TrajectoryPlot.java
package org.opentrafficsim.graphs;
import java.awt.BorderLayout;
import java.awt.Color;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.geom.Line2D;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import javax.swing.JFrame;
import javax.swing.JLabel;
import javax.swing.JPopupMenu;
import javax.swing.SwingConstants;
import javax.swing.event.EventListenerList;
import org.djunits.unit.LengthUnit;
import org.djunits.unit.TimeUnit;
import org.djunits.value.StorageType;
import org.djunits.value.ValueException;
import org.djunits.value.vdouble.scalar.DoubleScalar;
import org.djunits.value.vdouble.scalar.Duration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Time;
import org.djunits.value.vdouble.vector.LengthVector;
import org.jfree.chart.ChartFactory;
import org.jfree.chart.ChartPanel;
import org.jfree.chart.JFreeChart;
import org.jfree.chart.StandardChartTheme;
import org.jfree.chart.axis.NumberAxis;
import org.jfree.chart.axis.ValueAxis;
import org.jfree.chart.plot.PlotOrientation;
import org.jfree.chart.plot.XYPlot;
import org.jfree.chart.renderer.xy.XYLineAndShapeRenderer;
import org.jfree.data.DomainOrder;
import org.jfree.data.general.DatasetChangeEvent;
import org.jfree.data.general.DatasetChangeListener;
import org.jfree.data.general.DatasetGroup;
import org.jfree.data.xy.XYDataset;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.network.lane.Lane;
/**
* Trajectory plot.
* <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>
* $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, @version $Revision: 1401 $, by $Author: averbraeck $,
* initial version Jul 24, 2014 <br>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public class TrajectoryPlot extends JFrame implements ActionListener, XYDataset, MultipleViewerChart, LaneBasedGTUSampler
{
/** */
private static final long serialVersionUID = 20140724L;
/** Sample interval of this TrajectoryPlot. */
private final Duration sampleInterval;
/**
* @return sampleInterval
*/
public final Duration getSampleInterval()
{
return this.sampleInterval;
}
/** The series of Lanes that provide the data for this TrajectoryPlot. */
private final ArrayList<Lane> path;
/** The cumulative lengths of the elements of path. */
private final LengthVector cumulativeLengths;
/**
* Retrieve the cumulative length of the sampled path at the end of a path element.
* @param index int; the index of the path element; if -1, the total length of the path is returned
* @return Length; the cumulative length at the end of the specified path element
*/
public final Length getCumulativeLength(final int index)
{
int useIndex = -1 == index ? this.cumulativeLengths.size() - 1 : index;
try
{
return new Length(this.cumulativeLengths.get(useIndex));
}
catch (ValueException exception)
{
exception.printStackTrace();
}
return null; // NOTREACHED
}
/** Maximum of the time axis. */
private Time maximumTime = new Time(300, TimeUnit.SECOND);
/**
* @return maximumTime
*/
public final Time getMaximumTime()
{
return this.maximumTime;
}
/**
* @param maximumTime set maximumTime
*/
public final void setMaximumTime(final Time maximumTime)
{
this.maximumTime = maximumTime;
}
/** List of parties interested in changes of this ContourPlot. */
private transient EventListenerList listenerList = new EventListenerList();
/** Not used internally. */
private DatasetGroup datasetGroup = null;
/** Name of the chart. */
private final String caption;
/**
* Create a new TrajectoryPlot.
* @param caption String; the text to show above the TrajectoryPlot
* @param sampleInterval DoubleScalarRel<TimeUnit>; the time between samples of this TrajectoryPlot
* @param path ArrayList<Lane>; the series of Lanes that will provide the data for this TrajectoryPlot
*/
public TrajectoryPlot(final String caption, final Duration sampleInterval, final List<Lane> path)
{
this.sampleInterval = sampleInterval;
this.path = new ArrayList<Lane>(path); // make a copy
double[] endLengths = new double[path.size()];
double cumulativeLength = 0;
LengthVector lengths = null;
for (int i = 0; i < path.size(); i++)
{
Lane lane = path.get(i);
lane.addSampler(this);
cumulativeLength += lane.getLength().getSI();
endLengths[i] = cumulativeLength;
}
try
{
lengths = new LengthVector(endLengths, LengthUnit.SI, StorageType.DENSE);
}
catch (ValueException exception)
{
exception.printStackTrace();
}
this.cumulativeLengths = lengths;
this.caption = caption;
createChart(this);
this.reGraph(); // fixes the domain axis
}
/**
* Create the visualization.
