internal TraCIResult[] SendMessage(TraCICommand command)
{
if (!_client.Connected)
{
return(null);
}
var msg = TraCIDataConverter.GetMessageBytes(command);
_client.Client.Send(msg);
try
{
var bytesRead = _stream.Read(_receiveBuffer, 0, 32768);
if (bytesRead < 0)
{
// Read returns 0 if the client closes the connection
throw new IOException();
}
var response = _receiveBuffer.Take(bytesRead).ToArray();
#if NLOG
_logger.Trace(" << {0}", BitConverter.ToString(response));
#endif
var trresponse = TraCIDataConverter.HandleResponse(response);
return(trresponse?.Length > 0 ? trresponse : null);
}
catch
{
return(null); // TODO
}
}
/// <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;
}
}
public void SetSingleTrafficLightState(string trafficLightId, string signalgroup, char singlestate)
{
var command = new TraCICommand {
Identifier = TraCIConstants.CMD_SET_TL_VARIABLE
};
var bytes = new List <byte> {
TraCIConstants.TL_RED_YELLOW_GREEN_SINGLESTATE
};
bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(trafficLightId));
bytes.Add(TraCIConstants.TYPE_STRING);
bytes.AddRange(BitConverter.GetBytes((signalgroup + ' ' + singlestate).Length).Reverse());
bytes.AddRange(Encoding.ASCII.GetBytes(signalgroup + ' ' + singlestate));
command.Contents = bytes.ToArray();
// ReSharper disable once UnusedVariable
var response = SendMessage(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 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);
}
// deprecated: below method only works with an outdated patched version of SUMO
//public void SetSingleTrafficLightState(string trafficLightId, string signalgroup, char singlestate)
//{
// var command = new TraCICommand { Identifier = TraCIConstants.CMD_SET_TL_VARIABLE };
// var bytes = new List<byte> { TraCIConstants.TL_RED_YELLOW_GREEN_SINGLESTATE };
// bytes.AddRange(TraCIDataConverter.GetTraCIBytesFromASCIIString(trafficLightId));
// bytes.Add(TraCIConstants.TYPE_STRING);
// bytes.AddRange(BitConverter.GetBytes((signalgroup + ' ' + singlestate).Length).Reverse());
// bytes.AddRange(Encoding.ASCII.GetBytes(signalgroup + ' ' + singlestate));
//
// command.Contents = bytes.ToArray();
// // ReSharper disable once UnusedVariable
// var response = SendMessage(command);
//}
#endregion // Set Variable Methods
#region Public Methods
internal TraCIResult[] SendMessage(TraCICommand command)
{
if (!_client.Connected)
{
return(null);
}
var msg = TraCIDataConverter.GetMessageBytes(command);
_client.Client.Send(msg);
try
{
var bytesRead = _stream.Read(_receiveBuffer, 0, 32768);
if (bytesRead < 0)
{
// Read returns 0 if the client closes the connection
throw new IOException();
}
var revLength = _receiveBuffer.Take(4).Reverse().ToArray();
var totlength = BitConverter.ToInt32(revLength, 0);
var response = new List <byte>();
response.AddRange(_receiveBuffer.Take(bytesRead).ToArray());
if (bytesRead != totlength)
{
while (bytesRead < totlength)
{
var innerBytesRead = _stream.Read(_receiveBuffer, 0, 32768);
response.AddRange(_receiveBuffer.Take(innerBytesRead).ToArray());
bytesRead += innerBytesRead;
}
}
//var response = _receiveBuffer.Take(bytesRead).ToArray();
var trresponse = TraCIDataConverter.HandleResponse(response.ToArray());
return(trresponse?.Length > 0 ? trresponse : null);
}
catch
{
return(null); // TODO
}
}
/// <summary>
/// Returns the links controlled by the traffic light, sorted by the signal index and described by giving
/// the incoming, outgoing, and via lane.
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public TraCIResponse <ControlledLinks> GetControlledLinks(string id)
{
var tmp = TraCICommandHelper.ExecuteGetCommand <CompoundObject>(
Client,
id,
TraCIConstants.CMD_GET_TL_VARIABLE,
TraCIConstants.TL_CONTROLLED_LINKS);
var controlledLinks = TraCIDataConverter.ConvertToControlledLinks(tmp.Content.Value);
var ret = new TraCIResponse <ControlledLinks>
{
Content = controlledLinks,
ErrorMessage = tmp.ErrorMessage,
Identifier = tmp.Identifier,
ResponseIdentifier = tmp.ResponseIdentifier,
Result = tmp.Result,
Variable = tmp.Variable
};
return(ret);
}
/// <summary>
/// Returns the complete traffic light program, structure described under data types
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public TraCIResponse <TrafficCompleteLightProgram> GetCompleteDefinition(string id)
{
var tmp = TraCICommandHelper.ExecuteGetCommand <CompoundObject>(
Client,
id,
TraCIConstants.CMD_GET_TL_VARIABLE,
TraCIConstants.TL_COMPLETE_DEFINITION_RYG);
var tmp2 = TraCIDataConverter.ConvertToTrafficLightCompleteProgramm(tmp.Content);
var ret = new TraCIResponse <TrafficCompleteLightProgram>
{
Content = tmp2,
ErrorMessage = tmp.ErrorMessage,
Identifier = tmp.Identifier,
ResponseIdentifier = tmp.ResponseIdentifier,
Result = tmp.Result,
Variable = tmp.Variable
};
return(ret);
}
/// <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);
}