[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 | //Petroaca - the Application layer of DSRC |
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| 7 | package vnsim.network.dsrc; |
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| 8 | |
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| 9 | |
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| 10 | |
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| 11 | import java.io.ByteArrayInputStream; |
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| 12 | import java.util.ArrayList; |
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| 13 | |
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| 14 | import vnsim.core.CarInfo; |
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| 15 | import vnsim.core.Communicator; |
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| 16 | import vnsim.map.object.Globals; |
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| 17 | import vnsim.map.object.Point; |
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| 18 | import vnsim.map.object.Road; |
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| 19 | import vnsim.map.utils.GPSutil; |
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| 20 | |
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| 21 | |
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| 22 | public class Application |
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| 23 | { |
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| 24 | //the vehicles around the host vehicle used in forward collision warning and lane change assistance |
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| 25 | private CarInfo FVehicle,NFVehicle,LAdjancedVehicle,RAdjancedVehicle; |
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| 26 | |
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| 27 | private double FVehicleDistance,NFVehicleDistance,LAVehicleDistance,RAVehicleDistance; |
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| 28 | |
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| 29 | private boolean forwardCrashSignal,leftCrashSignal,rightCrashSignal,emergencyVehicleSignal; |
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| 30 | |
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| 31 | private double lastFVSpeed,lastNFVSpeed; |
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| 32 | |
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| 33 | private int emergencyVehicleHpoz,emergencyVehicleVpoz; |
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| 34 | |
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| 35 | private int currentTime; |
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| 36 | |
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| 37 | private long lastIRTFV,lastIRTNFV,lastIRTLAV,lastIRTRAV; |
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| 38 | |
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| 39 | public Application() |
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| 40 | { |
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| 41 | this.FVehicle=this.NFVehicle=this.LAdjancedVehicle=this.RAdjancedVehicle=null; |
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| 42 | |
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| 43 | this.FVehicleDistance=this.NFVehicleDistance=this.LAVehicleDistance=this.RAVehicleDistance=30000; |
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| 44 | |
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| 45 | |
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| 46 | this.forwardCrashSignal=false; |
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| 47 | this.leftCrashSignal=this.rightCrashSignal=false; |
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| 48 | this.emergencyVehicleSignal=false; |
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| 49 | |
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| 50 | this.currentTime=0; |
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| 51 | |
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| 52 | this.lastFVSpeed=-1; |
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| 53 | this.lastNFVSpeed=-1; |
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| 54 | |
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| 55 | this.lastIRTFV=this.lastIRTNFV=this.lastIRTLAV=this.lastIRTRAV=0; |
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| 56 | |
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| 57 | } |
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| 58 | |
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| 59 | //it refreshes the FV , NFV and it calculates the probability of a crash with these vehicles |
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| 60 | public void ForwardCollisionWarning(byte[] bytesReceived,CarInfo self) |
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| 61 | { |
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| 62 | |
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| 63 | switch(bytesReceived[0]) |
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| 64 | { |
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| 65 | case Globals.PROT_NEIGHBOR_DISCOVERY: |
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| 66 | |
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| 67 | CarInfo sc=new CarInfo(); |
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| 68 | sc.wrap(bytesReceived,2); |
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| 69 | |
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| 70 | calculateFCWVehicles(self,sc); |
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| 71 | calculateLCAVehicles(self,sc); |
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| 72 | |
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| 73 | |
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| 74 | break; |
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| 75 | |
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| 76 | case Globals.PROT_SETOFCARS: |
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| 77 | ByteArrayInputStream byteStream = new ByteArrayInputStream(bytesReceived); |
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| 78 | byte[] b = new byte[Globals.NONAGG_RECORD_SIZE]; |
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| 79 | byteStream.read(); |
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| 80 | int numberOfRecords = (byte)byteStream.read(); |
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| 81 | int messageRoadDirection = byteStream.read(); |
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| 82 | |
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| 83 | int recordsRead=0; |
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| 84 | |
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| 85 | while(recordsRead < numberOfRecords) |
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| 86 | { |
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| 87 | int n = byteStream.read(b, 0, Globals.NONAGG_RECORD_SIZE); |
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| 88 | |
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| 89 | if (n == -1 || n < Globals.NONAGG_RECORD_SIZE){ |
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| 90 | break; |
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| 91 | } |
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| 92 | recordsRead++; |
