1 package org.opentrafficsim.core.gtu;
2
3 import java.awt.Color;
4 import java.io.Serializable;
5
6 import org.djunits.value.vdouble.scalar.Acceleration;
7 import org.djunits.value.vdouble.scalar.Length;
8 import org.djunits.value.vdouble.scalar.Speed;
9 import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
10 import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
11 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
12 import org.opentrafficsim.core.gtu.plan.strategical.StrategicalPlanner;
13 import org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner;
14
15 import nl.tudelft.simulation.dsol.animation.Locatable;
16 import nl.tudelft.simulation.event.EventProducerInterface;
17 import nl.tudelft.simulation.event.EventType;
18 import nl.tudelft.simulation.immutablecollections.ImmutableMap;
19 import nl.tudelft.simulation.immutablecollections.ImmutableSet;
20
21 /**
22 * Generalized Travel Unit. <br>
23 * A GTU is an object (person, car, ship) that can travel over the infrastructure. It has a (directed) location, dimensions, and
24 * some properties that all GTUs share. The GTU is not bound to any infrastructure and can travel freely in the world. <br>
25 * For its movement, a GTU uses an OperationalPlan, which indicates a shape in the world with a speed profile that the GTU will
26 * use to move. The OperationalPlan can be updated or replaced, for which a tactical planner is responsible. A tactical plan can
27 * for instance be for a car to change two lanes to the left during the next 200 m to be able to make a left turn in 200 m. The
28 * operational plans are then the implementation of segments of the movement (time, location, speed, acceleration) that the car
29 * will make to drive on the road and (safely) make the lane changes. On the highest level, a StrategicPlan puts boundary
30 * conditions on the tactical plans. The strategic plan contains for instance the destination we want to reach and possibly some
31 * constraints on solutions that the tactical plans have to comply with.
32 * <p>
33 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
34 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
35 * <p>
36 * @version $Revision: 2838 $, $LastChangedDate: 2016-12-11 14:07:37 +0100 (Sun, 11 Dec 2016) $, by $Author: averbraeck $,
37 * initial version May 15, 2014 <br>
38 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
39 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
40 */
41 public interface GTU extends Locatable, Serializable, EventProducerInterface
42 {
43 /** @return the id of the GTU */
44 String getId();
45
46 /** @return the maximum length of the GTU (parallel with driving direction). */
47 Length getLength();
48
49 /** @return the maximum width of the GTU (perpendicular to driving direction). */
50 Length getWidth();
51
52 /** @return the maximum speed of the GTU, in the direction of movement. */
53 Speed getMaximumSpeed();
54
55 /** @return the maximum acceleration of the GTU, in the linear direction. */
56 Acceleration getMaximumAcceleration();
57
58 /** @return the maximum deceleration of the GTU, in the linear direction, stored as a negative number. */
59 Acceleration getMaximumDeceleration();
60
61 /** @return the type of GTU, e.g. TruckType, CarType, BusType. */
62 GTUType getGTUType();
63
64 /** @return the simulator of the GTU. */
65 OTSDEVSSimulatorInterface getSimulator();
66
67 /** @return the reference position of the GTU, by definition (0, 0, 0). */
68 RelativePosition getReference();
69
70 /** @return the front position of the GTU, relative to its reference point. */
71 RelativePosition getFront();
72
73 /** @return the rear position of the GTU, relative to its reference point. */
74 RelativePosition getRear();
75
76 /** @return the center position of the GTU, relative to its reference point. */
77 RelativePosition getCenter();
78
79 /** @return the contour points of the GTU. */
80 ImmutableSet<RelativePosition> getContourPoints();
81
82 /** @return the positions for this GTU, but not the contour points. */
83 ImmutableMap<RelativePosition.TYPE, RelativePosition> getRelativePositions();
84
85 /** @return the current speed of the GTU, along the direction of movement. */
86 Speed getSpeed();
87
88 /** @return the current acceleration of the GTU, along the direction of movement. */
89 Acceleration getAcceleration();
90
91 /** @return Length; the current odometer value. */
92 Length getOdometer();
93
94 /** @return Behavioral characteristics. */
95 BehavioralCharacteristics getBehavioralCharacteristics();
96
97 /**
98 * @return StrategicalPlanner; the planner responsible for the overall 'mission' of the GTU, usually indicating where it
99 * needs to go. It operates by instantiating tactical planners to do the work.
100 */
101 StrategicalPlanner getStrategicalPlanner();
102
103 /** @return TacticalPlanner; the current tactical planner that can generate an operational plan */
104 TacticalPlanner getTacticalPlanner();
105
106 /** @return the current operational plan for the GTU. */
107 OperationalPlan getOperationalPlan();
108
109 /** @return the status of the turn indicator. */
110 TurnIndicatorStatus getTurnIndicatorStatus();
111
112 /**
113 * Set the status of the turn indicator.
114 * @param turnIndicatorStatus the new status of the turn indicator.
115 * @throws GTUException when GTUType does not have a turn indicator
116 */
117 void setTurnIndicatorStatus(TurnIndicatorStatus turnIndicatorStatus) throws GTUException;
118
119 /** Destroy the GTU from the simulation and animation. */
120 void destroy();
121
122 /**
123 * Return the base color of the GTU (not the state-based color).
124 * @return Color; the base color of the GTU (not the state-based color)
125 */
126 Color getBaseColor();
127
128 /**
129 * The event type for pub/sub indicating the initialization of a new GTU. <br>
130 * Payload: [String id, DirectedPoint initialPosition, Length length, Length width, Color gtuBaseColor]
131 */
132 EventType INIT_EVENT = new EventType("GTU.INIT");
133
134 /**
135 * The event type for pub/sub indicating a move. <br>
136 * Payload: [String id, DirectedPoint position, Speed speed, Acceleration acceleration, TurnIndicatorStatus
137 * turnIndicatorStatus, Length odometer]
138 */
139 EventType MOVE_EVENT = new EventType("GTU.MOVE");
140
141 /**
142 * The event type for pub/sub indicating destruction of the GTU. <br>
143 * Payload: [String id, DirectedPoint lastPosition, Length odometer]
144 */
145 EventType DESTROY_EVENT = new EventType("GTU.DESTROY");
146 }