AbstractLaneBasedGTU.java
package org.opentrafficsim.road.gtu.lane;
import java.awt.geom.AffineTransform;
import java.awt.geom.Path2D;
import java.awt.geom.Rectangle2D;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.HashSet;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.Map;
import java.util.Set;
import javax.media.j3d.Bounds;
import javax.vecmath.Point3d;
import nl.tudelft.simulation.dsol.SimRuntimeException;
import nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEvent;
import nl.tudelft.simulation.language.d3.BoundingBox;
import nl.tudelft.simulation.language.d3.DirectedPoint;
import org.djunits.unit.LengthUnit;
import org.djunits.value.vdouble.scalar.Duration;
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.Throw;
import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSShape;
import org.opentrafficsim.core.gtu.AbstractGTU;
import org.opentrafficsim.core.gtu.GTUDirectionality;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.GTUType;
import org.opentrafficsim.core.gtu.RelativePosition;
import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.network.Link;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.network.Node;
import org.opentrafficsim.core.network.OTSNetwork;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.LanePerceptionFull;
import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
import org.opentrafficsim.road.gtu.strategical.route.LaneBasedStrategicalRoutePlanner;
import org.opentrafficsim.road.network.lane.CrossSectionElement;
import org.opentrafficsim.road.network.lane.CrossSectionLink;
import org.opentrafficsim.road.network.lane.DirectedLanePosition;
import org.opentrafficsim.road.network.lane.Lane;
/**
* This class contains most of the code that is needed to run a lane based GTU. <br>
* The starting point of a LaneBasedTU is that it can be in <b>multiple lanes</b> at the same time. This can be due to a lane
* change (lateral), or due to crossing a link (front of the GTU is on another Lane than rear of the GTU). If a Lane is shorter
* than the length of the GTU (e.g. when we do node expansion on a crossing, this is very well possible), a GTU could occupy
* dozens of Lanes at the same time.
* <p>
* When calculating a headway, the GTU has to look in successive lanes. When Lanes (or underlying CrossSectionLinks) diverge,
* the headway algorithms have to look at multiple Lanes and return the minimum headway in each of the Lanes. When the Lanes (or
* underlying CrossSectionLinks) converge, "parallel" traffic is not taken into account in the headway calculation. Instead, gap
* acceptance algorithms or their equivalent should guide the merging behavior.
* <p>
* To decide its movement, an AbstractLaneBasedGTU applies its car following algorithm and lane change algorithm to set the
* acceleration and any lane change operation to perform. It then schedules the triggers that will add it to subsequent lanes
* and remove it from current lanes as needed during the time step that is has committed to. Finally, it re-schedules its next
* movement evaluation with the simulator.
* <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: 1408 $, $LastChangedDate: 2015-09-24 15:17:25 +0200 (Thu, 24 Sep 2015) $, 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 AbstractLaneBasedGTU extends AbstractGTU implements LaneBasedGTU
{
/** */
private static final long serialVersionUID = 20140822L;
/**
* Fractional longitudinal positions of the reference point of the GTU on one or more links at the lastEvaluationTime.
* Because the reference point of the GTU might not be on all the links the GTU is registered on, the fractional
* longitudinal positions can be more than one, or less than zero.
*/
private Map<Link, Double> fractionalLinkPositions = new LinkedHashMap<>();
/**
* The lanes the GTU is registered on. Each lane has to have its link registered in the fractionalLinkPositions as well to
* keep consistency. Each link from the fractionalLinkPositions can have one or more Lanes on which the vehicle is
* registered. This is a list to improve reproducibility: The 'oldest' lanes on which the vehicle is registered are at the
* front of the list, the later ones more to the back.
*/
private final Map<Lane, GTUDirectionality> lanes = new HashMap<>();
/** Pending triggers for each lane. */
private Map<Lane, List<SimEvent<OTSSimTimeDouble>>> pendingTriggers = new HashMap<Lane, List<SimEvent<OTSSimTimeDouble>>>();
/** The object to lock to make the GTU thread safe. */
private Object lock = new Object();
/** The mode of movement: lane-based or path-based. */
private static final boolean MOVEMENT_LANE_BASED = true;
/**
* Construct a Lane Based GTU.
