OTSNetwork.java
package org.opentrafficsim.core.network;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
import org.jgrapht.alg.DijkstraShortestPath;
import org.jgrapht.graph.SimpleWeightedGraph;
import org.opentrafficsim.base.immutablecollections.Immutable;
import org.opentrafficsim.base.immutablecollections.ImmutableHashMap;
import org.opentrafficsim.base.immutablecollections.ImmutableMap;
import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
import org.opentrafficsim.core.gtu.GTU;
import org.opentrafficsim.core.gtu.GTUType;
import org.opentrafficsim.core.network.route.CompleteRoute;
import org.opentrafficsim.core.network.route.Route;
import org.opentrafficsim.core.perception.PerceivableContext;
import nl.tudelft.simulation.event.EventProducer;
/**
* A Network consists of a set of links. Each link has, in its turn, a start node and an end node.
* <p>
* Copyright (c) 2013-2016 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: 2016-11-02 11:22:48 +0100 (Wed, 02 Nov 2016) $, @version $Revision: 2441 $, by $Author: averbraeck $,
* initial version Jul 22, 2015 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.citg.tudelft.nl">Guus Tamminga</a>
*/
public class OTSNetwork extends EventProducer implements Network, PerceivableContext, Serializable
{
/** */
private static final long serialVersionUID = 20150722;
/** Id of this network. */
private final String id;
/** Map of Nodes. */
private Map<String, Node> nodeMap = new HashMap<>();
/** Map of Links. */
private Map<String, Link> linkMap = new HashMap<>();
/** Map of Routes. */
private Map<GTUType, Map<String, Route>> routeMap = new HashMap<>();
/** Graphs to calculate shortest paths per GTUType. */
private Map<GTUType, SimpleWeightedGraph<Node, LinkEdge<Link>>> linkGraphs = new HashMap<>();
/** GTUs registered in this network. */
private Map<String, GTU> gtuMap = new HashMap<>();
/**
* Construction of an empty network.
* @param id the network id.
*/
public OTSNetwork(final String id)
{
this.id = id;
}
/** {@inheritDoc} */
@Override
public final String getId()
{
return this.id;
}
/***************************************************************************************/
/**************************************** NODES ****************************************/
/***************************************************************************************/
/** {@inheritDoc} */
@Override
public final ImmutableMap<String, Node> getNodeMap()
{
return new ImmutableHashMap<String, Node>(this.nodeMap, Immutable.WRAP);
}
/** {@inheritDoc} */
@Override
public final void addNode(final Node node) throws NetworkException
{
if (containsNode(node))
{
throw new NetworkException("Node " + node + " already registered in network " + this.id);
}
if (this.nodeMap.keySet().contains(node.getId()))
{
throw new NetworkException("Node with name " + node.getId() + " already registered in network " + this.id);
}
this.nodeMap.put(node.getId(), node);
fireEvent(Network.NODE_ADD_EVENT, node.getId());
}
/** {@inheritDoc} */
@Override
public final void removeNode(final Node node) throws NetworkException
{
if (!containsNode(node))
{
throw new NetworkException("Node " + node + " not registered in network " + this.id);
}
fireEvent(Network.NODE_REMOVE_EVENT, node.getId());
this.nodeMap.remove(node.getId());
}
/** {@inheritDoc} */
@Override
public final boolean containsNode(final Node node)
{
// System.out.println(node);
return this.nodeMap.keySet().contains(node.getId());
}
/** {@inheritDoc} */
@Override
public final boolean containsNode(final String nodeId)
{
return this.nodeMap.keySet().contains(nodeId);
}
/** {@inheritDoc} */
@Override
public final Node getNode(final String nodeId)
{
return this.nodeMap.get(nodeId);
}
/***************************************************************************************/
/**************************************** LINKS ****************************************/
/***************************************************************************************/
/** {@inheritDoc} */
@Override
public final ImmutableMap<String, Link> getLinkMap()
{
return new ImmutableHashMap<String, Link>(this.linkMap, Immutable.WRAP);
}
/** {@inheritDoc} */
@Override
public final void addLink(final Link link) throws NetworkException
{
if (containsLink(link))
{
throw new NetworkException("Link " + link + " already registered in network " + this.id);
}
if (this.linkMap.keySet().contains(link.getId()))
{
throw new NetworkException("Link with name " + link.getId() + " already registered in network " + this.id);
}
if (!containsNode(link.getStartNode()) || !containsNode(link.getEndNode()))
{
throw new NetworkException(
