Sumo_interface.c

/************************************************************************************
* Copyright (C) 2023                                                               *
* TETCOS, Bangalore. India                                                         *
*                                                                                  *
* Tetcos owns the intellectual property rights in the Product and its content.     *
* The copying, redistribution, reselling or publication of any or all of the       *
* Product or its content without express prior written consent of Tetcos is        *
* prohibited. Ownership and / or any other right relating to the software and all  *
* intellectual property rights therein shall remain at all times with Tetcos.      *
*                                                                                  *
* Author:    Kshitij Singh
* Date:      7 July 2016    
*                                                                                  *
* ---------------------------------------------------------------------------------*/
 
#include "main.h"
#include "Mobility.h"
#include "Animation.h"
 
char* sumoname;
double step_size;
 
char gui;    //By Default, Set GUI to 0
HANDLE hPipe;  //Create a Handle to pipe
 
 
 
 
double *corr(char* id);
void pipes_init();
 
//This function is mainly used for calling python and passing sumo configuration files to it
void init_sumo()
{
    static int nosumo=1;        // Declared as static, since we want it to be declared and changed only once                            
    if(nosumo)                  // This will run only at the 1st time
    {
        char command_to_python[BUFSIZ];     // to be passed to vanet.exe
        sprintf(command_to_python,"start vanet.exe -main \"%s\\ConfigSupport\\%s\" ",pszIOPath,sumoname);       // store it in one variable     
        fprintf(stderr,"Executing command for opening Sumo - %s",command_to_python);    // Error statement in standard error
        system(command_to_python);              // Call vanet.exe and subsequently python
        fprintf(stderr,"....done.\n");          
        printf("Init sumo pipe\n");
        pipes_init();               // Initiate pipes for connection
        nosumo=0;
    }
}
 
//This functon will call Pipes to get coordinates from python. Refer to mobility_run in mobility.c to understand the work of other variables
void sumo_run()
{
    MOBILITY_VAR* pstruMobilityVar=(MOBILITY_VAR*)NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruMobVar;  //Define Mobility variable
    double dPresentTime = pstruMobilityVar->dLastTime;
 
    memcpy(NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruCurrentPosition,
        NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruNextPosition,
        sizeof* NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruCurrentPosition);
 
    if(pstruMobilityVar->dLastTime+pstruMobilityVar->dPauseTime*1000000<pstruEventDetails->dEventTime+1000000)  //Everytime Mobility being called
    {
        double* coordinates;        // Pointer for array of X Y and Z coordinates
        coordinates = corr(DEVICE_NAME(pstruEventDetails->nDeviceId));  //Get coordinates from python
        if (coordinates!=NULL)
        {
            NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruNextPosition->X = coordinates[0];  // Update the coordinates in Network stack
            NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruNextPosition->Y = coordinates[1];
            NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId - 1]->pstruDeviceMobility->pstruNextPosition->Z = coordinates[2];
            free(coordinates);          // Free memory of pointer
        }
 
        //store the last time
        pstruMobilityVar->dLastTime = pstruEventDetails->dEventTime+1000000*step_size;          // Update Last time since we want to match timings with SUMO
    }
    //update the device position
    memcpy(NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDevicePosition,      
        NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDeviceMobility->pstruCurrentPosition,
        sizeof* NETWORK->ppstruDeviceList[pstruEventDetails->nDeviceId-1]->pstruDevicePosition);
 
    mobility_pass_position_to_animation(pstruEventDetails->nDeviceId,
                                        pstruEventDetails->dEventTime,
                                        DEVICE_POSITION(pstruEventDetails->nDeviceId));
    
    //Add event for next point 
    pstruEventDetails->dEventTime+=1000000*step_size;
    fnpAddEvent(pstruEventDetails);
    pstruEventDetails->dEventTime-=1000000*step_size;
}
 
 
// This function Initiates a Pipes connection and sends GUI =1 or 0 based on Animation Status
 
void pipes_init()
{
    BOOL   fSuccess;                                //If reading/writing successfil or not
    DWORD  cbToWrite, cbWritten;            // For Pipes
    DWORD dwMode;
    char message_to_be_sent[2]; 
    
    LPCSTR lpszPipename = "\\\\.\\pipe\\netsim_sumo_pipe";      //Pipename
    gui='0';
    fSuccess=FALSE;
    //getch();
    fprintf(stderr,"Creating Sumo pipe\n");
 
    while (1) 
    { 
        hPipe = CreateFileA
            ( 
            lpszPipename,   // pipe name 
            GENERIC_READ |  // read and write access 
            GENERIC_WRITE, 
            0,              // no sharing 
            NULL,           // default security attributes
            OPEN_EXISTING,  // opens existing pipe 
            0,              // default attributes 
            NULL            // no template file
            );                         
 
        if (hPipe != INVALID_HANDLE_VALUE) 
            break; 
 