* @param id the id of the GTU
* @param gtuType the type of GTU, e.g. TruckType, CarType, BusType
* @param initialLongitudinalPositions the initial positions of the car on one or more lanes with their directions
* @param initialSpeed the initial speed of the car on the lane
* @param simulator to initialize the move method and to get the current time
* @param strategicalPlanner the strategical planner (e.g., route determination) to use
* @param perception the lane-based perception model of the GTU
* @param network the network that the GTU is initially registered in
* @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
* @throws OTSGeometryException when the initial path is wrong
*/
@SuppressWarnings("checkstyle:parameternumber")
public AbstractLaneBasedGTU(final String id, final GTUType gtuType,
final Set<DirectedLanePosition> initialLongitudinalPositions, final Speed initialSpeed,
final OTSDEVSSimulatorInterface simulator, final LaneBasedStrategicalPlanner strategicalPlanner,
final LanePerception perception, final OTSNetwork network) throws NetworkException, SimRuntimeException,
GTUException, OTSGeometryException
{
super(id, gtuType, simulator, strategicalPlanner, perception, verifyInitialLocation(initialLongitudinalPositions),
initialSpeed, network);
// register the GTU in the perception module
getPerception().setGTU(this);
// register the GTU on the lanes
for (DirectedLanePosition directedLanePosition : initialLongitudinalPositions)
{
Lane lane = directedLanePosition.getLane();
if (!this.fractionalLinkPositions.containsKey(lane.getParentLink()))
{
// initially registered on parallel or overlapping lanes
this.fractionalLinkPositions.put(lane.getParentLink(), lane.fraction(directedLanePosition.getPosition()));
}
this.lanes.put(lane, directedLanePosition.getGtuDirection());
lane.addGTU(this, lane.fraction(directedLanePosition.getPosition()));
}
}
/**
* Throw a GTUException if the provided set of initial longitudinal positions is null or empty.
* @param initialLongitudinalPositions Set<DirectedLanePosition>; the set of initial longitudinal positions to check
* @return Set<DirectedLanePosition>; the argument of this method
* @throws GTUException when the provided set is null or empty
*/
private static DirectedPoint verifyInitialLocation(Set<DirectedLanePosition> initialLongitudinalPositions)
throws GTUException
{
Throw.when(null == initialLongitudinalPositions, GTUException.class, "InitialLongitudinalPositions is null");
Throw.when(0 == initialLongitudinalPositions.size(), GTUException.class, "InitialLongitudinalPositions is empty set");
DirectedPoint lastPoint = null;
for (DirectedLanePosition pos : initialLongitudinalPositions)
{
Throw.when(lastPoint != null && pos.getLocation().distance(lastPoint) > 1E-6, GTUException.class,
"initial locations for GTU have distance > 1 mm");
lastPoint = pos.getLocation();
}
return lastPoint;
}
/** {@inheritDoc} */
@Override
public final void enterLane(final Lane lane, final Length position, final GTUDirectionality gtuDirection)
throws GTUException
{
Throw.when(!MOVEMENT_LANE_BASED, GTUException.class, "MOVEMENT_LANE_BASED is true, but enterLane() is called");
if (lane == null || gtuDirection == null || position == null)
{
throw new GTUException("enterLane - one of the arguments is null");
}
if (this.lanes.containsKey(lane))
{
System.err.println(this + " is already registered on lane: " + lane + " at fractional position "
+ this.fractionalPosition(lane, RelativePosition.REFERENCE_POSITION) + " intended position is " + position
+ " length of lane is " + lane.getLength());
return;
}
// if the GTU is already registered on a lane of the same link, do not change its fractional position, as
// this might lead to a "jump".
if (!this.fractionalLinkPositions.containsKey(lane.getParentLink()))
{
this.fractionalLinkPositions.put(lane.getParentLink(), lane.fraction(position));
}
this.lanes.put(lane, gtuDirection);
lane.addGTU(this, position);
}
/** {@inheritDoc} */
@Override
public final void leaveLane(final Lane lane) throws GTUException
{
leaveLane(lane, false);
}
/**
* Leave a lane but do not complain about having no lanes left when beingDestroyed is true.