* @param container JFrame; the JFrame that will be filled with chart and the status label
* @return JFreeChart; the visualization
*/
private JFreeChart createChart(final JFrame container)
{
final JLabel statusLabel = new JLabel(" ", SwingConstants.CENTER);
container.add(statusLabel, BorderLayout.SOUTH);
ChartFactory.setChartTheme(new StandardChartTheme("JFree/Shadow", false));
final JFreeChart result =
ChartFactory.createXYLineChart(this.caption, "", "", this, PlotOrientation.VERTICAL, false, false, false);
// Overrule the default background paint because some of the lines are invisible on top of this default.
result.getPlot().setBackgroundPaint(new Color(0.9f, 0.9f, 0.9f));
FixCaption.fixCaption(result);
NumberAxis xAxis = new NumberAxis("\u2192 " + "time [s]");
xAxis.setLowerMargin(0.0);
xAxis.setUpperMargin(0.0);
NumberAxis yAxis = new NumberAxis("\u2192 " + "Distance [m]");
yAxis.setAutoRangeIncludesZero(false);
yAxis.setLowerMargin(0.0);
yAxis.setUpperMargin(0.0);
yAxis.setStandardTickUnits(NumberAxis.createIntegerTickUnits());
result.getXYPlot().setDomainAxis(xAxis);
result.getXYPlot().setRangeAxis(yAxis);
Length minimumPosition = Length.ZERO;
Length maximumPosition = getCumulativeLength(-1);
configureAxis(result.getXYPlot().getRangeAxis(), DoubleScalar.minus(maximumPosition, minimumPosition).getSI());
final XYLineAndShapeRenderer renderer = (XYLineAndShapeRenderer) result.getXYPlot().getRenderer();
renderer.setBaseLinesVisible(true);
renderer.setBaseShapesVisible(false);
renderer.setBaseShape(new Line2D.Float(0, 0, 0, 0));
final ChartPanel cp = new ChartPanel(result);
cp.setMouseWheelEnabled(true);
final PointerHandler ph = new PointerHandler()
{
/** */
private static final long serialVersionUID = 20140000L;
/** {@inheritDoc} */
@Override
void updateHint(final double domainValue, final double rangeValue)
{
if (Double.isNaN(domainValue))
{
statusLabel.setText(" ");
return;
}
String value = "";
/*-
XYDataset dataset = plot.getDataset();
double bestDistance = Double.MAX_VALUE;
Trajectory bestTrajectory = null;
final int mousePrecision = 5;
java.awt.geom.Point2D.Double mousePoint = new java.awt.geom.Point2D.Double(t, distance);
double lowTime =
plot.getDomainAxis().java2DToValue(p.getX() - mousePrecision, pi.getDataArea(),
plot.getDomainAxisEdge()) - 1;
double highTime =
plot.getDomainAxis().java2DToValue(p.getX() + mousePrecision, pi.getDataArea(),
plot.getDomainAxisEdge()) + 1;
double lowDistance =
plot.getRangeAxis().java2DToValue(p.getY() + mousePrecision, pi.getDataArea(),
plot.getRangeAxisEdge()) - 20;
double highDistance =
plot.getRangeAxis().java2DToValue(p.getY() - mousePrecision, pi.getDataArea(),
plot.getRangeAxisEdge()) + 20;
// System.out.println(String.format("Searching area t[%.1f-%.1f], x[%.1f,%.1f]", lowTime, highTime,
// lowDistance, highDistance));
for (Trajectory trajectory : this.trajectories)
{
java.awt.geom.Point2D.Double[] clippedTrajectory =
trajectory.clipTrajectory(lowTime, highTime, lowDistance, highDistance);
if (null == clippedTrajectory)
continue;
java.awt.geom.Point2D.Double prevPoint = null;