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| 93 | |
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| 94 | CarInfo sc2=new CarInfo(); |
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| 95 | sc2.wrap(b); |
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| 96 | |
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| 97 | calculateFCWVehicles(self,sc2); |
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| 98 | calculateLCAVehicles(self,sc2); |
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| 99 | } |
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| 100 | break; |
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| 101 | |
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| 102 | default:break; |
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| 103 | |
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| 104 | } |
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| 105 | |
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| 106 | // check FV and NFV speeds and calculate probability of crash |
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| 107 | if(this.FVehicle!=null) |
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| 108 | { |
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| 109 | if(this.lastFVSpeed!=-1) |
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| 110 | { |
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| 111 | if(self.getSpeed()-this.FVehicle.getSpeed()>=Globals.SPEED_DIFFERENCE || this.lastFVSpeed-this.FVehicle.getSpeed()>=Globals.SPEED_DIFFERENCE) |
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| 112 | this.forwardCrashSignal=true; |
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| 113 | } |
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| 114 | |
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| 115 | this.lastFVSpeed=this.FVehicle.getSpeed(); |
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| 116 | } |
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| 117 | |
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| 118 | if(this.NFVehicle!=null) |
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| 119 | { |
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| 120 | if(this.lastNFVSpeed!=-1) |
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| 121 | { |
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| 122 | if(self.getSpeed()-this.NFVehicle.getSpeed()>=Globals.SPEED_DIFFERENCE || this.lastNFVSpeed-this.NFVehicle.getSpeed()>=Globals.SPEED_DIFFERENCE) |
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| 123 | this.forwardCrashSignal=true; |
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| 124 | } |
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| 125 | |
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| 126 | this.lastNFVSpeed=this.NFVehicle.getSpeed(); |
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| 127 | } |
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| 128 | |
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| 129 | /* |
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| 130 | if(this.currentTime%40==0 && self.getVehicleId()==100) |
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| 131 | { |
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| 132 | System.out.println("Time "+this.currentTime/Globals.MINUTE+":"+(this.currentTime%Globals.MINUTE)/Globals.SECOND+" Car "+self.getVehicleId()+" has FV:"+((this.FVehicle==null)?"none":this.FVehicle.getVehicleId())+" NFV:"+((this.NFVehicle==null)?"none":this.NFVehicle.getVehicleId())+ |
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| 133 | " LAV:"+((this.LAdjancedVehicle==null)?"none":this.LAdjancedVehicle.getVehicleId())+" RAV:"+((this.RAdjancedVehicle==null)?"none":this.RAdjancedVehicle.getVehicleId())); |
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| 134 | } |
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| 135 | */ |
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| 136 | } |
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| 137 | |
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| 138 | public void LaneChangeAssistance(byte[] bytesReceived,CarInfo self) |
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| 139 | { |
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| 140 | //calculate the LAV and RAV and calculate the crash probability |
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| 141 | |
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| 142 | switch(bytesReceived[0]) |
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| 143 | { |
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| 144 | case Globals.PROT_NEIGHBOR_DISCOVERY: |
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| 145 | CarInfo sc=new CarInfo(); |
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| 146 | sc.wrap(bytesReceived,2); |
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| 147 | |
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| 148 | calculateLCAVehicles(self,sc); |
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| 149 | |
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| 150 | break; |
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| 151 | |
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| 152 | case Globals.PROT_SETOFCARS: |
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| 153 | |
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| 154 | ByteArrayInputStream byteStream = new ByteArrayInputStream(bytesReceived); |
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| 155 | byte[] b = new byte[Globals.NONAGG_RECORD_SIZE]; |
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| 156 | byteStream.read(); |
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| 157 | int numberOfRecords = (byte)byteStream.read(); |
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| 158 | int messageRoadDirection = byteStream.read(); |
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| 159 | |
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| 160 | |
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| 161 | int recordsRead=0; |
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| 162 | |
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| 163 | while(recordsRead < numberOfRecords) |
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| 164 | { |
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| 165 | int n = byteStream.read(b, 0, Globals.NONAGG_RECORD_SIZE); |
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| 166 | |
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| 167 | if (n == -1 || n < Globals.NONAGG_RECORD_SIZE){ |
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| 168 | break; |
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| 169 | } |
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| 170 | recordsRead++; |
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| 171 | |
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| 172 | CarInfo sc2=new CarInfo(); |
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| 173 | sc2.wrap(b); |
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| 174 | |
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| 175 | calculateLCAVehicles(self,sc2); |
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| 176 | } |
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| 177 | break; |
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| 178 | |