* @param lane the lane to leave
* @param beingDestroyed if true, no complaints about having no lanes left
* @throws GTUException in case leaveLane should not be called
*/
public final void leaveLane(final Lane lane, final boolean beingDestroyed) throws GTUException
{
Throw.when(!MOVEMENT_LANE_BASED, GTUException.class, "MOVEMENT_LANE_BASED is true, but leaveLane() is called");
if (null == this.lanes.get(lane))
{
// No problem -- this method can be scheduled and the GTU can already have left the lane
}
this.lanes.remove(lane);
List<SimEvent<OTSSimTimeDouble>> pending = this.pendingTriggers.get(lane);
if (null != pending)
{
for (SimEvent<OTSSimTimeDouble> event : pending)
{
if (event.getAbsoluteExecutionTime().get().ge(getSimulator().getSimulatorTime().get()))
{
// System.out.println(this + ": Cancelling trigger " + event);
boolean result = getSimulator().cancelEvent(event);
if (!result && event.getAbsoluteExecutionTime().get().ne(getSimulator().getSimulatorTime().get()))
{
System.err.println("NOTHING REMOVED");
}
}
}
// System.out.println(this + ": Removing list of triggers for lane " + lane);
this.pendingTriggers.remove(lane);
}
// check of there are any lanes for this link left. If not, remove the link.
boolean found = false;
for (Lane l : this.lanes.keySet())
{
if (l.getParentLink().equals(lane.getParentLink()))
{
found = true;
}
}
if (!found)
{
this.fractionalLinkPositions.remove(lane.getParentLink());
}
lane.removeGTU(this);
if (this.lanes.size() == 0 && !beingDestroyed)
{
System.err.println("lanes.size() = 0 for GTU " + getId());
}
}
/** {@inheritDoc} */
@Override
public final Map<Lane, GTUDirectionality> getLanes()
{
return new HashMap<Lane, GTUDirectionality>(this.lanes);
}
/** {@inheritDoc} */
@Override
protected final void move(final DirectedPoint fromLocation) throws SimRuntimeException, GTUException,
OperationalPlanException, NetworkException, ParameterException
{
if (MOVEMENT_LANE_BASED)
{
// Only carry out move() if we still have lane(s) to drive on.
// Note: a (Sink) trigger can have 'destroyed' us between the previous evaluation step and this one.
if (this.lanes.isEmpty())
{
destroy();
return; // Done; do not re-schedule execution of this move method.
}
for (Link link : this.fractionalLinkPositions.keySet())
{
double d = this.fractionalLinkPositions.get(link);
double fractionalExcess = d < 0 ? -d : (d - 1);
if (fractionalExcess > 0)
{
double excess = fractionalExcess * link.getLength().si;
OperationalPlan op = this.getOperationalPlan();
double maxLength = this.getLength().si + op.getTraveledDistanceSI(op.getTotalDuration());
if (excess > maxLength)
// if (d < -0.1 || d > 1.1)
{
System.err.println(this + " has extreme fractional position on Link " + link + ": " + d + " (" + excess
+ "m), time is " + this.getSimulator().getSimulatorTime().get());
}
}
}
// store the new positions, and sample statistics
Map<Link, Double> newLinkPositions = new HashMap<>();
for (Lane lane : this.lanes.keySet())
{
lane.sample(this);
newLinkPositions.put(lane.getParentLink(), lane.fraction(position(lane, getReference())));
}
// generate the next operational plan and carry it out
super.move(fromLocation);
if (getOperationalPlan().getAcceleration(Duration.ZERO).si < -10)
{
System.err.println("(getOperationalPlan().getAcceleration(Duration.ZERO).si < -10)");
}
// update the positions on the lanes we are registered on
this.fractionalLinkPositions = newLinkPositions;
// schedule triggers and determine when to enter lanes with front and leave lanes with rear
scheduleTriggers();
}
else
// MOVEMENT_PATH_BASED
{
try
{
// 1. generate the next operational plan and carry it out
super.move(fromLocation);
// 2. split the movement into a number of steps, so that each steps overlaps with the half GTU length