for (java.awt.geom.Point2D.Double trajectoryPoint : clippedTrajectory)
{
if (null != prevPoint)
{
double thisDistance = Planar.distancePolygonToPoint(clippedTrajectory, mousePoint);
if (thisDistance < bestDistance)
{
bestDistance = thisDistance;
bestTrajectory = trajectory;
}
}
prevPoint = trajectoryPoint;
}
}
if (null != bestTrajectory)
{
for (SimulatedObject so : indices.keySet())
if (this.trajectories.get(indices.get(so)) == bestTrajectory)
{
Point2D.Double bestPosition = bestTrajectory.getEstimatedPosition(t);
if (null == bestPosition)
continue;
value =
String.format(
Main.locale,
": vehicle %s; location on measurement path at t=%.1fs: "
+ "longitudinal %.1fm, lateral %.1fm",
so.toString(), t, bestPosition.x, bestPosition.y);
}
}
else
value = "";
*/
statusLabel.setText(String.format("t=%.0fs, distance=%.0fm%s", domainValue, rangeValue, value));
}
};
cp.addMouseMotionListener(ph);
cp.addMouseListener(ph);
container.add(cp, BorderLayout.CENTER);
// TODO ensure that shapes for all the data points don't get allocated.
// Currently JFreeChart allocates many megabytes of memory for Ellipses that are never drawn.
JPopupMenu popupMenu = cp.getPopupMenu();
popupMenu.add(new JPopupMenu.Separator());
popupMenu.add(StandAloneChartWindow.createMenuItem(this));
return result;
}
/**
* Redraw this TrajectoryGraph (after the underlying data has been changed).
*/
public final void reGraph()
{
for (DatasetChangeListener dcl : this.listenerList.getListeners(DatasetChangeListener.class))
{
if (dcl instanceof XYPlot)
{
configureAxis(((XYPlot) dcl).getDomainAxis(), this.maximumTime.getSI());
}
}
notifyListeners(new DatasetChangeEvent(this, null)); // This guess work actually works!
}
/**
* Notify interested parties of an event affecting this TrajectoryPlot.
* @param event DatasetChangedEvent
*/
private void notifyListeners(final DatasetChangeEvent event)
{
for (DatasetChangeListener dcl : this.listenerList.getListeners(DatasetChangeListener.class))
{
dcl.datasetChanged(event);
}
}
/**
* Configure the range of an axis.
* @param valueAxis ValueAxis
* @param range double; the upper bound of the axis
*/
private static void configureAxis(final ValueAxis valueAxis, final double range)
{
valueAxis.setUpperBound(range);
valueAxis.setLowerMargin(0);
valueAxis.setUpperMargin(0);
valueAxis.setStandardTickUnits(NumberAxis.createIntegerTickUnits());
valueAxis.setAutoRange(true);
valueAxis.setAutoRangeMinimumSize(range);
valueAxis.centerRange(range / 2);
}
/** {@inheritDoc} */
@Override
public void actionPerformed(final ActionEvent e)
{
// not yet
}
/** All stored trajectories. */
private HashMap<String, Trajectory> trajectories = new HashMap<String, Trajectory>();
/** Quick access to the Nth trajectory. */
private ArrayList<Trajectory> trajectoryIndices = new ArrayList<Trajectory>();
/** {@inheritDoc} */
public final void addData(final LaneBasedGTU car, final Lane lane) throws NetworkException, GTUException
{
// final Time startTime = car.getLastEvaluationTime();
// System.out.println("addData car: " + car + ", lastEval: " + startTime);
// Convert the position of the car to a position on path.