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| 179 | default:break; |
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| 180 | } |
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| 181 | |
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| 182 | if(this.LAdjancedVehicle!=null) |
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| 183 | this.leftCrashSignal=true; |
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| 184 | |
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| 185 | if(this.RAdjancedVehicle!=null) |
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| 186 | this.rightCrashSignal=true; |
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| 187 | |
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| 188 | /* |
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| 189 | if(this.LAdjancedVehicle!=null) |
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| 190 | System.out.println(self+" LAV:"+this.LAdjancedVehicle.getVehicleId()); |
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| 191 | |
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| 192 | if(this.RAdjancedVehicle!=null) |
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| 193 | System.out.println(self+" RAV:"+this.RAdjancedVehicle.getVehicleId()); |
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| 194 | */ |
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| 195 | } |
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| 196 | |
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| 197 | public void EmergencyVehicleWarning(byte[] bytesReceived,CarInfo self) |
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| 198 | { |
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| 199 | //if emergency message received activate emergencyVehicleSignal |
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| 200 | //check the position of the emergency vehicle |
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| 201 | CarInfo sc=new CarInfo(); |
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| 202 | sc.wrap(bytesReceived,2); |
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| 203 | |
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| 204 | if(self.getRoadIdx()==sc.getRoadIdx() && self.getDirection()==sc.getDirection()) |
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| 205 | { |
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| 206 | this.emergencyVehicleSignal=true; |
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| 207 | |
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| 208 | switch(self.getDirection()) |
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| 209 | { |
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| 210 | case 1: if(sc.getPointIdx()>self.getPointIdx()) |
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| 211 | this.emergencyVehicleVpoz=1; |
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| 212 | else |
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| 213 | { |
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| 214 | if(sc.getPointIdx()<self.getPointIdx()) |
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| 215 | this.emergencyVehicleVpoz=0; |
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| 216 | else |
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| 217 | this.emergencyVehicleVpoz=2; |
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| 218 | } |
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| 219 | break; |
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| 220 | case 0: if(sc.getPointIdx()<self.getPointIdx()) |
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| 221 | this.emergencyVehicleVpoz=1; |
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| 222 | else |
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| 223 | { |
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| 224 | if(sc.getPointIdx()>self.getPointIdx()) |
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| 225 | this.emergencyVehicleVpoz=0; |
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| 226 | else |
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| 227 | this.emergencyVehicleVpoz=2; |
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| 228 | } |
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| 229 | break; |
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| 230 | default:break; |
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| 231 | |
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| 232 | } |
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| 233 | |
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| 234 | if(sc.getLane()<self.getLane()) |
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| 235 | this.emergencyVehicleHpoz=1; |
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| 236 | else |
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| 237 | { |
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| 238 | if(sc.getLane()>self.getLane()) |
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| 239 | this.emergencyVehicleHpoz=0; |
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| 240 | else |
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| 241 | this.emergencyVehicleHpoz=2; |
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| 242 | } |
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| 243 | |
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| 244 | } |
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| 245 | Globals.EMERGENCY_RECEIVED++; |
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| 246 | //System.out.println("Car "+self.getVehicleId()+" got emergency message from car "+sc.getVehicleId()); |
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| 247 | } |
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| 248 | |
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| 249 | public boolean getForwardCrashSignal() |
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| 250 | { |
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| 251 | return this.forwardCrashSignal; |
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| 252 | } |
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| 253 | |
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| 254 | public boolean getLeftCrashSignal() |
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| 255 | { |
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| 256 | return this.leftCrashSignal; |
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| 257 | } |
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| 258 | |
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| 259 | public boolean getRightCrashSignal() |
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| 260 | { |
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| 261 | return this.rightCrashSignal; |
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| 262 | } |
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| 263 | |
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| 264 | public boolean getEmergencySignal() |
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| 265 | { |
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| 266 | return this.emergencyVehicleSignal; |
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| 267 | } |
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| 268 | |
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| 269 | public void refreshApplication(int currentTime) |
