1 package org.opentrafficsim.road.network.lane;
2
3 import java.io.Serializable;
4 import java.util.ArrayList;
5 import java.util.HashMap;
6 import java.util.Iterator;
7 import java.util.LinkedHashMap;
8 import java.util.LinkedHashSet;
9 import java.util.List;
10 import java.util.Map;
11 import java.util.Map.Entry;
12 import java.util.NavigableMap;
13 import java.util.Set;
14 import java.util.SortedMap;
15 import java.util.TreeMap;
16
17 import org.djunits.unit.LengthUnit;
18 import org.djunits.unit.TimeUnit;
19 import org.djunits.value.vdouble.scalar.Length;
20 import org.djunits.value.vdouble.scalar.Speed;
21 import org.djunits.value.vdouble.scalar.Time;
22 import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
23 import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
24 import org.opentrafficsim.core.geometry.OTSGeometryException;
25 import org.opentrafficsim.core.gtu.GTUDirectionality;
26 import org.opentrafficsim.core.gtu.GTUException;
27 import org.opentrafficsim.core.gtu.GTUType;
28 import org.opentrafficsim.core.gtu.RelativePosition;
29 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
30 import org.opentrafficsim.core.network.LateralDirectionality;
31 import org.opentrafficsim.core.network.Link;
32 import org.opentrafficsim.core.network.LongitudinalDirectionality;
33 import org.opentrafficsim.core.network.NetworkException;
34 import org.opentrafficsim.core.network.Node;
35 import org.opentrafficsim.core.network.OTSNetwork;
36 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
37 import org.opentrafficsim.road.network.lane.changing.OvertakingConditions;
38 import org.opentrafficsim.road.network.lane.object.AbstractLaneBasedObject;
39 import org.opentrafficsim.road.network.lane.object.LaneBasedObject;
40 import org.opentrafficsim.road.network.lane.object.sensor.AbstractSensor;
41 import org.opentrafficsim.road.network.lane.object.sensor.SingleSensor;
42
43 import nl.tudelft.simulation.dsol.SimRuntimeException;
44 import nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEvent;
45 import nl.tudelft.simulation.event.EventType;
46 import nl.tudelft.simulation.immutablecollections.Immutable;
47 import nl.tudelft.simulation.immutablecollections.ImmutableArrayList;
48 import nl.tudelft.simulation.immutablecollections.ImmutableList;
49 import nl.tudelft.simulation.language.Throw;
50
51 /**
52 * The Lane is the CrossSectionElement of a CrossSectionLink on which GTUs can drive. The Lane stores several important
53 * properties, such as the successor lane(s), predecessor lane(s), and adjacent lane(s), all separated per GTU type. It can, for
54 * instance, be that a truck is not allowed to move into an adjacent lane, while a car is allowed to do so. Furthermore, the
55 * lane contains sensors that can be triggered by passing GTUs. The Lane class also contains methods to determine to trigger the
56 * sensors at exactly calculated and scheduled times, given the movement of the GTUs. <br>
57 * Finally, the Lane stores the GTUs on the lane, and contains several access methods to determine successor and predecessor
58 * GTUs, as well as methods to add a GTU to a lane (either at the start or in the middle when changing lanes), and remove a GTU
59 * from the lane (either at the end, or in the middle when changing onto another lane).
60 * <p>
61 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
62 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
63 * <p>
64 * $LastChangedDate: 2015-09-24 14:17:07 +0200 (Thu, 24 Sep 2015) $, @version $Revision: 1407 $, by $Author: averbraeck $,
65 * initial version Aug 19, 2014 <br>
66 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
67 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
68 */
69 public class Lane extends CrossSectionElement implements Serializable
70 {
71 /** */
72 private static final long serialVersionUID = 20150826L;
73
74 /** Type of lane to deduce compatibility with GTU types. */
75 private final LaneType laneType;
76
77 /**
78 * The direction in which vehicles can drive, i.e., in direction of geometry, reverse, or both. This can differ per GTU
79 * type. In an overtake lane, cars might overtake and trucks not. It might be that the lane (e.g., a street in a city) is
80 * FORWARD (from start node of the link to end node of the link) for the GTU type CAR, but BOTH for the GTU type BICYCLE
81 * (i.e., bicycles can also go in the other direction, opposite to the drawing direction of the Link). If the directionality
82 * for a GTUType is set to NONE, this means that the given GTUType cannot use the Lane. If a Directionality is set for
83 * GTUType.ALL, the getDirectionality will default to these settings when there is no specific entry for a given
84 * directionality. This means that the settings can be used additive, or restrictive. <br>
85 * In <b>additive use</b>, set the directionality for GTUType.ALL to NONE, or do not set the directionality for GTUType.ALL.