int steps = Math.max(5, (int) (2.0 * getOperationalPlan().getPath().getLengthSI() / getLength().si));
DirectedPoint[] points = new DirectedPoint[steps + 1];
OTSShape[] rects = new OTSShape[steps + 1];
for (int i = 0; i <= steps; i++)
{
points[i] = getOperationalPlan().getPath().getLocationFraction(1.0 * i / steps);
double x = points[i].x;
double y = points[i].y;
double l = getLength().si;
double w = getWidth().si;
Rectangle2D rect = new Rectangle2D.Double(-l / 2.0, -w / 2.0, l, w);
Path2D.Double path = new Path2D.Double(rect);
AffineTransform t = new AffineTransform();
t.translate(x, y);
t.rotate(points[i].getRotZ());
path.transform(t);
rects[i] = new OTSShape(path);
}
// 3. determine for each rectangle with which lanes there is an overlap
List<Lane>[] laneLists = new ArrayList[steps + 1];
Set<Lane> laneSet = new HashSet<>();
OTSNetwork network = (OTSNetwork) getPerceivableContext();
for (int i = 0; i < rects.length; i++)
{
laneLists[i] = new ArrayList<Lane>();
for (Link link : network.getLinkMap().values())
{
if (link instanceof CrossSectionLink)
{
for (Lane lane : ((CrossSectionLink) link).getLanes())
{
if (lane.getContour().intersects(rects[i]))
{
laneLists[i].add(lane);
laneSet.add(lane);
}
}
}
}
}
System.out.println(this + " will be on lanes: " + laneSet);
}
catch (OTSGeometryException e)
{
throw new GTUException(e);
}
}
}
/** {@inheritDoc} */
@Override
public final Map<Lane, Length> positions(final RelativePosition relativePosition) throws GTUException
{
return positions(relativePosition, getSimulator().getSimulatorTime().getTime());
}
/** {@inheritDoc} */
@Override
public final Map<Lane, Length> positions(final RelativePosition relativePosition, final Time when)
throws GTUException
{
Map<Lane, Length> positions = new LinkedHashMap<>();
for (Lane lane : this.lanes.keySet())
{
positions.put(lane, position(lane, relativePosition, when));
}
return positions;
}
/** {@inheritDoc} */
@Override
public final Length position(final Lane lane, final RelativePosition relativePosition) throws GTUException
{
return position(lane, relativePosition, getSimulator().getSimulatorTime().getTime());
}
/** {@inheritDoc} */
public final Length projectedPosition(final Lane projectionLane, final RelativePosition relativePosition,
final Time when) throws GTUException
{
// do not make a wedge in a curve of the projected position!
CrossSectionLink link = projectionLane.getParentLink();
for (CrossSectionElement cse : link.getCrossSectionElementList())
{
if (cse instanceof Lane)
{
Lane cseLane = (Lane) cse;
if (null != this.lanes.get(cseLane))
{
double fractionalPosition = fractionalPosition(cseLane, RelativePosition.REFERENCE_POSITION, when);
Length pos = new Length(projectionLane.getLength().getSI() * fractionalPosition, LengthUnit.SI);
if (this.lanes.get(cseLane).isPlus())
{
return pos.plus(relativePosition.getDx());
}
return pos.minus(relativePosition.getDx());
}
}
}
throw new GTUException(this + " is not on any lane of Link " + link);
}
/** {@inheritDoc} */
@Override
public final Length position(final Lane lane, final RelativePosition relativePosition, final Time when)
throws GTUException
{
if (null == lane)
{
throw new GTUException("lane is null");
}
synchronized (this.lock)
{
if (!this.lanes.containsKey(lane))
{
throw new GTUException("position() : GTU " + toString() + " is not on lane " + lane);
}
if (!this.fractionalLinkPositions.containsKey(lane.getParentLink()))
{
// DO NOT USE toString() here, as it will cause an endless loop...
throw new GTUException(this + " does not have a fractional position on " + lane.toString());
}
Length longitudinalPosition = lane.position(this.fractionalLinkPositions.get(lane.getParentLink()));
if (longitudinalPosition == null)
{
// According to FindBugs; this cannot happen; PK is unsure whether FindBugs is correct.