"Start node or end node of Link " + link.getId() + " not registered in network " + this.id);
}
this.linkMap.put(link.getId(), link);
fireEvent(Network.LINK_ADD_EVENT, link.getId());
}
/** {@inheritDoc} */
@Override
public final void removeLink(final Link link) throws NetworkException
{
if (!containsLink(link))
{
throw new NetworkException("Link " + link + " not registered in network " + this.id);
}
fireEvent(Network.LINK_REMOVE_EVENT, link.getId());
this.linkMap.remove(link.getId());
}
/** {@inheritDoc} */
@Override
public final Link getLink(final Node node1, final Node node2)
{
for (Link link : this.linkMap.values())
{
if (link.getStartNode().equals(node1) && link.getEndNode().equals(node2))
{
return link;
}
}
return null;
}
/** {@inheritDoc} */
@Override
public final Link getLink(final String nodeId1, final String nodeId2) throws NetworkException
{
if (!containsNode(nodeId1))
{
throw new NetworkException("Node " + nodeId1 + " not in network " + this.id);
}
if (!containsNode(nodeId2))
{
throw new NetworkException("Node " + nodeId2 + " not in network " + this.id);
}
return getLink(getNode(nodeId1), getNode(nodeId2));
}
/** {@inheritDoc} */
@Override
public final boolean containsLink(final Link link)
{
return this.linkMap.keySet().contains(link.getId());
}
/** {@inheritDoc} */
@Override
public final boolean containsLink(final String linkId)
{
return this.linkMap.keySet().contains(linkId);
}
/** {@inheritDoc} */
@Override
public final Link getLink(final String linkId)
{
return this.linkMap.get(linkId);
}
/***************************************************************************************/
/*************************************** ROUTES ****************************************/
/***************************************************************************************/
/** {@inheritDoc} */
@Override
public final ImmutableMap<String, Route> getDefinedRouteMap(final GTUType gtuType)
{
Map<String, Route> routes = new HashMap<>();
if (this.routeMap.containsKey(gtuType))
{
routes.putAll(this.routeMap.get(gtuType));
}
return new ImmutableHashMap<String, Route>(routes, Immutable.WRAP);
}
/** {@inheritDoc} */
@Override
public final void addRoute(final GTUType gtuType, final Route route) throws NetworkException
{
if (containsRoute(gtuType, route))
{
throw new NetworkException(
"Route " + route + " for GTUType " + gtuType + " already registered in network " + this.id);
}
if (this.routeMap.containsKey(gtuType) && this.routeMap.get(gtuType).keySet().contains(route.getId()))
{
throw new NetworkException("Route with name " + route.getId() + " for GTUType " + gtuType
+ " already registered in network " + this.id);
}
for (Node node : route.getNodes())
{
if (!containsNode(node))
{
throw new NetworkException("Node " + node.getId() + " of route " + route.getId() + " for GTUType " + gtuType
+ " not registered in network " + this.id);
}
}
if (!this.routeMap.containsKey(gtuType))
{
this.routeMap.put(gtuType, new HashMap<String, Route>());
}
this.routeMap.get(gtuType).put(route.getId(), route);
fireEvent(Network.ROUTE_ADD_EVENT, new Object[] { gtuType.getId(), route.getId() });
}
/** {@inheritDoc} */
@Override
public final void removeRoute(final GTUType gtuType, final Route route) throws NetworkException
{
if (!containsRoute(gtuType, route))
{
throw new NetworkException("Route " + route + " for GTUType " + gtuType + " not registered in network " + this.id);
}
fireEvent(Network.ROUTE_REMOVE_EVENT, new Object[] { gtuType.getId(), route.getId() });
this.routeMap.get(gtuType).remove(route.getId());
}
/** {@inheritDoc} */
@Override
public final boolean containsRoute(final GTUType gtuType, final Route route)
{
if (this.routeMap.containsKey(gtuType))
{
return this.routeMap.get(gtuType).values().contains(route);
}
return false;
}
/** {@inheritDoc} */
@Override
public final boolean containsRoute(final GTUType gtuType, final String routeId)
{
if (this.routeMap.containsKey(gtuType))
{
return this.routeMap.get(gtuType).keySet().contains(routeId);
}
return false;
}
/** {@inheritDoc} */
@Override
public final Route getRoute(final GTUType gtuType, final String routeId)
{
if (this.routeMap.containsKey(gtuType))
{
return this.routeMap.get(gtuType).get(routeId);
}
return null;
}
/** {@inheritDoc} */
@Override
public final Set<Route> getRoutesBetween(final GTUType gtuType, final Node nodeFrom, final Node nodeTo)
{
Set<Route> routes = new HashSet<>();
if (this.routeMap.containsKey(gtuType))
{
for (Route route : this.routeMap.get(gtuType).values())
{
try
{
if (route.originNode().equals(nodeFrom) && route.destinationNode().equals(nodeTo))
{
routes.add(route);
}
}
catch (NetworkException ne)
{
// thrown if no nodes exist in the route. Do not add the route in that case.
