1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2013-2019 German Aerospace Center (DLR) and others.
4 // This program and the accompanying materials
5 // are made available under the terms of the Eclipse Public License v2.0
6 // which accompanies this distribution, and is available at
7 // http://www.eclipse.org/legal/epl-v20.html
8 // SPDX-License-Identifier: EPL-2.0
9 /****************************************************************************/
10 /// @file    MSDevice_ToC.h
11 /// @author  Leonhard Luecken
12 /// @author  Daniel Krajzewicz
13 /// @author  Jakob Erdmann
14 /// @date    01.04.2018
15 /// @version $Id$
16 ///
17 // The ToC Device controls the transition of control between automated and manual driving.
18 //
19 /****************************************************************************/
20 #ifndef MSDevice_ToC_h
21 #define MSDevice_ToC_h
22 
23 
24 // ===========================================================================
25 // included modules
26 // ===========================================================================
27 #include <config.h>
28 
29 #include "MSVehicleDevice.h"
30 #include <utils/common/SUMOTime.h>
31 #include <utils/common/WrappingCommand.h>
32 
33 
34 // ===========================================================================
35 // class declarations
36 // ===========================================================================
37 class SUMOVehicle;
38 class MSVehicle;
39 class Command_ToCTrigger;
40 class Command_ToCProcess;
41 class RGBColor;
42 
43 // ===========================================================================
44 // class definitions
45 // ===========================================================================
46 /**
47  * @class MSDevice_ToC
48  *
49  * @brief The ToC Device controls transition of control between automated and manual driving.
50  *
51  * @see MSDevice
52  */
53 class MSDevice_ToC : public MSVehicleDevice {
54 private:
55     // All currently existing ToC device instances
56     static std::set<MSDevice_ToC*> instances;
57     // All files, that receive ToC output (TODO: check if required)
58     static std::set<std::string> createdOutputFiles;
59 
60     struct OpenGapParams {
61         double newTimeHeadway;
62         double newSpaceHeadway;
63         double changeRate;
64         double maxDecel;
65         bool active;
OpenGapParamsOpenGapParams66         OpenGapParams(double timegap, double spacing, double changeRate, double maxDecel, bool active) :
67             newTimeHeadway(timegap), newSpaceHeadway(spacing), changeRate(changeRate), maxDecel(maxDecel), active(active)
68         {};
69     };
70 
71 public:
72     /** @brief Inserts MSDevice_ToC-options
73      * @param[filled] oc The options container to add the options to
74      */
75     static void insertOptions(OptionsCont& oc);
76 
77 
78     /** @brief Build devices for the given vehicle, if needed
79      *
80      * The options are read and evaluated whether a ToC-device shall be built
81      *  for the given vehicle.
82      *
83      * The built device is stored in the given vector.
84      *
85      * @param[in] v The vehicle for which a device may be built
86      * @param[filled] into The vector to store the built device in
87      */
88     static void buildVehicleDevices(SUMOVehicle& v, std::vector<MSVehicleDevice*>& into);
89 
90     /** @brief returns all currently existing ToC devices
91      */
getInstances()92     static const std::set<MSDevice_ToC*>& getInstances() {
93         return instances;
94     };
95 
96     /** @brief Closes root tags of output files
97      */
98     static void cleanup();
99 
100 private:
101 
102     /// @brief Enum describing the different regimes for the device, @see myState
103     ///        Possible transitions:
104     ///        AUTOMATED -> PREPARING_TOC
105     ///        PREPARING_TOC -> PERFORMING_MRM
106     ///        PREPARING_TOC -> MANUAL
107     ///        PERFORMING_MRM -> MANUAL
108     ///        MANUAL -> AUTOMATED
109     enum ToCState {
110         UNDEFINED = 0,
111         MANUAL = 1,
112         AUTOMATED = 2,
113         PREPARING_TOC = 3, // this applies only to the transition AUTOMATED -> MANUAL !
114         MRM = 4,
115         RECOVERING = 5
116     };
117 
118     /// @name Helpers for parameter parsing
119     /// @{
120     static std::string getManualType(const SUMOVehicle& v, const OptionsCont& oc);
121     static std::string getAutomatedType(const SUMOVehicle& v, const OptionsCont& oc);
122     static double getResponseTime(const SUMOVehicle& v, const OptionsCont& oc);
123     static double getRecoveryRate(const SUMOVehicle& v, const OptionsCont& oc);
124     static double getLCAbstinence(const SUMOVehicle& v, const OptionsCont& oc);
125     static double getInitialAwareness(const SUMOVehicle& v, const OptionsCont& oc);
126     static double getMRMDecel(const SUMOVehicle& v, const OptionsCont& oc);
127     static bool useColorScheme(const SUMOVehicle& v, const OptionsCont& oc);
128     static std::string getOutputFilename(const SUMOVehicle& v, const OptionsCont& oc);
129     static OpenGapParams getOpenGapParams(const SUMOVehicle& v, const OptionsCont& oc);
130 
131     static ToCState _2ToCState(const std::string&);
132     static std::string _2string(ToCState state);
133     /// @}
134 
135 
136 public:
137     /// @brief Destructor.
138     ~MSDevice_ToC();
139 
140     /// @brief return the name for this type of device
deviceName()141     const std::string deviceName() const {
142         return "toc";
143     }
144 
145     /// @brief try to retrieve the given parameter from this device. Throw exception for unsupported key
146     std::string getParameter(const std::string& key) const;
147 
148     /// @brief try to set the given parameter for this device. Throw exception for unsupported key
149     void setParameter(const std::string& key, const std::string& value);
150 
151 
152     /// @brief Trigger execution of an MRM
153     SUMOTime triggerMRM(SUMOTime t);
154 
155     /// @brief Trigger execution of a ToC X-->AUTOMATED ("upwards")
156     SUMOTime triggerUpwardToC(SUMOTime t);
157 
158     /// @brief Trigger execution of a ToC X-->MANUAL ("downwards")
159     SUMOTime triggerDownwardToC(SUMOTime t);
160 
161     /// @brief Continue the ToC preparation for one time step
162     SUMOTime ToCPreparationStep(SUMOTime t);
163 
164     /// @brief Continue the MRM for one time step
165     SUMOTime MRMExecutionStep(SUMOTime t);
166 
167     /// @brief Continue the awareness recovery for one time step
168     SUMOTime awarenessRecoveryStep(SUMOTime t);
169 
170     /// @brief Write output to file given by option device.toc.file
171     void writeOutput();
172 
173     /// @brief Whether this device requested to write output
generatesOutput()174     bool generatesOutput() {
175         return myOutputFile != nullptr;
176     }
177 
178 private:
179     /** @brief Constructor
180      *
181      * @param[in] holder The vehicle that holds this device
182      * @param[in] id The ID of the device
183      * @param[in] file The file to write the device's output to
184      * @param[in] manualType vType that models manual driving
185      * @param[in] automatedType vType that models automated driving
186      * @param[in] responseTime time lapse until vType switch after request was received
187      * @param[in] recoveryRate rate at which the awareness increases after the takeover
188      * @param[in] lcAbstinence awareness level below which no lane changes are taken out
189      * @param[in] initialAwareness value to which the awareness is set after takeover
190      * @param[in] mrmDecel constant deceleration rate assumed to be applied during an MRM
191      * @param[in] useColorScheme whether the color of the vehicle should be changed according to its current ToC-state
192      * @param[in] ogp parameters for the openGap mechanism applied during ToC preparation phase
193      */
194     MSDevice_ToC(SUMOVehicle& holder, const std::string& id, const std::string& outputFilename,
195                  std::string manualType, std::string automatedType, SUMOTime responseTime, double recoveryRate,
196                  double lcAbstinence, double initialAwareness, double mrmDecel, bool useColorScheme, OpenGapParams ogp);
197 
198     /** @brief Initialize vehicle colors for different states
199      *  @note  For MANUAL and AUTOMATED, the color of the given types are used,
200      *         and for the other states hardcoded colors are given.
201      */
202     void initColorScheme();
203 
204     /// @brief Set the awareness to the given value
205     void setAwareness(double value);
206 
207     /// @brief Set the ToC device's state
208     void setState(ToCState state);
209 
210     // @brief Sets the device holder's color corresponding to the current state
211     void setVehicleColor();
212 
213     /// @brief Request a ToC.
214     ///        If the device is in AUTOMATED or MRM state, a driver response time is sampled
215     ///        and the ToC is scheduled. If the response is larger than timeTillMRM,
216     ///        an MRM is scheduled as well.