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| 270 | { |
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| 271 | if(currentTime-this.currentTime>=Globals.WIRELESS_TRANSMISSION_FRAMES+Globals.CCW_REFRESH_TIME) |
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| 272 | { |
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| 273 | this.FVehicle=this.NFVehicle=this.LAdjancedVehicle=this.RAdjancedVehicle=null; |
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| 274 | |
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| 275 | this.lastIRTFV=this.lastIRTNFV=this.lastIRTLAV=this.lastIRTRAV=this.currentTime; |
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| 276 | |
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| 277 | this.FVehicleDistance=this.NFVehicleDistance=this.LAVehicleDistance=this.RAVehicleDistance=30000; |
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| 278 | |
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| 279 | this.forwardCrashSignal=this.leftCrashSignal=this.rightCrashSignal=this.emergencyVehicleSignal=false; |
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| 280 | |
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| 281 | } |
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| 282 | |
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| 283 | this.currentTime=currentTime; |
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| 284 | } |
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| 285 | |
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| 286 | //calculates the FV and the NFV |
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| 287 | private void calculateFCWVehicles(CarInfo self,CarInfo sc) |
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| 288 | { |
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| 289 | |
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| 290 | Road r1,r2 = null; |
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| 291 | Point p1,p2 = null; |
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| 292 | |
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| 293 | r1 = (Road) Globals.map.roads.get(sc.getRoadIdx()); |
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| 294 | p1 = (Point) r1.points.get(sc.getPointIdx()); |
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| 295 | |
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| 296 | r2 = (Road) Globals.map.roads.get(self.getRoadIdx()); |
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| 297 | p2 = (Point) r2.points.get(self.getPointIdx()); |
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| 298 | |
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| 299 | |
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| 300 | //refresh the FV |
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| 301 | if(GPSutil.distance(p1, p2) <= this.FVehicleDistance && self.getRoadIdx()==sc.getRoadIdx() && self.getDirection()==sc.getDirection() && self.getLane()==sc.getLane()) |
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| 302 | { |
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| 303 | |
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| 304 | switch(self.getDirection()) |
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| 305 | { |
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| 306 | case 1: if(sc.getPointIdx()>self.getPointIdx()) |
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| 307 | { |
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| 308 | this.FVehicle=sc; |
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| 309 | this.FVehicleDistance=GPSutil.distance(p1, p2); |
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| 310 | Globals.CUMMULATIVE_PACKETS_FV++; |
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| 311 | Globals.IRT_FV+=this.currentTime-this.lastIRTFV; |
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| 312 | this.lastIRTFV=this.currentTime; |
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| 313 | return; |
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| 314 | } |
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| 315 | break; |
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| 316 | case 0 :if(sc.getPointIdx()<self.getPointIdx()) |
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| 317 | { |
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| 318 | this.FVehicle=sc; |
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| 319 | this.FVehicleDistance=GPSutil.distance(p1, p2); |
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| 320 | Globals.CUMMULATIVE_PACKETS_FV++; |
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| 321 | Globals.IRT_FV+=this.currentTime-this.lastIRTFV; |
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| 322 | this.lastIRTFV=this.currentTime; |
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| 323 | return; |
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| 324 | } |
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| 325 | break; |
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| 326 | default: break; |
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| 327 | } |
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| 328 | |
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| 329 | |
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| 330 | } |
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| 331 | |
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| 332 | if(this.FVehicle==null) |
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| 333 | return; |
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| 334 | |
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| 335 | |
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| 336 | //refresh the NFV |
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| 337 | if(this.FVehicle.getVehicleId()!=sc.getVehicleId() && GPSutil.distance(p1, p2) <= this.NFVehicleDistance && self.getRoadIdx()==sc.getRoadIdx() && self.getDirection()==sc.getDirection() && self.getLane()==sc.getLane()) |
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| 338 | { |
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| 339 | switch(self.getDirection()) |
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| 340 | { |
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| 341 | case 1: if(sc.getPointIdx()>self.getPointIdx()) |
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| 342 | { |
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| 343 | this.NFVehicle=sc; |
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| 344 | this.NFVehicleDistance=GPSutil.distance(p1, p2); |
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| 345 | Globals.CUMMULATIVE_PACKETS_NFV++; |
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| 346 | Globals.IRT_NFV+=this.currentTime-this.lastIRTNFV; |
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| 347 | this.lastIRTNFV=this.currentTime; |
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| 348 | } |
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| 349 | break; |
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| 350 | case 0 :if(sc.getPointIdx()<self.getPointIdx()) |
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| 351 | { |
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| 352 | this.NFVehicle=sc; |
