LaneBasedTemplateCar.java
package org.opentrafficsim.core.car;
import java.lang.reflect.Constructor;
import java.lang.reflect.InvocationTargetException;
import java.rmi.RemoteException;
import java.util.LinkedHashMap;
import java.util.Map;
import javax.naming.NamingException;
import nl.tudelft.simulation.dsol.SimRuntimeException;
import nl.tudelft.simulation.dsol.animation.D2.Renderable2D;
import nl.tudelft.simulation.language.reflection.ClassUtil;
import org.opentrafficsim.core.dsol.OTSAnimatorInterface;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.RelativePosition;
import org.opentrafficsim.core.gtu.RelativePosition.TYPE;
import org.opentrafficsim.core.gtu.TemplateGTUType;
import org.opentrafficsim.core.gtu.animation.DefaultCarAnimation;
import org.opentrafficsim.core.gtu.following.GTUFollowingModel;
import org.opentrafficsim.core.gtu.lane.AbstractLaneBasedTemplateGTU;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.network.lane.Lane;
import org.opentrafficsim.core.network.route.Route;
import org.opentrafficsim.core.unit.LengthUnit;
import org.opentrafficsim.core.unit.SpeedUnit;
import org.opentrafficsim.core.value.vdouble.scalar.DoubleScalar;
/**
* <p>
* Copyright (c) 2013-2014 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights
* reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
* <p>
* @version Oct 22, 2014 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @param <ID> The type of ID, e.g., String or Integer
*/
public class LaneBasedTemplateCar<ID> extends AbstractLaneBasedTemplateGTU<ID>
{
/** */
private static final long serialVersionUID = 20141025L;
/** animation. */
private Renderable2D animation;
/** Sensing positions. */
private final Map<RelativePosition.TYPE, RelativePosition> relativePositions = new LinkedHashMap<>();
/**
* @param id ID; the id of the GTU, could be String or Integer
* @param templateGtuType the template of the GTU
* @param gtuFollowingModel GTUFollowingModel; the following model, including a reference to the simulator
* @param initialLongitudinalPositions Map<Lane, DoubleScalar.Rel<LengthUnit>>; the initial positions of
* the car on one or more lanes
* @param initialSpeed DoubleScalar.Abs<SpeedUnit>; the initial speed of the car on the lane
* @param route Route of the GTU
* @throws NamingException if an error occurs when adding the animation handler.
* @throws RemoteException when the simulator cannot be reached.
* @throws NetworkException when the GTU cannot be placed on the given lane.
* @throws SimRuntimeException when the move method cannot be scheduled.
* @throws GTUException when gtuFollowingModel is null
*/
public LaneBasedTemplateCar(final ID id, final TemplateGTUType<?> templateGtuType,
final GTUFollowingModel gtuFollowingModel,
final Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions,
final DoubleScalar.Abs<SpeedUnit> initialSpeed, final Route route) throws NamingException, RemoteException,
NetworkException, SimRuntimeException, GTUException
{
this(id, templateGtuType, gtuFollowingModel, initialLongitudinalPositions, initialSpeed, route,
DefaultCarAnimation.class);
}
/**
* @param id ID; the id of the GTU, could be String or Integer
* @param templateGtuType the template of the GTU
* @param gtuFollowingModel GTUFollowingModel; the following model, including a reference to the simulator
* @param initialLongitudinalPositions Map<Lane, DoubleScalar.Rel<LengthUnit>>; the initial positions of
* the car on one or more lanes
* @param initialSpeed DoubleScalar.Abs<SpeedUnit>; the initial speed of the car on the lane
* @param route Route; the route of the new car
* @param animationClass Class<? extends Renderable2D>; the class for animation or null if no animation.
* @throws NamingException if an error occurs when adding the animation handler.
* @throws RemoteException when the simulator cannot be reached.
* @throws NetworkException when the GTU cannot be placed on the given lane.
* @throws SimRuntimeException when the move method cannot be scheduled.
* @throws GTUException when gtuFollowingModel is null
*/
public LaneBasedTemplateCar(final ID id, final TemplateGTUType<?> templateGtuType,
final GTUFollowingModel gtuFollowingModel,
final Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions,
final DoubleScalar.Abs<SpeedUnit> initialSpeed, final Route route,
final Class<? extends Renderable2D> animationClass) throws NamingException, RemoteException,
NetworkException, SimRuntimeException, GTUException
{
super(id, templateGtuType, gtuFollowingModel, initialLongitudinalPositions, initialSpeed, route);
// sensor positions.
// We take the rear position of the Car to be the reference point. So the front is the length
// of the Car away from the reference point in the positive (driving) X-direction.