    }
 
    fprintf(stderr,"Connecting Sumo and NetSim in real time\n");
    dwMode = PIPE_READMODE_MESSAGE; // The pipe connected; change to message-read mode. 
    fSuccess = SetNamedPipeHandleState
        ( 
        hPipe,    // pipe handle 
        &dwMode,  // new pipe mode 
        NULL,     // don't set maximum bytes 
        NULL    // don't set maximum time 
        );             
 
    if ( ! fSuccess) 
        fnSystemError("Error in connection netsim sump pipe.\n");
    else
        fprintf(stderr,"Connection done\n");
 
    if(anim_get_anim_flag() == ANIMFLAG_ONLINE)
        gui = '1';
    else
        gui = '0';
    
 
    message_to_be_sent[0]=gui;  //Send GUI enable or disable
    message_to_be_sent[1]=0;
 
    cbToWrite=(DWORD)strlen(message_to_be_sent);
 
    fSuccess = WriteFile
        ( 
        hPipe,                  // pipe handle 
        message_to_be_sent,             // message 
        cbToWrite,              // message length 
        &cbWritten,             // bytes written 
        NULL                    // not overlapped 
        );                  
}
//////////////////////////////////////////////////////
 
 
 
double *corr(char* id)
{
    BOOL   fSuccess;                                //If reading/writing successfil or not
    DWORD  cbRead, cbToWrite, cbWritten;            // For Pipes
    CHAR  chBuf[BUFSIZ]; //For reading messages from pipes
 
    double xcor1,ycor1,zcor1;    // x y and z coordinates to be received from sumo
    double* coordinates;
 
    do 
    { 
        // Read Garbage from the pipe. 
 
        fSuccess = ReadFile
            ( 
            hPipe,    // pipe handle 
            chBuf,    // buffer to receive reply 
            BUFSIZ*sizeof(CHAR),  // size of buffer 
            &cbRead,  // number of bytes read 
            NULL        // not overlapped 
            );
 
        if ( ! fSuccess && GetLastError() != ERROR_MORE_DATA )
            break; 
        chBuf[cbRead]=0;
    } while (!fSuccess);  // repeat loop if ERROR_MORE_DATA 
 
 
    //Send Vehicle Name to Python 
 
    cbToWrite=(DWORD)strlen(id)+1;
    fSuccess = WriteFile
        ( 
        hPipe,                  // pipe handle 
        id,             // message 
        cbToWrite,              // message length 
        &cbWritten,             // bytes written 
        NULL                    // not overlapped 
        );                  
 
 
    // Read acknowledgment for vehicle ids
    do 
    { 
 
        fSuccess = ReadFile
            ( 
            hPipe,    // pipe handle 
            chBuf,    // buffer to receive reply 
            BUFSIZ*sizeof(CHAR),  // size of buffer 
            &cbRead,  // number of bytes read 
            NULL    // not overlapped 
            );
 
        if ( ! fSuccess && GetLastError() != ERROR_MORE_DATA )
            break; 
        chBuf[cbRead]=0;
 
    } while (!fSuccess);  // repeat loop if ERROR_MORE_DATA 
 
 
 
    if(chBuf[0]=='c')  // If the vehicle is present ('c' for confirmation)
    {
        xcor1=0;ycor1=0;
        do 
        { 
            // Read X coordinate 
            fSuccess = ReadFile
                ( 
                hPipe,    // pipe handle 
                chBuf,    // buffer to receive reply 
                BUFSIZ*sizeof(CHAR),  // size of buffer 
                &cbRead,  // number of bytes read 
                NULL    // not overlapped 
                );    
 
            if ( ! fSuccess && GetLastError() != ERROR_MORE_DATA )
                break; 
 
        } while (!fSuccess);  // repeat loop if ERROR_MORE_DATA 
 
        xcor1 = atof(chBuf);
 
        do 
        { 
            // Read Y coordinate
 
            fSuccess = ReadFile
                ( 
                hPipe,    // pipe handle 
                chBuf,    // buffer to receive reply 
                BUFSIZ*sizeof(CHAR),  // size of buffer 
                &cbRead,  // number of bytes read 
                NULL        // not overlapped   
                );    
 
            if ( ! fSuccess && GetLastError() != ERROR_MORE_DATA )
                break; 
            chBuf[cbRead]=0;
 
        } while (!fSuccess);  // repeat loop if ERROR_MORE_DATA 
 
        ycor1 = atof(chBuf);
 
        do
        {
            // Read Z coordinate
 
            fSuccess = ReadFile
            (
                hPipe,    // pipe handle 
                chBuf,    // buffer to receive reply 
                BUFSIZ * sizeof(CHAR),  // size of buffer 
                &cbRead,  // number of bytes read 
                NULL        // not overlapped   
            );
 
            if (!fSuccess && GetLastError() != ERROR_MORE_DATA)
                break;
            chBuf[cbRead] = 0;
 
        } while (!fSuccess);  // repeat loop if ERROR_MORE_DATA 
 
        zcor1 = atof(chBuf);
        coordinates = (double*)malloc(3*sizeof* coordinates);
        coordinates[0]=xcor1;
        coordinates[1]=ycor1;
        coordinates[2] = zcor1;
        return (coordinates);               //Return X Y Z Coordinates  
    }
 
    else
    {
        return(NULL);       // If vehicle not found, return NULL
    }
 
}