throw new GTUException("position(): GTU " + toString() + " no position for lane " + lane);
}
if (getOperationalPlan() == null)
{
// no valid operational plan, e.g. during generation of a new plan
return longitudinalPosition.plus(relativePosition.getDx());
}
Length loc;
try
{
if (this.lanes.get(lane).equals(GTUDirectionality.DIR_PLUS))
{
loc =
longitudinalPosition.plus(getOperationalPlan().getTraveledDistance(when)).plus(
relativePosition.getDx());
}
else
{
loc =
longitudinalPosition.minus(getOperationalPlan().getTraveledDistance(when)).minus(
relativePosition.getDx());
}
}
catch (Exception e)
{
e.printStackTrace();
System.err.println(toString());
System.err.println(this.lanes);
System.err.println(this.fractionalLinkPositions);
throw new GTUException(e);
}
if (Double.isNaN(loc.getSI()))
{
System.out.println("loc is NaN");
}
return loc;
}
}
/**
* Schedule the triggers for this GTU that are going to happen until the next evaluation time. Also schedule the
* registration and deregistration of lanes when the vehicle enters or leaves them, at the exact right time. <br>
* Note: when the GTU makes a lane change, the vehicle will be registered for both lanes during the entire maneuver.
* @throws NetworkException on network inconsistency
* @throws SimRuntimeException should never happen
* @throws GTUException when a branch is reached where the GTU does not know where to go next
*/
private void scheduleTriggers() throws NetworkException, SimRuntimeException, GTUException
{
/*
* Move the vehicle into any new lanes with the front, and schedule entrance during this time step and calculate the
* current position based on the fractional position, because THE POSITION METHOD DOES NOT WORK FOR THIS. IT CALCULATES
* THE POSITION BASED ON THE NEWLY CALCULATED ACCELERATION AND VELOCITY AND CAN THEREFORE MAKE AN ERROR.
*/
double timestep = getOperationalPlan().getTotalDuration().si;
// TODO WRONG - should be based on timeAtPosition() as the plan can have acc/dec/const segments
double moveSI = getSpeed().getSI() * timestep + 0.5 * getAcceleration().getSI() * timestep * timestep;
Map<Lane, GTUDirectionality> lanesCopy = new LinkedHashMap<Lane, GTUDirectionality>(this.lanes);
for (Lane lane : lanesCopy.keySet()) // use a copy because this.lanes can change
{
// schedule triggers on this lane
double referenceStartSI = this.fractionalLinkPositions.get(lane.getParentLink()) * lane.getLength().getSI();
double sign = lanesCopy.get(lane).equals(GTUDirectionality.DIR_PLUS) ? 1.0 : -1.0;
if (lanesCopy.get(lane).equals(GTUDirectionality.DIR_PLUS))
{
lane.scheduleTriggers(this, referenceStartSI, moveSI);
}
else
{
// TODO extra argument for DIR_MINUS driving direction?
lane.scheduleTriggers(this, referenceStartSI - moveSI, moveSI);
}
// determine when our FRONT will pass the end of this registered lane in case of driving DIR_PLUS or
// the start of this registered lane when driving DIR_MINUS.
// if the time is earlier than the end of the timestep: schedule the enterLane method.
// TODO look if more lanes are entered in one timestep, and continue the algorithm with the remainder of the time...
double frontPosSI = referenceStartSI + sign * getFront().getDx().getSI();
double nextFrontPosSI = frontPosSI + sign * moveSI;
// LANE WE COME FROM IS IN PLUS DIRECTION
if (lanesCopy.get(lane).equals(GTUDirectionality.DIR_PLUS))
{
if (frontPosSI <= lane.getLength().si && nextFrontPosSI > lane.getLength().si)
{
Lane nextLane = determineNextLane(lane);
GTUDirectionality direction = lane.nextLanes(getGTUType()).get(nextLane);
/*
* We have to register the position at the previous timestep to keep calculations consistent. And we have to
* correct for the position of the reference point. The idea is that we register the vehicle 'before' the
* entrance of the new lane at the time of the last timestep, so for a DIR_PLUS on a negative position, and
* for a DIR_MINUS on a position beyond the length of the next lane.
