AbstractGTU.java
package org.opentrafficsim.core.gtu;
import nl.tudelft.simulation.dsol.SimRuntimeException;
import nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEvent;
import nl.tudelft.simulation.language.d3.DirectedPoint;
import org.djunits.unit.TimeUnit;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.djunits.value.vdouble.scalar.Time;
import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.geometry.OTSPoint3D;
import org.opentrafficsim.core.gtu.perception.Perception;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanBuilder;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.gtu.plan.strategical.StrategicalPlanner;
import org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner;
import org.opentrafficsim.core.idgenerator.IdGenerator;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.perception.PerceivableContext;
/**
* Implements the basic functionalities of any GTU: the ability to move on 3D-space according to a plan.
* <p>
* Copyright (c) 2013-2015 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/docs/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision: 1889 $, $LastChangedDate: 2016-04-05 21:30:47 +0200 (Tue, 05 Apr 2016) $, by $Author: pknoppers $,
* initial 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>
*/
public abstract class AbstractGTU implements GTU
{
/** */
private static final long serialVersionUID = 20140822L;
/** The id of the GTU. */
private final String id;
/** The type of GTU, e.g. TruckType, CarType, BusType. */
private final GTUType gtuType;
/** The simulator to schedule activities on. */
private final OTSDEVSSimulatorInterface simulator;
/** The maximum acceleration. */
private Acceleration maximumAcceleration;
/** The maximum deceleration, stored as a negative number. */
private Acceleration maximumDeceleration;
/**
* The odometer which measures how much distance have we covered between instantiation and the last completed operational
* plan. In order to get a complete odometer reading, the progress of the current plan execution has to be added to this
* value.
*/
private Length.Rel odometer;
/** The strategical planner that can instantiate tactical planners to determine mid-term decisions. */
private StrategicalPlanner strategicalPlanner;
/** The tactical planner that can generate an operational plan. */
private TacticalPlanner tacticalPlanner = null;
/** The current operational plan, which provides a short-term movement over time. */
private OperationalPlan operationalPlan = null;
/** The next move event as scheduled on the simulator, can be used for interrupting the current move. */
private SimEvent<OTSSimTimeDouble> nextMoveEvent;
/** The perception unit that takes care of observing the environment of the GTU. */
private Perception perception;
/** The model in which this GTU is registered. */
private PerceivableContext perceivableContext;
/** Turn indicator status. */
private TurnIndicatorStatus turnIndicatorStatus = TurnIndicatorStatus.NOTPRESENT;
/** Is this GTU destroyed? */
private boolean destroyed = false;
/**
* @param id String; the id of the GTU
* @param gtuType GTUType; the type of GTU, e.g. TruckType, CarType, BusType
* @param simulator OTSDEVSSimulatorInterface; the simulator to schedule plan changes on
* @param strategicalPlanner StrategicalPlanner; the strategical planner responsible for the overall 'mission' of the GTU,
* usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
* @param perception Perception; the perception unit that takes care of observing the environment of the GTU
* @param initialLocation DirectedPoint; the initial location (and direction) of the GTU
* @param initialSpeed Speed; the initial speed of the GTU
* @param perceivableContext PerceivableContext; the perceivable context in which this GTU will be registered
* @throws SimRuntimeException when scheduling after the first move fails
* @throws GTUException when the preconditions of the constructor are not met or when the construction of the original
* waiting path fails
*/
@SuppressWarnings("checkstyle:parameternumber")
public AbstractGTU(final String id, final GTUType gtuType, final OTSDEVSSimulatorInterface simulator,
final StrategicalPlanner strategicalPlanner, final Perception perception, final DirectedPoint initialLocation,
final Speed initialSpeed, final PerceivableContext perceivableContext) throws SimRuntimeException, GTUException
{
GTUException.failIf(id == null, "id is null");
GTUException.failIf(gtuType == null, "gtuType is null");
GTUException.failIf(gtuType.equals(GTUType.NONE), "gtuType of an actual GTU cannot be GTUType.NONE");
GTUException.failIf(gtuType.equals(GTUType.ALL), "gtuType of an actual GTU cannot be GTUType.ALL");
GTUException.failIf(perceivableContext == null, "perceivableContext is null for GTU with id " + id);
GTUException.failIf(perceivableContext.containsGtuId(id), "GTU with id " + id
+ " already registered in perceivableContext " + perceivableContext.getId());
GTUException.failIf(simulator == null, "simulator is null for GTU with id " + id);
GTUException.failIf(strategicalPlanner == null, "strategicalPlanner is null for GTU with id " + id);
GTUException.failIf(perception == null, "perception is null for GTU with id " + id);
GTUException.failIf(initialLocation == null | Double.isNaN(initialLocation.x) | Double.isNaN(initialLocation.y)
| Double.isNaN(initialLocation.z), "initialLocation " + initialLocation + " invalid for GTU with id " + id);
GTUException.failIf(initialSpeed == null, "initialSpeed is null for GTU with id " + id);
this.id = id;
this.gtuType = gtuType;
this.simulator = simulator;
this.strategicalPlanner = strategicalPlanner;
this.perception = perception;
this.odometer = Length.Rel.ZERO;
this.perceivableContext = perceivableContext;
this.perceivableContext.addGTU(this);
Time.Abs now = this.simulator.getSimulatorTime().getTime();
if (initialLocation != null)
{
// Schedule the first move now; scheduling so super constructors can still finish.