}
}
}
return routes;
}
/** {@inheritDoc} */
@Override
public final void buildGraph(final GTUType gtuType)
{
// TODO take connections into account, and possibly do node expansion to build the graph
@SuppressWarnings("rawtypes")
Class linkEdgeClass = LinkEdge.class;
@SuppressWarnings("unchecked")
SimpleWeightedGraph<Node, LinkEdge<Link>> graph = new SimpleWeightedGraph<Node, LinkEdge<Link>>(linkEdgeClass);
for (Node node : this.nodeMap.values())
{
graph.addVertex(node);
}
for (Link link : this.linkMap.values())
{
LinkEdge<Link> linkEdge = new LinkEdge<>(link);
// determine if the link is accessible for the GTUType , and in which direction(s)
LongitudinalDirectionality directionality = link.getDirectionality(gtuType);
if (directionality.equals(LongitudinalDirectionality.DIR_PLUS)
|| directionality.equals(LongitudinalDirectionality.DIR_BOTH))
{
graph.addEdge(link.getStartNode(), link.getEndNode(), linkEdge);
graph.setEdgeWeight(linkEdge, link.getLength().doubleValue());
}
if (directionality.equals(LongitudinalDirectionality.DIR_MINUS)
|| directionality.equals(LongitudinalDirectionality.DIR_BOTH))
{
graph.addEdge(link.getEndNode(), link.getStartNode(), linkEdge);
graph.setEdgeWeight(linkEdge, link.getLength().doubleValue());
}
}
this.linkGraphs.put(gtuType, graph);
}
/** {@inheritDoc} */
@Override
public final CompleteRoute getShortestRouteBetween(final GTUType gtuType, final Node nodeFrom, final Node nodeTo)
throws NetworkException
{
CompleteRoute route = new CompleteRoute("Route for " + gtuType + " from " + nodeFrom + "to " + nodeTo, gtuType);
SimpleWeightedGraph<Node, LinkEdge<Link>> graph = this.linkGraphs.get(gtuType);
if (graph == null)
{
buildGraph(gtuType);
graph = this.linkGraphs.get(gtuType);
}
DijkstraShortestPath<Node, LinkEdge<Link>> path = new DijkstraShortestPath<>(graph, nodeFrom, nodeTo);
if (path.getPath() == null)
{
return null;
}
route.addNode(nodeFrom);
for (LinkEdge<Link> link : path.getPathEdgeList())
{
if (!link.getLink().getEndNode().equals(route.destinationNode())
&& route.destinationNode().isDirectionallyConnectedTo(gtuType, link.getLink().getEndNode()))
{
route.addNode(link.getLink().getEndNode());
}
else if (!link.getLink().getStartNode().equals(route.destinationNode())
&& route.destinationNode().isDirectionallyConnectedTo(gtuType, link.getLink().getStartNode()))
{
route.addNode(link.getLink().getStartNode());
}
else
{
throw new NetworkException("Cannot connect two links when calculating shortest route");
}
}
return route;
}
/** {@inheritDoc} */
@Override
public final CompleteRoute getShortestRouteBetween(final GTUType gtuType, final Node nodeFrom, final Node nodeTo,
final List<Node> nodesVia) throws NetworkException
{
CompleteRoute route = new CompleteRoute(
"Route for " + gtuType + " from " + nodeFrom + "to " + nodeTo + " via " + nodesVia.toString(), gtuType);
SimpleWeightedGraph<Node, LinkEdge<Link>> graph = this.linkGraphs.get(gtuType);
if (graph == null)
{
buildGraph(gtuType);
graph = this.linkGraphs.get(gtuType);
}
List<Node> nodes = new ArrayList<>();
nodes.add(nodeFrom);
nodes.addAll(nodesVia);
nodes.add(nodeTo);
Node from = nodeFrom;
route.addNode(nodeFrom);
for (int i = 1; i < nodes.size(); i++)
{
Node to = nodes.get(i);
DijkstraShortestPath<Node, LinkEdge<Link>> path = new DijkstraShortestPath<>(graph, from, to);
if (path.getPath() == null)
{
return null;
}
for (LinkEdge<Link> link : path.getPathEdgeList())
{
if (!link.getLink().getEndNode().equals(route.destinationNode())
&& route.destinationNode().isDirectionallyConnectedTo(gtuType, link.getLink().getEndNode()))
{