*/
if (direction.equals(GTUDirectionality.DIR_PLUS))
{
Length refPosAtLastTimestep =
new Length(-(lane.getLength().si - frontPosSI) - getFront().getDx().si, LengthUnit.SI);
enterLane(nextLane, refPosAtLastTimestep, direction);
// schedule any sensor triggers on this lane for the remainder time
nextLane.scheduleTriggers(this, refPosAtLastTimestep.getSI(), moveSI);
}
else if (direction.equals(GTUDirectionality.DIR_MINUS))
{
Length refPosAtLastTimestep =
new Length(nextLane.getLength().si + (lane.getLength().si - frontPosSI)
+ getFront().getDx().si, LengthUnit.SI);
enterLane(nextLane, refPosAtLastTimestep, direction);
// schedule any sensor triggers on this lane for the remainder time
// TODO extra argument for DIR_MINUS driving direction?
nextLane.scheduleTriggers(this, refPosAtLastTimestep.getSI() - moveSI, moveSI);
}
else
{
throw new NetworkException("scheduleTriggers DIR_PLUS for GTU " + toString() + ", nextLane " + nextLane
+ ", direction not DIR_PLUS or DIR_MINUS");
}
}
}
// LANE WE COME FROM IS IN MINUS DIRECTION
else if (lanesCopy.get(lane).equals(GTUDirectionality.DIR_MINUS))
{
if (frontPosSI >= 0.0 && nextFrontPosSI < 0.0)
{
Lane prevLane = determinePrevLane(lane);
GTUDirectionality direction = lane.prevLanes(getGTUType()).get(prevLane);
/*
* We have to register the position at the previous timestep to keep calculations consistent. And we have to
* correct for the position of the reference point. The idea is that we register the vehicle 'before' the
* entrance of the new lane at the time of the last timestep, so for a DIR_MINUS on a negative position, and
* for a DIR_PLUS on a position beyond the length of the next lane.
*/
if (direction.equals(GTUDirectionality.DIR_MINUS))
{
Length refPosAtLastTimestep =
new Length(prevLane.getLength().si + frontPosSI + getFront().getDx().si, LengthUnit.SI);
enterLane(prevLane, refPosAtLastTimestep, direction);
// schedule any sensor triggers on this lane for the remainder time
prevLane.scheduleTriggers(this, refPosAtLastTimestep.getSI() - moveSI, moveSI);
}
else if (direction.equals(GTUDirectionality.DIR_PLUS))
{
Length refPosAtLastTimestep = new Length(-frontPosSI - getFront().getDx().si, LengthUnit.SI);
enterLane(prevLane, refPosAtLastTimestep, direction);
// schedule any sensor triggers on this lane for the remainder time
// TODO extra argument for DIR_MINUS driving direction?
prevLane.scheduleTriggers(this, refPosAtLastTimestep.getSI(), moveSI);
}
else
{
throw new NetworkException("scheduleTriggers DIR_MINUS for GTU " + toString() + ", prevLane "
+ prevLane + ", direction not DIR_PLUS or DIR_MINUS");
}
}
}
else
{
throw new NetworkException("scheduleTriggers for GTU " + toString() + ", lane " + lane
+ ", direction not DIR_PLUS or DIR_MINUS");
}
}
// move the vehicle out of any lanes with the BACK, and schedule exit during this time step
for (Lane lane : this.lanes.keySet())
{
// Determine when our REAR will pass the end of this registered lane.
// TODO look if more lanes are exited in one timestep, and continue the algorithm with the remainder of the time...
double referenceStartSI = this.fractionalLinkPositions.get(lane.getParentLink()) * lane.getLength().getSI();
double sign = this.lanes.get(lane).equals(GTUDirectionality.DIR_PLUS) ? 1.0 : -1.0;
double rearPosSI = referenceStartSI + sign * getRear().getDx().getSI();
if (this.lanes.get(lane).equals(GTUDirectionality.DIR_PLUS))
{
if (rearPosSI <= lane.getLength().si && rearPosSI + moveSI > lane.getLength().si)
{
double distanceToLeave = lane.getLength().si - rearPosSI;
Time exitTime = getOperationalPlan().timeAtDistance(new Length(distanceToLeave, LengthUnit.SI));
SimEvent<OTSSimTimeDouble> event =
new SimEvent<OTSSimTimeDouble>(new OTSSimTimeDouble(exitTime), this, this, "leaveLane",
new Object[] { lane, new Boolean(false) });
getSimulator().scheduleEvent(event);
addTrigger(lane, event);
// XXXXXXXXXXXXXXXXXX Minus one ULP is not safe if you want to add the current time
// XXXXXXXXXXXXXXXXXX Should compute the time time at which the rear of the GTU exits the lane???
