().ReadStringASCII();
sll.Add(new SumoLink(from, to, over));
}
}
output = sll;
}
else if (sc.input2 == Constants.TL_COMPLETE_DEFINITION_RYG)
{
resp.Content().ReadUnsignedByte();
resp.Content().ReadInt();
int length = resp.Content().ReadInt();
for (int i = 0; i < length; i++)
{
resp.Content().ReadUnsignedByte();
string subID = resp.Content().ReadStringASCII();
resp.Content().ReadUnsignedByte();
int type = resp.Content().ReadInt();
resp.Content().ReadUnsignedByte();
int subParameter = resp.Content().ReadInt();
resp.Content().ReadUnsignedByte();
int currentPhaseIndex = resp.Content().ReadInt();
SumoTLSLogic stl = new SumoTLSLogic(subID, type, subParameter, currentPhaseIndex);
resp.Content().ReadUnsignedByte();
int nbPhases = resp.Content().ReadInt();
for (int i1 = 0; i1 < nbPhases; i1++)
{
resp.Content().ReadUnsignedByte();
int duration = resp.Content().ReadInt();
resp.Content().ReadUnsignedByte();
int duration1 = resp.Content().ReadInt();
resp.Content().ReadUnsignedByte();
int duration2 = resp.Content().ReadInt();
resp.Content().ReadUnsignedByte();
string phaseDef = resp.Content().ReadStringASCII();
stl.Add(new SumoTLSPhase(duration, duration1, duration2, phaseDef));
}
output = stl;
}
}
else if (sc.input2 == Constants.LANE_LINKS)
{
resp.Content().ReadUnsignedByte();
resp.Content().ReadInt();
int length = resp.Content().ReadInt();
SumoLinkList links = new SumoLinkList();
for (int i = 0; i < length; i++)
{
resp.Content().ReadUnsignedByte();
string notInternalLane = resp.Content().ReadStringASCII();
resp.Content().ReadUnsignedByte();
string internalLane = resp.Content().ReadStringASCII();
resp.Content().ReadUnsignedByte();
byte hasPriority = (byte)resp.Content().ReadUnsignedByte();
resp.Content().ReadUnsignedByte();
byte isOpened = (byte)resp.Content().ReadUnsignedByte();
resp.Content().ReadUnsignedByte();
byte hasFoes = (byte)resp.Content().ReadUnsignedByte();
resp.Content().ReadUnsignedByte();
string state = resp.Content().ReadStringASCII();
resp.Content().ReadUnsignedByte();
string direction = resp.Content().ReadStringASCII();
resp.Content().ReadUnsignedByte();
double laneLength = resp.Content().ReadDouble();
links.Add(new SumoLink(notInternalLane, internalLane, hasPriority, isOpened, hasFoes, laneLength, state, direction));
}
output = links;
}
else
{
int laenge = resp.Content().ReadInt();
obj = new Object[laenge];
for (int i = 0; i < laenge; i++)
{
int k = resp.Content().ReadUnsignedByte();
obj[i] = this.Get_value(k, resp);
}
output = obj;
}
}
else if (sc.output_type == Constants.TYPE_POLYGON)
{
int laenge = resp.Content().ReadUnsignedByte();
SumoGeometry sg = new SumoGeometry();
for (int i = 0; i < laenge; i++)
{
double x = (Double)this.Get_value(Constants.TYPE_DOUBLE, resp);
double y = (Double)this.Get_value(Constants.TYPE_DOUBLE, resp);
sg.Add(new SumoPosition2D(x, y));
}
output = sg;
}
else if (sc.output_type == Constants.TYPE_COLOR)
{
int r = resp.Content().ReadUnsignedByte();
int g = resp.Content().ReadUnsignedByte();
int b = resp.Content().ReadUnsignedByte();
int a = resp.Content().ReadUnsignedByte();
output = new SumoColor(r, g, b, a);
}
else if (sc.output_type == Constants.TYPE_UBYTE)
{
output = resp.Content().ReadUnsignedByte();
}
return(output);
}
}
public static SumoCommand SetShape(string polygonID, SumoStringList shape)
{
return(new SumoCommand(Constants.CMD_SET_POLYGON_VARIABLE, Constants.VAR_SHAPE, polygonID, shape));
}
// Use this for initialization
void Start()
{
// Init Colors
colors = new List <Color> {
new Color(153f / 255f, 0f, 0f),
new Color(51f / 255f, 102f / 255f, 0f),
new Color(0f, 102f / 255f, 204f / 255f),
new Color(1f, 1f, 1f),
new Color(0f, 0f, 0f),
new Color(77f / 255f, 77f / 255f, 77f / 255f),
new Color(97f / 255f, 83f / 255f, 63f / 255f),
new Color(1f, 1f, 102f / 255f),
new Color(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f)),
new Color(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f)),
new Color(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f)),
new Color(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f))
};
// Read paths from text files
string sumoBinPath;
if (sumoGUIEnabled)
{
sumoBinPath = System.IO.File.ReadAllText(Application.dataPath + "\\Resources\\sumoBinPath.dat") + "\\sumo-gui.exe";
}
else
{
sumoBinPath = System.IO.File.ReadAllText(Application.dataPath + "\\Resources\\sumoBinPath.dat") + "\\sumo.exe";
}
string mapNet = (System.IO.File.ReadAllText(Application.dataPath + "\\Resources\\sumoFilesPath.dat") + "\\map.net.xml").Replace("/", "\\");
string routeNet = (System.IO.File.ReadAllText(Application.dataPath + "\\Resources\\sumoFilesPath.dat") + "\\map.rou.xml").Replace("/", "\\");