86 * Now, one by one, the allowed directionalities can be added. An example is a lane on a highway, which we only open for
87 * CAR, TRUCK and BUS. <br>
88 * In <b>restrictive use</b>, set the directionality for GTUType.ALL to BOTH, FORWARD, or BACKWARD. Override the
89 * directionality for certain GTUTypes to a more restrictive access, e.g. to NONE. An example is a lane that is open for all
90 * road users, except TRUCK.
91 */
92 private final Map<GTUType, LongitudinalDirectionality> directionalityMap;
93
94 /**
95 * The speed limit of this lane, which can differ per GTU type. Cars might be allowed to drive 120 km/h and trucks 90 km/h.
96 * If the speed limit is the same for all GTU types, GTUType.ALL will be used. This means that the settings can be used
97 * additive, or subtractive. <br>
98 * In <b>additive use</b>, do not set the speed limit for GTUType.ALL. Now, one by one, the allowed maximum speeds for each
99 * of the GTU Types have be added. Do this when there are few GTU types or the speed limits per TU type are very different.
100 * <br>
101 * In <b>subtractive use</b>, set the speed limit for GTUType.ALL to the most common one. Override the speed limit for
102 * certain GTUTypes to a different value. An example is a lane on a highway where all vehicles, except truck (CAR, BUS,
103 * MOTORCYCLE, etc.), can drive 120 km/h, but trucks are allowed only 90 km/h. In that case, set the speed limit for
104 * GTUType.ALL to 120 km/h, and for TRUCK to 90 km/h.
105 */
106 // TODO allow for direction-dependent speed limit
107 private Map<GTUType, Speed> speedLimitMap;
108
109 /**
110 * Sensors on the lane to trigger behavior of the GTU, sorted by longitudinal position. The triggering of sensors is done
111 * per GTU type, so different GTUs can trigger different sensors.
112 */
113 // TODO allow for direction-dependent sensors
114 private final SortedMap<Double, List<SingleSensor>> sensors = new TreeMap<>();
115
116 /**
117 * Objects on the lane can be observed by the GTU. Examples are signs, speed signs, blocks, and traffic lights. They are
118 * sorted by longitudinal position.
119 */
120 // TODO allow for direction-dependent lane objects
121 private final SortedMap<Double, List<LaneBasedObject>> laneBasedObjects = new TreeMap<>();
122
123 /** GTUs ordered by increasing longitudinal position; increasing in the direction of the center line. */
124 private final List<LaneBasedGTU> gtuList = new ArrayList<LaneBasedGTU>();
125
126 /**
127 * Adjacent left lanes that some GTU types can change onto. Left is defined relative to the direction of the design line of
128 * the link (and the direction of the center line of the lane). In terms of offsets, 'left' lanes always have a more
129 * positive offset than the current lane. Initially null so we can calculate and cache the first time the method is called.
130 */
131 private Map<GTUType, Set<Lane>> leftNeighbors = null;
132
133 /**
134 * Adjacent right lanes that some GTU types can change onto. Right is defined relative to the direction of the design line
135 * of the link (and the direction of the center line of the lane). In terms of offsets, 'right' lanes always have a more
136 * negative offset than the current lane. Initially null so we can calculate and cache the first time the method is called.
137 */
138 private Map<GTUType, Set<Lane>> rightNeighbors = null;
139
140 /**
141 * Next lane(s) following this lane that some GTU types can drive from or onto. Next is defined in the direction of the
142 * design line. Initially null so we can calculate and cache the first time the method is called.
143 */
144 private Map<GTUType, Map<Lane, GTUDirectionality>> nextLanes = null;
145
146 /**
147 * Previous lane(s) preceding this lane that some GTU types can drive from or onto. Previous is defined relative to the
148 * direction of the design line. Initially null so we can calculate and cache the first time the method is called.