// getSimulator().scheduleEventRel(new Duration(timestep - Math.ulp(timestep), TimeUnit.SI), this, this,
// "leaveLane", new Object[] { lane, new Boolean(true) }); // TODO should be false?
}
}
else
{
if (rearPosSI >= 0.0 && rearPosSI - moveSI < 0.0)
{
double distanceToLeave = rearPosSI;
Time exitTime = getOperationalPlan().timeAtDistance(new Length(distanceToLeave, LengthUnit.SI));
SimEvent<OTSSimTimeDouble> event =
new SimEvent<OTSSimTimeDouble>(new OTSSimTimeDouble(exitTime), this, this, "leaveLane",
new Object[] { lane, new Boolean(false) });
getSimulator().scheduleEvent(event);
addTrigger(lane, event);
// getSimulator().scheduleEventRel(new Duration(timestep - Math.ulp(timestep), TimeUnit.SI), this, this,
// "leaveLane", new Object[] { lane, new Boolean(true) }); // XXX: should be false?
}
}
}
}
/**
* XXX: direction dependent... <br>
* @param lane the lane to find the successor for
* @return the next lane for this GTU
* @throws NetworkException when no next lane exists or the route branches into multiple next lanes
* @throws GTUException when no route could be found or the routeNavigator returns null
*/
private Lane determineNextLane(final Lane lane) throws NetworkException, GTUException
{
Lane nextLane = null;
if (lane.nextLanes(getGTUType()).size() == 0)
{
throw new NetworkException(this + " - lane " + lane + " does not have a successor");
}
if (lane.nextLanes(getGTUType()).size() == 1)
{
nextLane = lane.nextLanes(getGTUType()).keySet().iterator().next();
}
else
{
if (!(getStrategicalPlanner() instanceof LaneBasedStrategicalRoutePlanner))
{
throw new GTUException(this + " reaches branch but has no route navigator");
}
Node nextNode =
((LaneBasedStrategicalRoutePlanner) getStrategicalPlanner()).nextNode(lane.getParentLink(),
GTUDirectionality.DIR_PLUS, getGTUType());
if (null == nextNode)
{
throw new GTUException(this + " reaches branch and the route returns null as nextNodeToVisit");
}
int continuingLaneCount = 0;
for (Lane candidateLane : lane.nextLanes(getGTUType()).keySet())
{
if (null != this.lanes.get(candidateLane))
{
continue; // Already on this lane
}
// XXX Hack - this should be done more considerate -- fails at loops...
if (nextNode == candidateLane.getParentLink().getEndNode()
|| nextNode == candidateLane.getParentLink().getStartNode())
{
nextLane = candidateLane;
continuingLaneCount++;
}
}
if (continuingLaneCount == 0)
{
throw new NetworkException(this + " reached branch and the route specifies a nextNodeToVisit (" + nextNode
+ ") that is not a next node " + "at this branch at (" + lane.getParentLink().getEndNode() + ")");
}
if (continuingLaneCount > 1)
{
throw new NetworkException(this
+ " reached branch and the route specifies multiple lanes to continue on at this branch ("
+ lane.getParentLink().getEndNode() + "). This is not yet supported");
}
}
return nextLane;
}
/**
* XXX: direction dependent... <br>
* @param lane the lane to find the predecessor for
* @return the next lane for this GTU
* @throws NetworkException when no next lane exists or the route branches into multiple next lanes
* @throws GTUException when no route could be found or the routeNavigator returns null
*/
private Lane determinePrevLane(final Lane lane) throws NetworkException, GTUException
{
Lane prevLane = null;
if (lane.prevLanes(getGTUType()).size() == 0)
{
throw new NetworkException(this + " - lane " + lane + " does not have a predecessor");
}
if (lane.prevLanes(getGTUType()).size() == 1)
{
prevLane = lane.prevLanes(getGTUType()).keySet().iterator().next();
}
else
{
if (!(getStrategicalPlanner() instanceof LaneBasedStrategicalRoutePlanner))
{
throw new GTUException(this + " reaches branch but has no route navigator");
}
Node prevNode =
((LaneBasedStrategicalRoutePlanner) getStrategicalPlanner()).nextNode(lane.getParentLink(),
GTUDirectionality.DIR_MINUS, getGTUType());
if (null == prevNode)
{
throw new GTUException(this + " reaches branch and the route returns null as nextNodeToVisit");
}
int continuingLaneCount = 0;
for (Lane candidateLane : lane.prevLanes(getGTUType()).keySet())
{
if (null != this.lanes.get(candidateLane))
{
continue; // Already on this lane
}
// XXX Hack - this should be done more considerate -- fails at loops...