217     ///        If the device is in MANUAL or UNDEFINED state, it switches to AUTOMATED.
218     ///        The request is ignored if the state is already PREPARING_TOC.
219     void requestToC(SUMOTime timeTillMRM);
220 
221     /// @brief Request an MRM to be initiated immediately. No downward ToC will be scheduled.
222     /// @note  The initiated MRM process will run forever until a new ToC is requested.
223     void requestMRM();
224 
225     /// @brief Switch the device holder's vehicle type
226     void switchHolderType(const std::string& targetTypeID);
227 
228     /// @brief Break MRM Process or remove MRM-Trigger command from the event-queue.
229     void descheduleMRM();
230     /// @brief Remove scheduled ToC-Trigger command from the event-queue.
231     void descheduleToC();
232     /// @brief Remove ongoing ToC-Preparation process from the event-queue.
233     void descheduleToCPreparation();
234     /// @brief Remove ongoing awareness recovery process from the event-queue.
235     void descheduleRecovery();
236 
237     /// @brief Resets the holder's LC mode to the last differing to LCModeMRM
238     void resetDeliberateLCs();
239     /// @brief Resets the holder's LC mode to the operational LC-mode of the ToC Device (@see LCModeMRM)
240     void deactivateDeliberateLCs();
241 
242     /// @brief Whether the current operation mode is manual
243     bool isManuallyDriven();
244     /// @brief Whether the current operation mode is automated
245     bool isAutomated();
246 
247 private:
248     /// @name private state members of the ToC device
249     /// @{
250 
251     /// @brief vehicle type ID for manual driving
252     std::string myManualTypeID;
253     /// @brief vehicle type ID for automated driving
254     std::string myAutomatedTypeID;
255 
256     /// @brief Average response time needed by the driver to take back control
257     SUMOTime myResponseTime;
258     /// @brief Recovery rate for the driver's awareness after a ToC
259     double myRecoveryRate;
260     /// @brief Level of the awareness below which no lane-changes are performed
261     double myLCAbstinence;
262     /// @brief Average awareness the driver has initially after a ToC
263     double myInitialAwareness;
264 
265     /// @brief Deceleration rate applied during MRM
266     double myMRMDecel;
267 
268     /// @brief Current awareness-level of the driver in [0,1]
269     double myCurrentAwareness;
270 
271     /// @brief Coloring scheme, @see initColorScheme()
272     std::map<ToCState, RGBColor> myColorScheme;
273 
274     /// @brief Whether a coloring scheme shall by applied to indicate the different toc stages, @see initColorScheme()
275     bool myUseColorScheme;
276 
277     /// @brief Current state of the device
278     ToCState myState;
279 
280     /// @}
281 
282     /// @brief The holder vehicle casted to MSVehicle*
283     MSVehicle* myHolderMS;
284 
285     /// @name Commands sent to the EventControl (used for cleanup)
286     /// @note Must be removed in destructor.
287     /// @{
288     WrappingCommand<MSDevice_ToC>* myTriggerMRMCommand;
289     WrappingCommand<MSDevice_ToC>* myTriggerToCCommand;
290     WrappingCommand<MSDevice_ToC>* myRecoverAwarenessCommand;
291     WrappingCommand<MSDevice_ToC>* myExecuteMRMCommand;
292     WrappingCommand<MSDevice_ToC>* myPrepareToCCommand;
293     /// @}
294 
295     /// @brief The file the devices output goes to
296     OutputDevice* myOutputFile;
297 
298     /// @brief Storage for events to be written to the output
299     std::queue<std::pair<SUMOTime, std::string> > myEvents;
300 
301     /// @brief LC mode overridden during MRM, stored for restoration
302     int myPreviousLCMode;
303 
304     /// @brief LC mode operational during an MRM
305     static int LCModeMRM;
306 
307     /// @brief Parameters for the openGap mechanism applied during ToC preparation phase
308     OpenGapParams myOpenGapParams;
309 
310 private:
311     /// @brief Invalidated copy constructor.
312     MSDevice_ToC(const MSDevice_ToC&);
313 
314     /// @brief Invalidated assignment operator.
315     MSDevice_ToC& operator=(const MSDevice_ToC&);
316 
317 
318 };
319 
320 
321 #endif
322 
323 /****************************************************************************/
324 
325