Monaco SUMO Traffic Scenario for Artery

.gitmodules

@@ -20,3 +20,6 @@
 [submodule "extern/sim0mqpp"]
 	path = extern/sim0mqpp
 	url = https://github.com/riebl/sim0mqpp.git
+[submodule "scenarios/most/MoSTScenario"]
+	path = scenarios/most/MoSTScenario
+	url = https://github.com/lcodeca/MoSTScenario.git

scenarios/most/most.roi_parking.xml

@@ -0,0 +1,3 @@
+<viewsettings>
+    <viewport zoom="3740.43" x="5135.86" y="2727.76" angle="0.00"/>
+</viewsettings>

scenarios/most/omnetpp.ini

@@ -0,0 +1,151 @@
+[General]
+network = artery.envmod.World
+
+result-dir = /tmp/most/
+
+# Store results in SQLite database
+outputvectormanager-class="omnetpp::envir::SqliteOutputVectorManager"
+outputscalarmanager-class="omnetpp::envir::SqliteOutputScalarManager"
+
+repeat = 1
+
+*.traci.core.version = -1
+*.traci.launcher.typename = "PosixLauncher"
+
+**.vehicle_rate = ${mprate= 0.1, 0.2, 0.4, 0.6, 0.8, 1.0}
+**.plain_rate =   ${plain=  0.9, 0.8, 0.6, 0.4, 0.2, 0.0 ! mprate}
+
+
+# warmup and simulation configuration
+*.warmupDuration     = ${ warmupDuration     = 5s }
+*.simulationDuration = ${ simulationDuration = 60s }
+
+# see above for configuration of mapper's random number generator (rng)
+*.traci.mapper.typename = "traci.MultiVClassMultiTypeModuleMapper"
+*.traci.mapper.basicNodeManager = "traci.nodes"
+*.traci.mapper.vehicleTypes = xml \
+("\
+<roadusers> \
+    <vehicles vClass=\"passenger evehicle taxi bus coach trailer delivery truck trailer\"> \
+        <vehicle type=\"artery.envmod.Car\" rate=\"${mprate}\" /> \
+        <vehicle type=\"artery.envmod.PlainVehicle\" rate=\"${plain}\" /> \
+    </vehicles> \
+    <vehicles vClass=\"emergency authority army\"> \
+        <vehicle type=\"artery.envmod.Car\" rate=\"1.0\" /> \
+    </vehicles> \
+    <vehicles vClass=\"rail\"> \
+        <vehicle type=\"artery.envmod.PlainVehicle\" rate=\"1.0\" /> \
+    </vehicles> \
+    <vehicles vClass=\"moped motorcycle bicycle\"> \
+        <vehicle type=\"artery.envmod.PlainVehicle\" rate=\"1.0\" /> \
+    </vehicles> \
+</roadusers> \
+")
+
+*.traci.mapper.personTypes = xml \
+("\
+<roadusers> \
+    <persons vClass=\"pedestrian\"> \
+        <person type=\"artery.envmod.PlainPerson\" rate=\"1.0\" /> \
+    </persons> \
+</roadusers> \
+")
+
+*.node[*].wlan[*].typename = "VanetNic"
+*.node[*].wlan[*].radio.channelNumber = 180
+*.node[*].wlan[*].radio.carrierFrequency = 5.9 GHz
+*.node[*].wlan[*].radio.transmitter.power = 200 mW
+
+# Disable all other metrics from WLAN stack (irrelevant to us):
+**.wlan[*].**.statistic-recording = false
+
+# Radio Simulation Configuration
+*.radioMedium.pathLossType = "Gemv2"
+*.radioMedium.pathLoss.withSmallScaleVariations = false
+
+# DCC configuration
+**.vanetza[*].dcc.typename = "LimericDccEntity"
+**.vanetza[*].dcc.ChannelProbeProcessor = "SmoothingLocal"
+**.vanetza[*].dcc.queueLength = 2
+**.vanetza[*].dcc.targetCbr = 0.68
+**.vanetza[*].dcc.enableDualAlpha = true
+
+
+# Middleware Configuration
+*.node[*].middleware.updateInterval = 0.1s
+*.node[*].middleware.datetime = "2023-06-01 12:35:00"
+*.node[*].middleware.services = xmldoc("services.xml")
+
+# Environment Model Configuration
+**.identityRegistryModule = "idRegistry"
+*.environmentModel.drawObstacles = true
+*.environmentModel.drawVehicles = true
+*.environmentModel.traciModule = "traci"
+*.environmentModel.nodeMobilityModule = ".mobility"
+*.node[*].environmentModel.sensors = xmldoc("sensors.xml")
+
+
+[Config most]
+*.traci.nodes.typename = "ExtensibleNodeManager"
+*.traci.ignorePersons = false