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| 353 | this.NFVehicleDistance=GPSutil.distance(p1, p2); |
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| 354 | Globals.CUMMULATIVE_PACKETS_NFV++; |
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| 355 | Globals.IRT_NFV+=this.currentTime-this.lastIRTNFV; |
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| 356 | this.lastIRTNFV=this.currentTime; |
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| 357 | } |
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| 358 | break; |
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| 359 | default: break; |
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| 360 | } |
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| 361 | } |
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| 362 | } |
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| 363 | |
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| 364 | //calculates the LAV and the RAV |
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| 365 | private void calculateLCAVehicles(CarInfo self,CarInfo sc) |
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| 366 | { |
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| 367 | Road r1,r2 = null; |
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| 368 | Point p1,p2 = null; |
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| 369 | |
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| 370 | r1 = (Road) Globals.map.roads.get(sc.getRoadIdx()); |
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| 371 | p1 = (Point) r1.points.get(sc.getPointIdx()); |
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| 372 | |
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| 373 | r2 = (Road) Globals.map.roads.get(self.getRoadIdx()); |
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| 374 | p2 = (Point) r2.points.get(self.getPointIdx()); |
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| 375 | |
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| 376 | //refresh the LAV and RAV |
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| 377 | if(self.getRoadIdx()==sc.getRoadIdx() && self.getDirection()==sc.getDirection() && self.getLane()!=sc.getLane() && Math.abs(self.getPointIdx()-sc.getPointIdx())<=1) |
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| 378 | { |
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| 379 | if(sc.getLane()==self.getLane()+1 && GPSutil.distance(p1,p2)<this.LAVehicleDistance) |
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| 380 | { |
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| 381 | this.LAdjancedVehicle=sc; |
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| 382 | this.LAVehicleDistance=GPSutil.distance(p1,p2); |
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| 383 | Globals.CUMMULATIVE_PACKETS_LAV++; |
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| 384 | Globals.IRT_LAV+=this.currentTime-this.lastIRTLAV; |
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| 385 | this.lastIRTLAV=this.currentTime; |
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| 386 | return; |
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| 387 | } |
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| 388 | |
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| 389 | if(sc.getLane()==self.getLane()-1 && GPSutil.distance(p1,p2)<this.RAVehicleDistance) |
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| 390 | { |
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| 391 | this.RAdjancedVehicle=sc; |
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| 392 | this.RAVehicleDistance=GPSutil.distance(p1,p2); |
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| 393 | Globals.CUMMULATIVE_PACKETS_RAV++; |
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| 394 | Globals.IRT_RAV+=this.currentTime-this.lastIRTRAV; |
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| 395 | this.lastIRTRAV=this.currentTime; |
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| 396 | } |
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| 397 | } |
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| 398 | } |
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| 399 | |
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| 400 | public String getFV() |
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| 401 | { |
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| 402 | return ((this.FVehicle==null)?"none":(Integer.toString(this.FVehicle.getVehicleId()))); |
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| 403 | } |
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| 404 | |
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| 405 | public String getNFV() |
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| 406 | { |
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| 407 | return ((this.NFVehicle==null)?"none":(Integer.toString(this.NFVehicle.getVehicleId()))); |
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| 408 | } |
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| 409 | |
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| 410 | public String getLAV() |
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| 411 | { |
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| 412 | return ((this.LAdjancedVehicle==null)?"none":(Integer.toString(this.LAdjancedVehicle.getVehicleId()))); |
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| 413 | } |
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| 414 | |
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| 415 | public String getRAV() |
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| 416 | { |
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| 417 | return ((this.RAdjancedVehicle==null)?"none":(Integer.toString(this.RAdjancedVehicle.getVehicleId()))); |
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| 418 | } |
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| 419 | |
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| 420 | public CarInfo getFVC() |
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| 421 | { |
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| 422 | return this.FVehicle; |
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| 423 | } |
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| 424 | |
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| 425 | public CarInfo getNFVC() |
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| 426 | { |
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| 427 | return this.NFVehicle; |
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| 428 | } |
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| 429 | |
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| 430 | public CarInfo getLAVC() |
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| 431 | { |
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| 432 | return this.LAdjancedVehicle; |
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| 433 | } |
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| 434 | |
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| 435 | public CarInfo getRAVC() |
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| 436 | { |
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| 437 | return this.RAdjancedVehicle; |
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| 438 | } |
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| 439 | } |
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