// Store the event, so it can be cancelled in case the plan has to be interrupted and changed halfway
this.nextMoveEvent =
new SimEvent<>(new OTSSimTimeDouble(now), this, this, "move", new Object[]{initialLocation});
this.simulator.scheduleEvent(this.nextMoveEvent);
}
// Give the GTU a 1 micrometer long operational plan, or a stand-still plan, so initialization will work
DirectedPoint p = initialLocation == null ? new DirectedPoint() : initialLocation;
try
{
if (initialSpeed.si < OperationalPlan.DRIFTING_SPEED_SI)
{
this.operationalPlan = new OperationalPlan(this, p, now, new Time.Rel(1.0e-6, TimeUnit.SECOND));
}
else
{
OTSPoint3D p2 =
new OTSPoint3D(p.x + 1E-6 * Math.cos(p.getRotZ()), p.y + 1E-6 * Math.sin(p.getRotZ()), p.z);
OTSLine3D path = new OTSLine3D(new OTSPoint3D(p), p2);
this.operationalPlan = OperationalPlanBuilder.buildConstantSpeedPlan(this, path, now, initialSpeed);
}
}
catch (OperationalPlanException | OTSGeometryException exception)
{
throw new GTUException("Failed to create OperationalPlan for GTU " + this.id, exception);
}
}
/**
* @param idGenerator IdGenerator; the generator that will produce a unique id of the GTU
* @param gtuType GTUType; the type of GTU, e.g. TruckType, CarType, BusType
* @param simulator OTSDEVSSimulatorInterface; the simulator to schedule plan changes on
* @param strategicalPlanner StrategicalPlanner; the strategical planner responsible for the overall 'mission' of the GTU,
* usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
* @param perception Perception; the perception unit that takes care of observing the environment of the GTU
* @param initialLocation DirectedPoint; the initial location (and direction) of the GTU
* @param initialSpeed Speed; the initial speed of the GTU
* @param perceivableContext PerceivableContext; the perceivable context in which this GTU will be registered
* @throws SimRuntimeException when scheduling after the first move fails
* @throws GTUException when the preconditions of the constructor are not met or when the construction of the original
* waiting path fails
*/
@SuppressWarnings("checkstyle:parameternumber")
public AbstractGTU(final IdGenerator idGenerator, final GTUType gtuType, final OTSDEVSSimulatorInterface simulator,
final StrategicalPlanner strategicalPlanner, final Perception perception, final DirectedPoint initialLocation,
final Speed initialSpeed, final PerceivableContext perceivableContext) throws SimRuntimeException, GTUException
{
this(generateId(idGenerator), gtuType, simulator, strategicalPlanner, perception, initialLocation,
initialSpeed, perceivableContext);
}
/**
* Generate an id, but check first that we have a valid IdGenerator.
* @param idGenerator IdGenerator; the generator that will produce a unique id of the GTU
* @return a (hopefully unique) Id of the GTU
* @throws GTUException when the idGenerator is null
*/
private static String generateId(final IdGenerator idGenerator) throws GTUException
{
GTUException.failIf(idGenerator == null, "AbstractGTU.<init>: idGenerator is null");
return idGenerator.nextId();
}
/**
* Destructor. Don't forget to call with super.destroy() from any override to avoid memory leaks in the network.
