Hi,
I'm new to sumo and I'm able to run a TraCI c++ to insert a vehicle into the
simulation.
But when I try to use the commands
void moveTo();
void moveToXY();
to control the vehicle using real time inputs, it does not behave as I want it
to.
I saw one post regarding the same topic but there was no clear solution there.
There was something mentioned about C++ hacking. I'm not sure what that means.
It would be really helpful if someone can suggest me a solution.
Thanks & Regards
Sriram
PS: I'm attaching the TraCI C++ client file I'm using
#include <iostream>
#include <utils/traci/TraCIAPI.h>
#include <boost/thread.hpp>
#include <unistd.h>
#include <stdlib.h>
#include <ncurses.h>
#include<math.h>
class Client : public TraCIAPI
{
private:
bool stop;
bool flag;
int i;
std::string strv;
std::string strr;
std::string stre;
std::vector<std::string> l;
SUMOReal speed;
int key;
double temp;
TraCIAPI::TraCIPosition p;
SUMOReal angle;
double da;
double x;
double y;
public:
void loopsim ()
{
std::string& rID = this->strr;
std::string& vID = this->strv;
std::string& eID = this->stre;
std::vector<std::string> l;
this->speed = 0;
// this->temp = this->speed;
this->connect("localhost", 1337);
std::cout << "time in ms: " << this->simulation.getCurrentTime() << "\n";
std::cout << "run 5 steps ...\n";
//l = client.vehicle.getIDList(); // Vehicle ID list
//for (std::vector<std::string>::const_iterator s = l.begin(); s != l.end(); ++s)
//std::cout << *s << ' ';
for (this->i=0;this->i<10000;this->i++)
{
this->simulationStep(i * 1000);
if(this->i==1)
{
this->vehicle.add(vID ,rID);
this->vehicle.setSpeed(vID, 0);
this->angle = this->vehicle.getAngle(vID);
}
if (i>1)
{
this->p = this->vehicle.getPosition(vID);
std::cout<< this->x << "\n";
/* if(this->speed != 0 && this->speed > 0)
{
this->vehicle.setSpeed(vID, this->speed);
}
*/
if(flag)
{
this->x = this->speed * cos(da);
this->y = this->speed * sin(da);
// this->angle = this->angle + this->da;
this->vehicle.moveToXY(vID, eID, 0, (this->p.x+this->x) , (this->p.y+this->y), (this->da+90) , 1);
flag = false;
}
// this->speed= this->speed - 0.25;
}
}
std::cout << "time in ms: " << this->simulation.getCurrentTime() << "\n";
this->close();
stop = true;
};
void contsim ()
{
initscr();
crmode();
keypad(stdscr, TRUE);
this->key = getch();
while(!this->stop)
{
//this->x=0; this->da=0;
switch(this->key)
{
case KEY_RIGHT: this->da= this->da - 10; flag = true; break;
case KEY_LEFT: this->da = this->da + 10; flag = true; break;
case KEY_UP: this->speed = this->speed+ 0.1; flag = true; break;
case KEY_DOWN: this->speed = this->speed - 0.1; flag = true; break;
}
if (this->speed < 0)
this->speed = 0;
this->key = getch();
}
endwin();
exit(EXIT_SUCCESS);
};
Client()
{
this->flag = false;
this->stop = false;
this->strv = "veh1";
this->strr = "route0";
this->stre = "1to2";
this->y = 0;
this->x = 0;
this->speed = 0;
this->da = 0;
int key;
};
~Client() {};
};
int main(int argc, char* argv[])
{
Client client;
boost::thread th1(&Client::loopsim,&client);
boost::thread th2(&Client::contsim,&client);
th1.join();
th2.join();
}
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