[31] | 1 | /************************************************************************************ |
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| 2 | * Copyright (C) 2008 by Politehnica University of Bucharest and Rutgers University |
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| 3 | * All rights reserved. |
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| 4 | * Refer to LICENSE for terms and conditions of use. |
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| 5 | ***********************************************************************************/ |
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| 6 | package vnsim.core; |
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| 7 | |
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| 8 | |
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| 9 | import java.nio.ByteBuffer; |
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| 10 | |
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| 11 | import vnsim.map.object.*; |
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| 12 | |
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| 13 | |
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| 14 | /** |
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| 15 | * Class that holds GPS & state information about a vehicle, accessibile to |
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| 16 | * the applications. |
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| 17 | * |
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| 18 | */ |
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| 19 | |
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| 20 | public class CarInfo |
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| 21 | { |
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| 22 | protected long timestamp; // can be int |
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| 23 | protected double speed; |
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| 24 | protected short roadIdx = -1; |
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| 25 | protected short pointIdx = -1; |
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| 26 | protected byte direction; // 1 - car runs on a street, from the first point |
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| 27 | // to the last one, in they are stored in the |
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| 28 | // in the road's points vector |
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| 29 | // 0 - otherwise |
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| 30 | |
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| 31 | protected byte hpoz; //0 behind, 1 center, 2 in front |
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| 32 | protected byte vpoz; //0 left, 1 center, 2 right |
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| 33 | //(position related to the point on the road to achieve |
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| 34 | //car positioning on lanes) |
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| 35 | |
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| 36 | |
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| 37 | protected byte signal; // 0 - through |
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| 38 | // 1 - left |
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| 39 | // 2 - right |
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| 40 | |
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| 41 | protected byte state; //3 bits describing the state of the car |
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| 42 | // = 0 - ok |
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| 43 | // = 1 - damaged |
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| 44 | // = 2 - crashed |
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| 45 | // = 3 - promiscuous mode |
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| 46 | |
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| 47 | // added for simulator: |
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| 48 | protected double offset; |
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| 49 | protected byte lane; |
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| 50 | |
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| 51 | protected int vehicleId; |
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| 52 | |
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| 53 | public CarInfo() { |
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| 54 | } |
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| 55 | public CarInfo(double speed, short roadIdx, short pointIdx, byte direction, double offset, byte lane) { |
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| 56 | this.speed = speed; |
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| 57 | this.roadIdx = roadIdx; |
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| 58 | this.pointIdx = pointIdx; |
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| 59 | this.direction = direction; |
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| 60 | this.offset = offset; |
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| 61 | this.lane = lane; |
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| 62 | } |
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| 63 | public CarInfo(double speed, short roadIdx, short pointIdx, byte infoByte) { |
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| 64 | this.speed = speed; |
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| 65 | this.roadIdx = roadIdx; |
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| 66 | this.pointIdx = pointIdx; |
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| 67 | parseInfoByte(infoByte); |
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| 68 | } |
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| 69 | |
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| 70 | public CarInfo(CarInfo x) |
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| 71 | { |
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| 72 | this.vehicleId = x.vehicleId; |
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| 73 | this.speed = x.speed; |
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| 74 | this.roadIdx = x.roadIdx; |
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| 75 | this.pointIdx = x.pointIdx; |
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| 76 | this.direction = x.direction; |
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| 77 | this.vpoz = x.vpoz; |
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| 78 | this.hpoz = x.hpoz; |
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| 79 | this.state = x.state; |
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| 80 | this.offset = x.offset; |
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| 81 | this.lane = x.lane; |
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| 82 | |
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| 83 | |
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| 84 | } |
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| 85 | |
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| 86 | // public boolean equals(Object arg0) { |
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| 87 | // CarInfo ci = (CarInfo)arg0; |
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| 88 | // return (roadIdx == ci.getRoadIdx() && pointIdx == ci.getPointIdx()); |
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| 89 | // } |
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| 90 | |
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| 91 | public void setPoz(double sin, double cos){ |
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| 92 | //determine hpoz and vpoz related to the point on the road, |
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| 93 | //having the angle between the segment AB (A crt point on the road obtained with peano keys, |