*/
@SuppressWarnings("checkstyle:designforextension")
public void destroy()
{
this.perceivableContext.removeGTU(this);
// cancel the next move
if (this.nextMoveEvent != null)
{
this.simulator.cancelEvent(this.nextMoveEvent);
this.nextMoveEvent = null;
}
this.destroyed = true;
}
/**
* Move from the current location according to an operational plan to a location that will bring us nearer to reaching the
* location provided by the strategical planner. <br>
* This method can be overridden to carry out specific behavior during the execution of the plan (e.g., scheduling of
* triggers, entering or leaving lanes, etc.). Please bear in mind that the call to super.move() is essential, and that one
* has to take care to handle the situation that the plan gets interrupted.
* @param fromLocation the last known location (initial location, or end location of the previous operational plan)
* @throws SimRuntimeException when scheduling of the next move fails
* @throws OperationalPlanException when there is a problem creating a good path for the GTU
* @throws GTUException when there is a problem with the state of the GTU when planning a path
* @throws NetworkException in case of a problem with the network, e.g., a dead end where it is not expected
*/
@SuppressWarnings("checkstyle:designforextension")
protected void move(final DirectedPoint fromLocation) throws SimRuntimeException, OperationalPlanException,
GTUException, NetworkException
{
Time.Abs now = this.simulator.getSimulatorTime().getTime();
// Add the odometer distance from the currently running operational plan.
// Because a plan can be interrupted, we explicitly calculate the covered distance till 'now'
if (this.operationalPlan != null)
{
this.odometer = this.odometer.plus(this.operationalPlan.getTraveledDistance(now));
}
// Do we have an operational plan?
if (this.tacticalPlanner == null)
{
// Tell the strategical planner to provide a tactical planner
this.tacticalPlanner = this.strategicalPlanner.generateTacticalPlanner(this);
}
this.operationalPlan = this.tacticalPlanner.generateOperationalPlan(this, now, fromLocation);
// schedule the next move at the end of the current operational plan
// store the event, so it can be cancelled in case the plan has to be interrupted and changed halfway
this.nextMoveEvent =
new SimEvent<>(new OTSSimTimeDouble(now.plus(this.operationalPlan.getTotalDuration())), this, this, "move",
new Object[]{this.operationalPlan.getEndLocation()});
this.simulator.scheduleEvent(this.nextMoveEvent);
}
/**
* Interrupt the move and ask for a new plan. This method can be overridden to carry out the bookkeeping needed when the
* current plan gets interrupted.
* @throws OperationalPlanException when there was a problem retrieving the location from the running plan
* @throws SimRuntimeException when scheduling of the next move fails
* @throws OperationalPlanException when there is a problem creating a good path for the GTU
* @throws GTUException when there is a problem with the state of the GTU when planning a path
* @throws NetworkException in case of a problem with the network, e.g., unreachability of a certain point
*/
@SuppressWarnings("checkstyle:designforextension")
protected void interruptMove() throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException
{
this.simulator.cancelEvent(this.nextMoveEvent);
move(this.operationalPlan.getLocation(this.simulator.getSimulatorTime().getTime()));
}
/** {@inheritDoc} */
@Override
public final String getId()
{
return this.id;
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public GTUType getGTUType()
{
return this.gtuType;
}
/** {@inheritDoc} */
@Override
public final RelativePosition getReference()
{
return RelativePosition.REFERENCE_POSITION;
}
/**
* @return simulator the simulator to schedule plan changes on
*/
public final OTSDEVSSimulatorInterface getSimulator()
{
return this.simulator;
}
/**
* @return strategicalPlanner the planner responsible for the overall 'mission' of the GTU, usually indicating where it
* needs to go. It operates by instantiating tactical planners to do the work.