if (prevNode == candidateLane.getParentLink().getEndNode()
|| prevNode == candidateLane.getParentLink().getStartNode())
{
prevLane = candidateLane;
continuingLaneCount++;
}
}
if (continuingLaneCount == 0)
{
throw new NetworkException(this + " reached branch and the route specifies a nextNodeToVisit (" + prevNode
+ ") that is not a next node " + "at this branch at (" + lane.getParentLink().getStartNode() + ")");
}
if (continuingLaneCount > 1)
{
throw new NetworkException(this
+ " reached branch and the route specifies multiple lanes to continue on at this branch ("
+ lane.getParentLink().getStartNode() + "). This is not yet supported");
}
}
return prevLane;
}
/** {@inheritDoc} */
@Override
public final Map<Lane, Double> fractionalPositions(final RelativePosition relativePosition) throws GTUException
{
return fractionalPositions(relativePosition, getSimulator().getSimulatorTime().getTime());
}
/** {@inheritDoc} */
@Override
public final Map<Lane, Double> fractionalPositions(final RelativePosition relativePosition, final Time when)
throws GTUException
{
Map<Lane, Double> positions = new LinkedHashMap<>();
for (Lane lane : this.lanes.keySet())
{
positions.put(lane, fractionalPosition(lane, relativePosition, when));
}
return positions;
}
/** {@inheritDoc} */
@Override
public final double fractionalPosition(final Lane lane, final RelativePosition relativePosition, final Time when)
throws GTUException
{
return position(lane, relativePosition, when).getSI() / lane.getLength().getSI();
}
/** {@inheritDoc} */
@Override
public final double fractionalPosition(final Lane lane, final RelativePosition relativePosition) throws GTUException
{
return position(lane, relativePosition).getSI() / lane.getLength().getSI();
}
/** {@inheritDoc} */
@Override
public LanePerceptionFull getPerception()
{
return (LanePerceptionFull) super.getPerception();
}
/** {@inheritDoc} */
@Override
public LaneBasedStrategicalPlanner getStrategicalPlanner()
{
return (LaneBasedStrategicalPlanner) super.getStrategicalPlanner();
}
/** {@inheritDoc} */
@Override
public BehavioralCharacteristics getBehavioralCharacteristics()
{
return getStrategicalPlanner().getBehavioralCharacteristics();
}
/** {@inheritDoc} */
public void addTrigger(final Lane lane, final SimEvent<OTSSimTimeDouble> event)
{
List<SimEvent<OTSSimTimeDouble>> list = this.pendingTriggers.get(lane);
if (null == list)
{
list = new ArrayList<SimEvent<OTSSimTimeDouble>>();
}
list.add(event);
this.pendingTriggers.put(lane, list);
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public void destroy()
{
synchronized (this.lock)
{
Set<Lane> laneSet = new HashSet<>(this.lanes.keySet()); // Operate on a copy of the key set
for (Lane lane : laneSet)
{
try
{
leaveLane(lane, true);
}
catch (GTUException e)
{
// ignore. not important at destroy
}
}
}
super.destroy();
}
/** {@inheritDoc} */
@Override
public final Bounds getBounds()
{
double dx = 0.5 * getLength().doubleValue();
double dy = 0.5 * getWidth().doubleValue();
return new BoundingBox(new Point3d(-dx, -dy, 0.0), new Point3d(dx, dy, 0.0));
}
/** {@inheritDoc} */
public String toString()
{
return String.format("GTU " + getId());
}
}