// Find a (the first) lane that car is on that is in our path.
double lengthOffset = 0;
int index = this.path.indexOf(lane);
if (index >= 0)
{
if (index > 0)
{
try
{
lengthOffset = this.cumulativeLengths.getSI(index - 1);
}
catch (ValueException exception)
{
exception.printStackTrace();
}
}
}
else
{
throw new Error("Car is not on any lane in the path");
}
// System.out.println("lane index is " + index + " car is " + car);
// final Length startPosition =
// DoubleScalar.plus(new Length(lengthOffset, LengthUnit.SI),
// car.position(lane, car.getReference(), startTime));
String key = car.getId().toString();
Trajectory carTrajectory = this.trajectories.get(key);
if (null == carTrajectory)
{
// Create a new Trajectory for this GTU
carTrajectory = new Trajectory(key);
this.trajectoryIndices.add(carTrajectory);
this.trajectories.put(key, carTrajectory);
// System.out.println("Creating new trajectory for GTU " + key);
}
carTrajectory.addSegment(car, lane, lengthOffset);
}
/**
* Store trajectory data.
* <p>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
class Trajectory implements Serializable
{
/** */
private static final long serialVersionUID = 20140000L;
/** Time of (current) end of trajectory. */
private Time currentEndTime;
/**
* Retrieve the current end time of this Trajectory.
* @return currentEndTime
*/
public final Time getCurrentEndTime()
{
return this.currentEndTime;
}
/** Position of (current) end of trajectory. */
private Length currentEndPosition;
/**
* Retrieve the current end position of this Trajectory.
* @return currentEndPosition
*/
public final Length getCurrentEndPosition()
{
return this.currentEndPosition;
}
/** ID of the GTU. */
private final Object id;
/**
* Retrieve the id of this Trajectory.
* @return Object; the id of this Trajectory
*/
public final Object getId()
{
return this.id;
}
/** Storage for the position of the car. */
private ArrayList<Double> positions = new ArrayList<Double>();
/** Time sample of first sample in positions (successive entries will each be one sampleTime later). */
private int firstSample;
/**
* Construct a Trajectory.
* @param id Object; Id of the new Trajectory
*/
public Trajectory(final Object id)
{
this.id = id;
}
/**
* Add a trajectory segment and update the currentEndTime and currentEndPosition.
* @param car AbstractLaneBasedGTU; the GTU whose currently committed trajectory segment must be added
* @param lane Lane; the Lane that the positionOffset is valid for
* @param positionOffset double; offset needed to convert the position in the current Lane to a position on the
* trajectory
* @throws NetworkException when car is not on lane anymore
* @throws GTUException on problems obtaining data from the GTU
*/
public final void addSegment(final LaneBasedGTU car, final Lane lane, final double positionOffset)
throws NetworkException, GTUException
{
// if ("4".equals(car.getId()) && "Lane lane.0 of FirstVia to SecondVia".equals(lane.toString()))
// {
// System.out.println("Enter. positions.size is " + this.positions.size() + ", currentEndPosition is "
// + this.currentEndPosition);
// }
try
{
final int startSample =
(int) Math.ceil(car.getOperationalPlan().getStartTime().getSI() / getSampleInterval().getSI());
final int endSample =
(int) (Math.ceil(car.getOperationalPlan().getEndTime().getSI() / getSampleInterval().getSI()));
for (int sample = startSample; sample < endSample; sample++)
{
Time sampleTime = new Time(sample * getSampleInterval().getSI(), TimeUnit.SI);
Double position = car.position(lane, car.getReference(), sampleTime).getSI() + positionOffset;
if (this.positions.size() > 0 && null != this.currentEndPosition
&& position < this.currentEndPosition.getSI() - 0.001)
{
if (0 != positionOffset)
{
// System.out.println("Already added " + car);
break;
}
// System.out.println("inserting null for " + car);
position = null; // Wrapping on circular path?
}
if (this.positions.size() == 0)
{
this.firstSample = sample;
}
/*-
if (sample - this.firstSample > this.positions.size())
{
System.out.println("Inserting " + (sample - this.positions.size())
+ " nulls; this is trajectory number " + trajectoryIndices.indexOf(this));
}
*/
while (sample - this.firstSample > this.positions.size())
{
// System.out.println("Inserting nulls");
this.positions.add(null); // insert nulls as place holders for unsampled data (usually because
// vehicle was temporarily in a parallel Lane)
}
if (null != position && this.positions.size() > sample - this.firstSample)
{
// System.out.println("Skipping sample " + car);
continue;
}
this.positions.add(position);
}
this.currentEndTime = car.getOperationalPlan().getEndTime();
this.currentEndPosition =
new Length(car.position(lane, car.getReference(), this.currentEndTime).getSI() + positionOffset,
LengthUnit.SI);
if (car.getOperationalPlan().getEndTime().gt(getMaximumTime()))
{
setMaximumTime(car.getOperationalPlan().getEndTime());
}
}
catch (Exception e)
{
// TODO lane change causes error...