route.addNode(link.getLink().getEndNode());
}
else if (!link.getLink().getStartNode().equals(route.destinationNode())
&& route.destinationNode().isDirectionallyConnectedTo(gtuType, link.getLink().getStartNode()))
{
route.addNode(link.getLink().getStartNode());
}
else
{
throw new NetworkException(
"Cannot connect two links when calculating shortest route with intermediate nodes");
}
}
from = to;
}
return route;
}
/***************************************************************************************/
/**************************************** GTUs *****************************************/
/***************************************************************************************/
/** {@inheritDoc} */
@Override
public final void addGTU(final GTU gtu)
{
this.gtuMap.put(gtu.getId(), gtu);
fireTimedEvent(Network.GTU_ADD_EVENT, gtu.getId(), gtu.getSimulator().getSimulatorTime());
}
/** {@inheritDoc} */
@Override
public final void removeGTU(final GTU gtu)
{
fireTimedEvent(Network.GTU_REMOVE_EVENT, gtu.getId(), gtu.getSimulator().getSimulatorTime());
this.gtuMap.remove(gtu.getId());
}
/** {@inheritDoc} */
@Override
public final boolean containsGTU(final GTU gtu)
{
return this.gtuMap.containsValue(gtu);
}
/** {@inheritDoc} */
@Override
public final GTU getGTU(final String gtuId)
{
return this.gtuMap.get(gtuId);
}
/** {@inheritDoc} */
@Override
public final Set<GTU> getGTUs()
{
// defensive copy
return new HashSet<GTU>(this.gtuMap.values());
}
/** {@inheritDoc} */
@Override
public final boolean containsGtuId(final String gtuId)
{
return this.gtuMap.containsKey(gtuId);
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "OTSNetwork [id=" + this.id + ", nodeMapSize=" + this.nodeMap.size() + ", linkMapSize=" + this.linkMap.size()
+ ", routeMapSize=" + this.routeMap.size() + ", gtuMapSize=" + this.gtuMap.size() + "]";
}
/***************************************************************************************/
/*************************************** CLONE *****************************************/
/***************************************************************************************/
/**
* Clone the OTSNetwork.
* @param newId the new id of the network
* @param newSimulator the new simulator for this network
* @param animation whether to (re)create animation or not
* @return a clone of this network
* @throws NetworkException in case the cloning fails
*/
@SuppressWarnings("checkstyle:designforextension")
public OTSNetwork clone(final String newId, final OTSSimulatorInterface newSimulator, final boolean animation)
throws NetworkException
{
OTSNetwork newNetwork = new OTSNetwork(newId);
// clone the nodes
for (Node node : this.nodeMap.values())
{
((OTSNode) node).clone1(newNetwork, newSimulator, animation);
}
// clone the links
for (Link link : this.linkMap.values())
{
((OTSLink) link).clone(newNetwork, newSimulator, animation);
}
// make the link-connections for the cloned nodes
for (Node node : this.nodeMap.values())
{
((OTSNode) node).clone2(newNetwork, newSimulator, animation);
}
// clone the graphs that had been created for the old network
for (GTUType gtuType : this.linkGraphs.keySet())
{
newNetwork.buildGraph(gtuType);
}
// clone the routes
Map<GTUType, Map<String, Route>> newRouteMap = new HashMap<>();
for (GTUType gtuType : this.routeMap.keySet())
{
Map<String, Route> newRoutes = new HashMap<>();
for (Route route : this.routeMap.get(gtuType).values())
{
newRoutes.put(route.getId(), route.clone(newNetwork, newSimulator, animation));
}
newRouteMap.put(gtuType, newRoutes);
}
newNetwork.routeMap = newRouteMap;
return newNetwork;
}
}