+*.traci.nodes.handleParkingVehicles = true
+*.traci.nodes.numVehiclePolicies = 3
+# only simulated the inner city area
+*.traci.nodes.vehiclePolicy[0].typename = "RegionOfInterestVehiclePolicy"
+*.traci.nodes.vehiclePolicy[0].regionsOfInterest = xmldoc("roi_urban.xml")
+# remove overlapping vehicles in parking lots
+*.traci.nodes.vehiclePolicy[1].typename = "OverlappingVehiclesPolicy" 
+*.traci.nodes.vehiclePolicy[1].subscriptionManager = "traci.subscriptions"
+*.traci.nodes.vehiclePolicy[1].basicNodeManager = "traci.nodes"
+# add insertion delay to vehicles
+*.traci.nodes.vehiclePolicy[2].typename = "InsertionDelayVehiclePolicy"
+
+*.traci.launcher.sumocfg = ${sumocfg = "MoSTScenario/scenario/most.sumocfg"}
+*.traci.launcher.extraOptions = "--step-length 0.1 --default.action-step-length 0.3"
+*.traci.launcher.seed = 42 # default
+
+# consider buldings as obstacles for GEMV2 path loss model
+*.radioMedium.pathLoss.obstacles.filterTypes = "building building.castle building.church building.commercial building.fort building.yes building.public building.office building.sports_hall building.industrial building.residential"
+
+# consider buldings as obstacles for environment model
+*.environmentModel.obstacleTypes = "building building.castle building.church building.commercial building.fort building.yes building.public building.office building.sports_hall building.industrial building.residential"
+
+# scenario offset is 14400s (4AM), simulation takes place at 28800s (8:00AM)
+*.traci.core.startTime = ${traciStartTime = 14400}s
+#*.traci.core.startTime = ${traciStartTime = 10000}s
+warmup-period = ${${traciStartTime}s+$warmupDuration}
+sim-time-limit = ${${traciStartTime}s+$warmupDuration+$simulationDuration}
+
+
+
+[Config most_overlap]
+*.traci.nodes.typename = "ExtensibleNodeManager"
+*.traci.ignorePersons = false
+*.traci.nodes.handleParkingVehicles = true
+*.traci.nodes.numVehiclePolicies = 2
+# only simulated the inner city area
+*.traci.nodes.vehiclePolicy[0].typename = "RegionOfInterestVehiclePolicy"
+*.traci.nodes.vehiclePolicy[0].regionsOfInterest = xmldoc("roi_parking.xml")
+# remove overlapping vehicles in parking lots
+*.traci.nodes.vehiclePolicy[1].typename = "OverlappingVehiclesPolicy"
+*.traci.nodes.vehiclePolicy[1].subscriptionManager = "traci.subscriptions"
+*.traci.nodes.vehiclePolicy[1].basicNodeManager = "traci.nodes"
+# add insertion delay to vehicles
+#*.traci.nodes.vehiclePolicy[2].typename = "InsertionDelayVehiclePolicy"
+
+*.traci.launcher.sumo = "sumo-gui"
+*.traci.launcher.sumocfg = ${sumocfg = "MoSTScenario/scenario/most.sumocfg"}
+*.traci.launcher.extraOptions = "--step-length 0.1 --default.action-step-length 0.3 --gui-settings-file most.roi_parking.xml"
+*.traci.launcher.seed = 42 # default
+
+# consider buldings as obstacles for GEMV2 path loss model
+*.radioMedium.pathLoss.obstacles.filterTypes = "building building.castle building.church building.commercial building.fort building.yes building.public building.office building.sports_hall building.industrial building.residential"
+
+# consider buldings as obstacles for environment model
+*.environmentModel.obstacleTypes = "building building.castle building.church building.commercial building.fort building.yes building.public building.office building.sports_hall building.industrial building.residential"
+
+# scenario offset is 14400s (4AM), simulation takes place at 28800s (8:00AM)
+*.traci.core.startTime = ${traciStartTime = 4000}s
+#*.traci.core.startTime = ${traciStartTime = 10000}s
+warmup-period = 0s
+sim-time-limit = 14400s