// Other vehicles
vehiclesInScene = new List <GameObject>();
vehicles = new Dictionary <string, SUMOCombinedPositionOrientation>();
vehicles3D = new Dictionary <string, GameObject>();
conn = new SumoTraciConnection(sumoBinPath, mapNet, routeNet);
conn.AddOption("step-length", stepLengthSeconds + "");
conn.AddOption("start", ""); // start sumo immediately
conn.AddOption("quit-on-end", ""); // stop sumo immediately after unity3D stopped
// start Traci Server
conn.RunServer(remoteIpAddress, Convert.ToInt32(this.remotePort));
if (enableEgoVehicle)
{
// Insert ego vehicle
// Get random route for being able to insert the ego vehicle (A new vehicle must have a route assigned)
SumoStringList routes = (SumoStringList)conn.Do_job_get(Route.GetIDList());
conn.Do_job_set(Vehicle.Add("egoVehicle", "DEFAULT_VEHTYPE", routes.Get(0), 0, 0, 0, (byte)0));
conn.Do_job_set(Vehicle.SetColor("egoVehicle", new SumoColor(127, 0, 0, 127)));
}
// Find all traffic lights
trafficLights3D = new Dictionary <string, GameObject>();
SumoStringList trafficLights = (SumoStringList)conn.Do_job_get(Trafficlights.GetIDList());
foreach (string s in trafficLights.getList())
{
var objects = Resources.FindObjectsOfTypeAll <GameObject>().Where(obj => obj.name.Equals("TrafficLight_" + s));
foreach (GameObject g in objects)
{
trafficLights3D.Add(s + g.transform.Find("index").GetChild(0).name, g);
}
}
// Timer for Realtime-Simulation
unity3DstartTime = Stopwatch.StartNew();
// Timer for traffic lights update (No need to do this every sim step)
trafficLightsUpdate = Stopwatch.StartNew();
// Timer for watchdog
watchdog = new Stopwatch();
}
public SumoCommand(Object commandID, Object paramObject2, Object paramObject3, Object[] array)
{
this.cmd = new Command((Convert.ToInt32(commandID)));
this.input1 = Convert.ToInt32(commandID);
this.input2 = Convert.ToInt32(paramObject2);
this.cmd.Content().writeUnsignedByte((Convert.ToInt32(paramObject2)));
this.cmd.Content().writeStringASCII(Convert.ToString(paramObject3));
if (Convert.ToInt32(paramObject2) == 69)
{
this.cmd.Content().writeUnsignedByte(17);
for (int i = 0; i < array.Length; i++)
{
add_variable(array[i]);
}
}
else if (Convert.ToInt32(paramObject2) == 87)
{
this.cmd.Content().writeUnsignedByte(14);
SumoStringList localSumoStringList = (SumoStringList)array[0];
this.cmd.Content().writeInt(localSumoStringList.Count);
IEnumerator <String> localIterator = localSumoStringList.GetEnumerator();
while (localIterator.MoveNext())
{
String str = (String)localIterator.Current;
this.cmd.Content().writeStringASCII(str);
}
}
else if (((Convert.ToInt32(paramObject2) == 145) || Convert.ToInt32(paramObject2) == 144) || (Convert.ToInt32(paramObject2) == 25))
{
this.cmd.Content().writeUnsignedByte(15);
this.cmd.Content().writeInt(0);
}
else
{
int j;
if (Convert.ToInt32(paramObject2) == 163)
{
this.cmd.Content().writeUnsignedByte(5);
for (j = 0; j < array.Length; j++)
{
add_variable(array[j]);
}
}
else if (Convert.ToInt32(paramObject2) == 161)
{
this.cmd.Content().writeUnsignedByte(1);
for (j = 0; j < array.Length; j++)
{
add_variable(array[j]);
}
}
else if ((Convert.ToInt32(commandID) == 200) && (Convert.ToInt32(paramObject2) == 128))
{
this.cmd.Content().writeUnsignedByte(15);
this.cmd.Content().writeInt(5);
add_type(array[3]);
add_variable(array[3]);
add_type(array[1]);
add_variable(array[1]);
add_type(array[2]);
add_variable(array[2]);
add_type(array[4]);
add_variable(array[4]);
add_type(array[0]);
add_variable(array[0]);
}
else if ((Convert.ToInt32(commandID) == 199) && (Convert.ToInt32(paramObject2) == 66))
{
this.cmd.Content().writeUnsignedByte(1);
add_variable(array[0]);
add_variable(array[1]);
}
else if ((Convert.ToInt32(commandID) == 199) && (Convert.ToInt32(paramObject2) == 128))
{
this.cmd.Content().writeUnsignedByte(15);
this.cmd.Content().writeInt(4);
add_type(array[3]);
add_variable(array[3]);
add_type(array[2]);
add_variable(array[2]);
add_type(array[4]);
add_variable(array[4]);
this.cmd.Content().writeUnsignedByte(1);
add_variable(array[0]);
add_variable(array[1]);
}
else
{
this.cmd.Content().writeUnsignedByte(15);
this.cmd.Content().writeInt(array.Length);
for (j = 0; j < array.Length; j++)
{
add_type(array[j]);
add_variable(array[j]);
}
}
}
this.raw = new List <Object>();
this.raw.Add(commandID);
this.raw.Add(paramObject2);
this.raw.Add(paramObject3);
this.raw.Add(array);
}
public static SumoCommand setRoute(String vehID, SumoStringList edgeList)
{
Object[] arrayOfObject = { edgeList };
return(new SumoCommand(Convert.ToInt32(196), Convert.ToInt32(87), vehID, arrayOfObject));
}
