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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95 | //double cos60 = 0.5; |
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96 | //double cos30 = java.lang.Math.sqrt(3)/2; |
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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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