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| 94 | //B real position of the car) and segment BC (C previuos point on the road) |
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[45] | 95 | //double cos60 = 0.5; |
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| 96 | //double cos30 = java.lang.Math.sqrt(3)/2; |
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[31] | 97 | |
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| 98 | if (sin > 0) |
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| 99 | hpoz = 2; //right |
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| 100 | else |
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| 101 | hpoz = 0; //left |
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| 102 | |
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| 103 | /* if (cos > cos30){ |
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| 104 | vpoz = 0; //behind |
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| 105 | hpoz = 1; //center |
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| 106 | } |
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| 107 | if (cos < cos30 && cos > cos60){ |
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| 108 | vpoz = 0; //behind |
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| 109 | if (sin > 0) |
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| 110 | hpoz = 2; //right |
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| 111 | else |
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| 112 | hpoz = 0; //left |
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| 113 | } |
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| 114 | if (cos > - cos60 && cos < cos60){ |
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| 115 | vpoz = 1; //center |
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| 116 | if (sin > 0) |
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| 117 | hpoz = 2; //right |
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| 118 | else |
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| 119 | hpoz = 0; //left |
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| 120 | } |
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| 121 | if (cos > - cos30 && cos < - cos60){ |
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| 122 | vpoz = 2; //in front |
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| 123 | if (sin > 0) |
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| 124 | hpoz = 2; //right |
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| 125 | else |
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| 126 | hpoz = 0; //left |
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| 127 | } |
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| 128 | if (cos < - cos30){ |
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| 129 | vpoz = 2; //in front |
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| 130 | hpoz = 1; //center |
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| 131 | }*/ |
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| 132 | |
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| 133 | } |
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| 134 | |
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| 135 | public void parseInfoByte(byte b) |
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| 136 | { |
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| 137 | this.direction = (byte)((b & 0x80) >> 7); |
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| 138 | // this.vpoz = (byte)((b & 0x60) >> 5); |
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| 139 | this.signal = (byte)((b & 0x60) >> 5); |
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| 140 | this.hpoz = (byte)((b & 0x18) >> 3); |
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| 141 | this.state = (byte)(b & 0x7); |
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| 142 | } |
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| 143 | |
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| 144 | public byte createInfoByte(){ |
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| 145 | byte b = 0; |
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| 146 | b = (byte)((this.direction << 7) + |
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| 147 | // (this.vpoz << 5) + |
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| 148 | (this.signal << 5) + |
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| 149 | (this.hpoz << 3) + |
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| 150 | (this.state)); |
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| 151 | |
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| 152 | return b; |
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| 153 | } |
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| 154 | |
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| 155 | public byte getDirection() { |
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| 156 | return direction; |
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| 157 | } |
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| 158 | |
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| 159 | public void setDirection(byte direction) { |
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| 160 | this.direction = direction; |
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| 161 | } |
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| 162 | |
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| 163 | public byte getHpoz() { |
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| 164 | return hpoz; |
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| 165 | } |
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| 166 | |
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| 167 | public void setHpoz(byte hpoz) { |
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| 168 | this.hpoz = hpoz; |
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| 169 | } |
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| 170 | |
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| 171 | public short getPointIdx() { |
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| 172 | return pointIdx; |
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| 173 | } |
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| 174 | |
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| 175 | public void setPointIdx(short pointIdx) { |
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| 176 | this.pointIdx = pointIdx; |
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| 177 | } |
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| 178 | |
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| 179 | public short getRoadIdx() { |
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| 180 | return roadIdx; |
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| 181 | } |
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| 182 | public void setRoadIdx(short roadIdx) { |
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| 183 | this.roadIdx = roadIdx; |
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| 184 | } |
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| 185 | public double getSpeed() { |
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| 186 | return speed; |
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| 187 | } |
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| 188 | public void setSpeed(double speed) { |
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| 189 | this.speed = speed; |
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| 190 | } |
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| 191 | public byte getVpoz() { |
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| 192 | return vpoz; |
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| 193 | } |
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| 194 | public void setVpoz(byte vpoz) { |
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| 195 | this.vpoz = vpoz; |
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| 196 | } |