scenarios/most/roi_parking.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<regions>
+    <polygon name="parkingArea:1104">
+        <point x="5118.70" y="2736.36" />
+        <point x="5066.56" y="2687.10" />
+        <point x="5091.18" y="2667.70" />
+        <point x="5144.84" y="2729.62" />
+    </polygon>
+</regions>

scenarios/most/roi_urban.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<regions>
+    <polygon name="urban">
+        <point x="4182.04" y="379.95" />
+        <point x="3628.42" y="1368.03" />
+        <point x="4420.35" y="2851.07" />
+        <point x="5391.93" y="3798.82" />
+        <point x="6702.66" y="3974.80" />
+        <point x="6180.20" y="1793.32" />
+    </polygon>
+</regions>

scenarios/most/sensors.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sensors>
+	<sensor name="FrontShortRangeRadar" type="artery.envmod.sensor.FrontRadar" />
+	<sensor type="artery.envmod.sensor.CamSensor" />
+</sensors>

scenarios/most/services.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<services>
+	<service type="artery.application.CaService" name="CS">
+		<listener port="2001" />
+	</service>
+</services>

src/traci/BasicNodeManager.cc

@@ -21,7 +21,11 @@ static const std::set<int> sVehicleVariables {
     libsumo::VAR_POSITION, libsumo::VAR_SPEED, libsumo::VAR_ANGLE
 };
 static const std::set<int> sSimulationVariables {
-    libsumo::VAR_DEPARTED_VEHICLES_IDS, libsumo::VAR_ARRIVED_VEHICLES_IDS, libsumo::VAR_TELEPORT_STARTING_VEHICLES_IDS,
+    libsumo::VAR_DEPARTED_VEHICLES_IDS,
+    libsumo::VAR_ARRIVED_VEHICLES_IDS,
+    libsumo::VAR_TELEPORT_STARTING_VEHICLES_IDS,
+    libsumo::VAR_PARKING_STARTING_VEHICLES_IDS,
+    libsumo::VAR_PARKING_ENDING_VEHICLES_IDS,
     libsumo::VAR_TIME
 };
 
@@ -81,7 +85,7 @@ void BasicNodeManager::initialize()
     m_subscriptions = inet::getModuleFromPar<SubscriptionManager>(par("subscriptionsModule"), this);
     m_destroy_vehicles_on_crash = par("destroyVehiclesOnCrash");
     m_ignore_persons = par("ignorePersons");
-
+    m_handle_parking_vehicles = par("handleParkingVehicles");
 }
 
 void BasicNodeManager::finish()
@@ -123,6 +127,8 @@ void BasicNodeManager::traciStep()
         processPersons();
     }
     emit(updateNodeSignal, getNumberOfNodes());
+
+    m_ended_parking_vehicles.clear();
 }
 
 void BasicNodeManager::traciClose()
@@ -157,6 +163,22 @@ void BasicNodeManager::processVehicles()
         }
     }
 
+    if (m_handle_parking_vehicles) {
+        // handle vehicles that start to park
+        const auto& parked = sim_cache->get<libsumo::VAR_PARKING_STARTING_VEHICLES_IDS>();
+        EV_DETAIL << "TraCI: " << parked.size() << " vehicles started parking" << endl;
+        for (const auto& id : parked) {
+            startVehicleParking(id);
+        }
+
+        // handle vehicles that end parking
+        const auto& starting = sim_cache->get<libsumo::VAR_PARKING_ENDING_VEHICLES_IDS>();
+        EV_DETAIL << "TraCI: " << starting.size() << " vehicles ended parking" << endl;
+        for (const auto& id : starting) {
+            endVehicleParking(id);
+        }
+    }
+
     for (auto& vehicle : m_vehicles) {
         const std::string& id = vehicle.first;
         VehicleSink* sink = vehicle.second;
@@ -188,6 +210,7 @@ void BasicNodeManager::removeVehicle(const std::string& id)
     emit(removeVehicleSignal, id.c_str());
     removeNodeModule(id);
     m_vehicles.erase(id);
+    m_removed_vehicles.insert(id);
 }
 
 void BasicNodeManager::updateVehicle(const std::string& id, VehicleSink* sink)
@@ -263,6 +286,24 @@ void BasicNodeManager::updatePerson(const std::string& id, PersonSink* sink)
     }
 }
 