System.err.println("Trajectoryplot caught unexpected Exception: " + e.getMessage());
e.printStackTrace();
}
}
/**
* Retrieve the number of samples in this Trajectory.
* @return Integer; number of positions in this Trajectory
*/
public int size()
{
return this.positions.size();
}
/**
* @param item Integer; the sample number
* @return Double; the time of the sample indexed by item
*/
public double getTime(final int item)
{
return (item + this.firstSample) * getSampleInterval().getSI();
}
/**
* @param item Integer; the sample number
* @return Double; the position indexed by item
*/
public double getDistance(final int item)
{
Double distance = this.positions.get(item);
if (null == distance)
{
return Double.NaN;
}
return this.positions.get(item);
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "Trajectory [currentEndTime=" + this.currentEndTime + ", currentEndPosition=" + this.currentEndPosition
+ ", id=" + this.id + ", positions.size=" + this.positions.size() + ", firstSample=" + this.firstSample
+ "]";
}
}
/** {@inheritDoc} */
@Override
public final int getSeriesCount()
{
return this.trajectories.size();
}
/** {@inheritDoc} */
@Override
public final Comparable<Integer> getSeriesKey(final int series)
{
return series;
}
/** {@inheritDoc} */
@SuppressWarnings("rawtypes")
@Override
public final int indexOf(final Comparable seriesKey)
{
if (seriesKey instanceof Integer)
{
return (Integer) seriesKey;
}
return -1;
}
/** {@inheritDoc} */
@Override
public final void addChangeListener(final DatasetChangeListener listener)
{
this.listenerList.add(DatasetChangeListener.class, listener);
}
/** {@inheritDoc} */
@Override
public final void removeChangeListener(final DatasetChangeListener listener)
{
this.listenerList.remove(DatasetChangeListener.class, listener);
}
/** {@inheritDoc} */
@Override
public final DatasetGroup getGroup()
{
return this.datasetGroup;
}
/** {@inheritDoc} */
@Override
public final void setGroup(final DatasetGroup group)
{
this.datasetGroup = group;
}
/** {@inheritDoc} */
@Override
public final DomainOrder getDomainOrder()
{
return DomainOrder.ASCENDING;
}
/** {@inheritDoc} */
@Override
public final int getItemCount(final int series)
{
return this.trajectoryIndices.get(series).size();
}
/** {@inheritDoc} */
@Override
public final Number getX(final int series, final int item)
{
double v = getXValue(series, item);
if (Double.isNaN(v))
{
return null;
}
return v;
}
/** {@inheritDoc} */
@Override
public final double getXValue(final int series, final int item)
{
return this.trajectoryIndices.get(series).getTime(item);
}
/** {@inheritDoc} */
@Override
public final Number getY(final int series, final int item)
{
double v = getYValue(series, item);
if (Double.isNaN(v))
{
return null;
}
return v;
}
/** {@inheritDoc} */
@Override
public final double getYValue(final int series, final int item)
{
return this.trajectoryIndices.get(series).getDistance(item);
}
/** {@inheritDoc} */
@Override
public final JFrame addViewer()
{
JFrame result = new JFrame(this.caption);
result.setDefaultCloseOperation(DISPOSE_ON_CLOSE);
JFreeChart newChart = createChart(result);
newChart.setTitle((String) null);
addChangeListener(newChart.getPlot());
return result;
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "TrajectoryPlot [sampleInterval=" + this.sampleInterval + ", path=" + this.path + ", cumulativeLengths.size="
+ this.cumulativeLengths.size() + ", maximumTime=" + this.maximumTime + ", caption=" + this.caption
+ ", trajectories.size=" + this.trajectories.size() + "]";
}
}