DoubleScalar.Rel<LengthUnit> zero = new DoubleScalar.Rel<LengthUnit>(0.0d, LengthUnit.METER);
DoubleScalar.Rel<LengthUnit> dx = new DoubleScalar.Rel<LengthUnit>(getLength().getSI(), LengthUnit.METER);
this.relativePositions
.put(RelativePosition.FRONT, new RelativePosition(dx, zero, zero, RelativePosition.FRONT));
this.relativePositions
.put(RelativePosition.REAR, new RelativePosition(zero, zero, zero, RelativePosition.REAR));
this.relativePositions.put(RelativePosition.REFERENCE, RelativePosition.REFERENCE_POSITION);
// animation
if (getSimulator() instanceof OTSAnimatorInterface && animationClass != null)
{
try
{
Constructor<?> constructor =
ClassUtil.resolveConstructor(animationClass, new Object[]{this, getSimulator()});
this.animation = (Renderable2D) constructor.newInstance(this, getSimulator());
}
catch (InstantiationException | IllegalAccessException | NoSuchMethodException | SecurityException
| IllegalArgumentException | InvocationTargetException exception)
{
throw new NetworkException("Could not instantiate car animation of type " + animationClass.getName(),
exception);
}
}
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public RelativePosition getFront()
{
return this.relativePositions.get(RelativePosition.FRONT);
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public RelativePosition getRear()
{
return this.relativePositions.get(RelativePosition.REAR);
}
/** {@inheritDoc} */
@Override
public final Map<TYPE, RelativePosition> getRelativePositions()
{
return this.relativePositions;
}
/** {@inheritDoc} */
@Override
public final void destroy()
{
if (this.animation != null)
{
try
{
this.animation.destroy();
}
catch (Exception e)
{
System.err.println("Car: " + this.getId());
e.printStackTrace();
}
}
super.destroy();
}
/** {@inheritDoc} */
public final String toString()
{
try
{
Map<Lane, DoubleScalar.Rel<LengthUnit>> frontPositions = positions(getFront());
Lane frontLane = frontPositions.keySet().iterator().next();
return String.format("Car %s front:%s[%s]", getId(), frontLane, frontPositions.get(frontLane));
}
catch (RemoteException | NetworkException exception)
{
exception.printStackTrace();
}
return "Caught exception in toString";
}
/**
* Build a template car and use easy setter methods to instantiate the car. Typical use looks like:
*
* <pre>
* LaneBasedTemplateCar<String> car = new LaneBasedTemplateCarBuilder<String>().setId("Car:"+nr)
* .setInitialSpeed(new DoubleScalar.Rel<SpeedUnit>(80.0, LengthUnit.KM_PER_HOUR))....build();
*
* or
*
* LaneBasedTemplateCarBuilder<String> carBuilder = new LaneBasedTemplateCarBuilder<String>();
* carBuilder.setId("Car:"+nr);
* carBuilder.setTemplateGtuType(TruckTemplate);
* carBuilder.setInitialSpeed(new DoubleScalar.Rel<SpeedUnit>(80.0, LengthUnit.KM_PER_HOUR));
* ...
* LaneBasedTemplateCar<String> car = carBuilder.build();
* </pre>
* <p>
* Copyright (c) 2013-2014 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
* All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
* <p>
* @version Feb 3, 2015 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @param <ID> the ID type of the Car, e.g. String or Integer or Long.
*/
@SuppressWarnings("checkstyle:hiddenfield")
public static class LaneBasedTemplateCarBuilder<ID>
{
/** the id of the GTU, could be String or Integer. */
private ID id = null;
/** the type of GTU, e.g. TruckType, CarType, BusType. */
private TemplateGTUType<?> templateGtuType = null;
/** the initial positions of the car on one or more lanes. */
private Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions = null;;
/** the initial speed of the car on the lane. */
private DoubleScalar.Abs<SpeedUnit> initialSpeed = null;
/** CarFollowingModel used by this Car. */
private GTUFollowingModel gtuFollowingModel = null;
/** Route followed by this Car. */
private Route route = null;
/** animation. */
private Class<? extends Renderable2D> animationClass = null;
/**
* @param id set id
* @return the class itself for chaining the setters
*/
public final LaneBasedTemplateCarBuilder<ID> setId(final ID id)
{
this.id = id;
return this;
}
/**
* @param templateGtuType set the template for the gtuType
* @return the class itself for chaining the setters
*/
public final LaneBasedTemplateCarBuilder<ID> setTemplateGtuType(final TemplateGTUType<?> templateGtuType)
{
this.templateGtuType = templateGtuType;
return this;
}
/**
* @param initialLongitudinalPositions set initialLongitudinalPositions
* @return the class itself for chaining the setters
*/
public final LaneBasedTemplateCarBuilder<ID> setInitialLongitudinalPositions(
final Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions)
{
this.initialLongitudinalPositions = initialLongitudinalPositions;
return this;
}
/**
* @param initialSpeed set initialSpeed
* @return the class itself for chaining the setters
*/
public final LaneBasedTemplateCarBuilder<ID> setInitialSpeed(final DoubleScalar.Abs<SpeedUnit> initialSpeed)
{
this.initialSpeed = initialSpeed;
return this;
}
/**
* @param route Route; the route
* @return the class itself for chaing the setters
*/
public final LaneBasedTemplateCarBuilder<ID> setRoute(final Route route)
{
this.route = route;
return this;
}
/**
* @param animationClass set animation class
* @return the class itself for chaining the setters
*/
public final LaneBasedTemplateCarBuilder<ID> setAnimationClass(
final Class<? extends Renderable2D> animationClass)
{
this.animationClass = animationClass;
return this;
}
/**
* @return the built Car with the set properties
* @throws NamingException if an error occurs when adding the animation handler
* @throws RemoteException when the simulator cannot be reached
* @throws NetworkException when the GTU cannot be placed on the given lane
* @throws SimRuntimeException when the move method cannot be scheduled
* @throws GTUException when gtuFollowingModel is null
*/
public final LaneBasedTemplateCar<ID> build() throws RemoteException, NamingException, NetworkException,
SimRuntimeException, GTUException
{
// TODO check that none of the variables (except animationClass) is null, and throw an exception if it is.
return new LaneBasedTemplateCar<ID>(this.id, this.templateGtuType, this.gtuFollowingModel,
this.initialLongitudinalPositions, this.initialSpeed, this.route, this.animationClass);
}
}
}