+void BasicNodeManager::startVehicleParking(const std::string& id)
+{
+    /* removeVehicle(id); */
+    m_parking_vehicles.insert(id);
+}
+
+void BasicNodeManager::endVehicleParking(const std::string& id)
+{
+    // check that vehicle is not added again after OverlappingVehiclesPolicy had removed it
+    auto match = m_removed_vehicles.find(id);
+    if (match != m_removed_vehicles.end()) {
+        // vehicle has been removed before, so it can be added again without duplication
+        addVehicle(id);
+    }
+    m_parking_vehicles.erase(id);
+    m_ended_parking_vehicles.insert(id);
+}
+
 cModule* BasicNodeManager::createModule(const std::string&, cModuleType* type)
 {
     cModule* module = type->create("node", getSystemModule(), m_nodeIndex, m_nodeIndex);
@@ -352,4 +393,14 @@ PersonSink* BasicNodeManager::getPersonSink(const std::string& id)
     return found != m_persons.end() ? found->second : nullptr;
 }
 
+std::unordered_set<std::string>& BasicNodeManager::getParkingVehicles()
+{
+    return m_parking_vehicles;
+}
+
+std::unordered_set<std::string>& BasicNodeManager::getEndedParkingVehicles()
+{
+    return m_ended_parking_vehicles;
+}
+
 } // namespace traci

src/traci/BasicNodeManager.h

@@ -39,6 +39,8 @@ class BasicNodeManager : public NodeManager, public Listener, public omnetpp::cS
     std::shared_ptr<API> getAPI() override { return m_api; }
     SubscriptionManager* getSubscriptions() { return m_subscriptions; }
     std::size_t getNumberOfNodes() const override;
+    std::unordered_set<std::string>& getParkingVehicles();
+    std::unordered_set<std::string>& getEndedParkingVehicles();
 
     /**
      * VehicleObject wraps variable cache of a subscribed TraCI vehicle
@@ -76,6 +78,8 @@ class BasicNodeManager : public NodeManager, public Listener, public omnetpp::cS
     virtual void addVehicle(const std::string&);
     virtual void removeVehicle(const std::string&);
     virtual void updateVehicle(const std::string&, VehicleSink*);
+    virtual void startVehicleParking(const std::string&);
+    virtual void endVehicleParking(const std::string&);
     virtual omnetpp::cModule* createModule(const std::string&, omnetpp::cModuleType*);
     virtual omnetpp::cModule* addNodeModule(const std::string&, omnetpp::cModuleType*, NodeInitializer&);
     virtual void removeNodeModule(const std::string&);
@@ -105,6 +109,11 @@ class BasicNodeManager : public NodeManager, public Listener, public omnetpp::cS
     bool m_destroy_vehicles_on_crash;
     bool m_ignore_persons;
     omnetpp::SimTime m_offset = omnetpp::SimTime::ZERO;
+
+    bool m_handle_parking_vehicles;
+    std::unordered_set<std::string> m_parking_vehicles;
+    std::unordered_set<std::string> m_ended_parking_vehicles;
+    std::unordered_set<std::string> m_removed_vehicles;
 };
 
 } // namespace traci

src/traci/BasicNodeManager.ned

@@ -20,4 +20,5 @@ simple BasicNodeManager like NodeManager
         string subscriptionsModule;
         bool destroyVehiclesOnCrash = default(false);
         bool ignorePersons;
+        bool handleParkingVehicles = default(false);
 }

src/traci/BasicSubscriptionManager.cc

@@ -47,6 +47,8 @@ void BasicSubscriptionManager::traciInit()
         VAR_ARRIVED_VEHICLES_IDS,
         VAR_DELTA_T,
         VAR_TELEPORT_STARTING_VEHICLES_IDS,
+        VAR_PARKING_STARTING_VEHICLES_IDS,
+        VAR_PARKING_ENDING_VEHICLES_IDS,
         VAR_TIME
     };
     subscribeSimulationVariables(vars);

src/traci/CMakeLists.txt

@@ -10,6 +10,8 @@ set(SOURCES
     InsertionDelayVehiclePolicy.cc
     Listener.cc
     MultiTypeModuleMapper.cc
+    MultiVClassMultiTypeModuleMapper.cc
+    OverlappingVehiclesPolicy.cc
     PosixLauncher.cc
     RegionsOfInterest.cc
     RegionOfInterestVehiclePolicy.cc