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| 197 | public byte getState() { |
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| 198 | return state; |
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| 199 | } |
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| 200 | public void setState(byte state) { |
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| 201 | this.state = state; |
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| 202 | } |
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| 203 | |
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| 204 | public long getTimestamp() { |
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| 205 | return timestamp; |
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| 206 | } |
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| 207 | public void setTimestamp(long timestamp) { |
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| 208 | this.timestamp = timestamp; |
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| 209 | } |
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| 210 | |
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| 211 | |
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| 212 | // added: |
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| 213 | |
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| 214 | public double getOffset() { |
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| 215 | return offset; |
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| 216 | } |
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| 217 | |
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| 218 | public void setOffset(double offset) { |
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| 219 | this.offset = offset; |
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| 220 | } |
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| 221 | public byte getLane() { |
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| 222 | return lane; |
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| 223 | } |
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| 224 | public void setLane(byte lane) { |
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| 225 | this.lane = lane; |
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| 226 | } |
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| 227 | |
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| 228 | public String toString(){ |
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| 229 | return vehicleId+" - " + "ri:"+roadIdx+", pi:"+pointIdx+", of:"+offset+", ln:"+lane; |
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| 230 | } |
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| 231 | |
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| 232 | public byte[] toBytes(){ |
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| 233 | ByteBuffer bb = ByteBuffer.allocate(Globals.NONAGG_RECORD_SIZE); |
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| 234 | |
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| 235 | bb.putInt(this.vehicleId); |
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| 236 | bb.putLong(this.timestamp); |
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| 237 | bb.put((byte)this.speed); |
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| 238 | bb.putShort(this.roadIdx); |
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| 239 | bb.putShort(this.pointIdx); |
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| 240 | bb.put(createInfoByte()); |
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| 241 | bb.put(this.lane); |
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| 242 | bb.putDouble(this.offset); |
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| 243 | return bb.array(); |
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| 244 | } |
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| 245 | |
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| 246 | public void wrap(byte buffer[]){ |
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| 247 | |
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| 248 | ByteBuffer bb = ByteBuffer.wrap(buffer); |
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| 249 | |
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| 250 | this.vehicleId = bb.getInt(); |
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| 251 | this.timestamp = bb.getLong(); |
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| 252 | this.speed = bb.get(); |
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| 253 | this.roadIdx = bb.getShort(); |
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| 254 | this.pointIdx = bb.getShort(); |
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| 255 | byte infoByte = bb.get(); |
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| 256 | parseInfoByte(infoByte); |
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| 257 | this.lane = bb.get(); |
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| 258 | this.offset = bb.getDouble(); |
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| 259 | } |
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| 260 | public void wrap(byte buffer[], int index){ |
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| 261 | |
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| 262 | ByteBuffer bb = ByteBuffer.wrap(buffer, index, buffer.length - index); |
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| 263 | |
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| 264 | this.vehicleId = bb.getInt(); |
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| 265 | this.timestamp = bb.getLong(); |
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| 266 | this.speed = bb.get(); |
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| 267 | this.roadIdx = bb.getShort(); |
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| 268 | this.pointIdx = bb.getShort(); |
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| 269 | byte infoByte = bb.get(); |
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| 270 | parseInfoByte(infoByte); |
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| 271 | this.lane = bb.get(); |
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| 272 | this.offset = bb.getDouble(); |
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| 273 | } |
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| 274 | |
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| 275 | |
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| 276 | public int getVehicleId() { |
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| 277 | return vehicleId; |
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| 278 | } |
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| 279 | public void setVehicleId(int vehicleId) { |
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| 280 | this.vehicleId = vehicleId; |
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| 281 | } |
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| 282 | public boolean equals(Object arg0) { |
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| 283 | if (!(arg0 instanceof CarInfo)) return false; |
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| 284 | CarInfo sci = (CarInfo)arg0; |
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| 285 | return (vehicleId == sci.getVehicleId()); |
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| 286 | } |
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| 287 | public byte getSignal() { |
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| 288 | return signal; |
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| 289 | } |
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| 290 | public void setSignal(byte signal) { |
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| 291 | this.signal = signal; |
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| 292 | } |
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| 293 | |
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| 294 | } |
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