*/
@SuppressWarnings("checkstyle:designforextension")
public StrategicalPlanner getStrategicalPlanner()
{
return this.strategicalPlanner;
}
/**
* @return tacticalPlanner the tactical planner that can generate an operational plan
*/
public final TacticalPlanner getTacticalPlanner()
{
return this.tacticalPlanner;
}
/**
* @return operationalPlan the current operational plan, which provides a short-term movement over time
*/
public final OperationalPlan getOperationalPlan()
{
return this.operationalPlan;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public Perception getPerception()
{
return this.perception;
}
/** {@inheritDoc} */
@Override
public final Length.Rel getOdometer()
{
if (this.operationalPlan == null)
{
return this.odometer;
}
try
{
return this.odometer.plus(this.operationalPlan.getTraveledDistance(this.simulator.getSimulatorTime()
.getTime()));
}
catch (OperationalPlanException ope)
{
return this.odometer;
}
}
/** {@inheritDoc} */
@Override
public final Speed getVelocity(final Time.Abs time)
{
if (this.operationalPlan == null)
{
return Speed.ZERO;
}
try
{
return this.operationalPlan.getVelocity(time);
}
catch (OperationalPlanException ope)
{
// should not happen --there is a still valid operational plan. Return the end velocity of the plan.
try
{
return this.operationalPlan.getVelocity(this.operationalPlan.getTotalDuration());
}
catch (OperationalPlanException ope2)
{
// this should not happen at all...
throw new RuntimeException(
"getVelocity() could not derive a valid velocity for the current operationalPlan", ope2);
}
}
}
/** {@inheritDoc} */
@Override
public final Speed getVelocity()
{
return getVelocity(this.simulator.getSimulatorTime().getTime());
}
/** {@inheritDoc} */
@Override
public final Acceleration getAcceleration(final Time.Abs time)
{
if (this.operationalPlan == null)
{
return Acceleration.ZERO;
}
try
{
return this.operationalPlan.getAcceleration(time);
}
catch (OperationalPlanException ope)
{
// should not happen --there is a still valid operational plan. Return the end acceleration of the plan.
try
{
return this.operationalPlan.getAcceleration(this.operationalPlan.getTotalDuration());
}
catch (OperationalPlanException ope2)
{
// this should not happen at all...
throw new RuntimeException(
"getAcceleration() could not derive a valid acceleration for the current operationalPlan", ope2);
}
}
}
/**
* @return maximumAcceleration
*/
public final Acceleration getMaximumAcceleration()
{
return this.maximumAcceleration;
}
/**
* @param maximumAcceleration set maximumAcceleration
*/
public final void setMaximumAcceleration(final Acceleration maximumAcceleration)
{
if (maximumAcceleration.le(Acceleration.ZERO))
{
throw new RuntimeException("Maximum acceleration of GTU " + this.id + " set to value <= 0");
}
this.maximumAcceleration = maximumAcceleration;
}
/**
* @return maximumDeceleration
*/
public final Acceleration getMaximumDeceleration()
{
return this.maximumDeceleration;
}
/**
* @param maximumDeceleration set maximumDeceleration, stored as a negative number
*/
public final void setMaximumDeceleration(final Acceleration maximumDeceleration)
{
if (maximumDeceleration.ge(Acceleration.ZERO))
{
throw new RuntimeException("Maximum deceleration of GTU " + this.id + " set to value >= 0");
}
this.maximumDeceleration = maximumDeceleration;
}
/** {@inheritDoc} */
@Override
public final Acceleration getAcceleration()
{
return getAcceleration(this.simulator.getSimulatorTime().getTime());
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public DirectedPoint getLocation()
{
if (this.operationalPlan == null)
{
System.err.println("No operational plan");
return new DirectedPoint(0, 0, 0);
}
try
{
return this.operationalPlan.getLocation(this.simulator.getSimulatorTime().getTime());
}
catch (OperationalPlanException exception)
{
return new DirectedPoint(0, 0, 0);
}
}
/** {@inheritDoc} */
@Override
public final TurnIndicatorStatus getTurnIndicatorStatus()
{
if (!getGTUType().hasTurnIndicator())
{
return TurnIndicatorStatus.NOTPRESENT;
}
return this.turnIndicatorStatus;
}
/** {@inheritDoc} */
@Override
public final void setTurnIndicatorStatus(final TurnIndicatorStatus turnIndicatorStatus) throws GTUException
{
if (!getGTUType().hasTurnIndicator())
{
throw new GTUException("trying to set the TurnIndicatorStatus on GTU: " + getId() + ", but GTUType "
+ getGTUType().getId() + " has no TurnIndicator");
}
this.turnIndicatorStatus = turnIndicatorStatus;
}
/**
* @return whether the GTU is destroyed, for the animation.
*/
public final boolean isDestroyed()
{
return this.destroyed;
}
/**
* @return perceivableContext
*/
public final PerceivableContext getPerceivableContext()
{
return this.perceivableContext;
}
}