149 */
150 private Map<GTUType, Map<Lane, GTUDirectionality>> prevLanes = null;
151
152 /**
153 * Downstream lane(s) following this lane that some GTU types can drive onto given the direction. Initially null so we can
154 * calculate and cache the first time the method is called.
155 */
156 private Map<GTUType, Map<GTUDirectionality, Map<Lane, GTUDirectionality>>> downLanes = null;
157
158 /**
159 * Previous lane(s) preceding this lane that some GTU types can drive from given the direction. Initially null so we can
160 * calculate and cache the first time the method is called.
161 */
162 private Map<GTUType, Map<GTUDirectionality, Map<Lane, GTUDirectionality>>> upLanes = null;
163
164 /** The conditions for overtaking another GTU, viewed from this lane. */
165 // TODO allow for direction-dependent overtaking conditions
166 private final OvertakingConditions overtakingConditions;
167
168 /**
169 * The <b>timed</b> event type for pub/sub indicating the addition of a GTU to the lane. <br>
170 * Payload: Object[] {String gtuId, LaneBasedGTU gtu, int count_after_addition}
171 */
172 public static final EventType GTU_ADD_EVENT = new EventType("GTU.ADD");
173
174 /**
175 * The <b>timed</b> event type for pub/sub indicating the removal of a GTU from the lane. <br>
176 * Payload: Object[] {String gtuId, LaneBasedGTU gtu, int count_after_removal, Length position}
177 */
178 public static final EventType GTU_REMOVE_EVENT = new EventType("GTU.REMOVE");
179
180 /**
181 * The <b>timed</b> event type for pub/sub indicating the addition of a Sensor to the lane. <br>
182 * Payload: Object[] {String sensorId, Sensor sensor}
183 */
184 public static final EventType SENSOR_ADD_EVENT = new EventType("SENSOR.ADD");
185
186 /**
187 * The <b>timed</b> event type for pub/sub indicating the removal of a Sensor from the lane. <br>
188 * Payload: Object[] {String sensorId, Sensor sensor}
189 */
190 public static final EventType SENSOR_REMOVE_EVENT = new EventType("SENSOR.REMOVE");
191
192 /**
193 * The event type for pub/sub indicating the addition of a LaneBasedObject to the lane. <br>
194 * Payload: Object[] {LaneBasedObject laneBasedObject}
195 */
196 public static final EventType OBJECT_ADD_EVENT = new EventType("OBJECT.ADD");
197
198 /**
199 * The event type for pub/sub indicating the removal of a LaneBasedObject from the lane. <br>
200 * Payload: Object[] {LaneBasedObject laneBasedObject}
201 */
202 public static final EventType OBJECT_REMOVE_EVENT = new EventType("OBJECT.REMOVE");
203
204 /**
205 * Construct a new Lane.
206 * @param parentLink CrossSectionLink; the link to which the new Lane will belong (must be constructed first)
207 * @param id String; the id of this lane within the link; should be unique within the link.
208 * @param lateralOffsetAtStart Length; the lateral offset of the design line of the new CrossSectionLink with respect to the
209 * design line of the parent Link at the start of the parent Link
210 * @param lateralOffsetAtEnd Length; the lateral offset of the design line of the new CrossSectionLink with respect to the
211 * design line of the parent Link at the end of the parent Link
212 * @param beginWidth Length; start width, positioned <i>symmetrically around</i> the design line
213 * @param endWidth Length; end width, positioned <i>symmetrically around</i> the design line
214 * @param laneType LaneType; the type of lane to deduce compatibility with GTU types
215 * @param directionalityMap Map<GTUType, LongitudinalDirectionality>; in direction of geometry, reverse, or both,
216 * specified per GTU Type
217 * @param speedLimitMap Map<GTUType, Speed>; speed limit on this lane, specified per GTU Type
218 * @param overtakingConditions OvertakingConditions; the conditions for overtaking another GTU, viewed from this lane
219 * @throws OTSGeometryException when creation of the center line or contour geometry fails
220 * @throws NetworkException when id equal to null or not unique
221 */
222 @SuppressWarnings("checkstyle:parameternumber")
223 public Lane(final CrossSectionLink parentLink, final String id, final Length lateralOffsetAtStart,
224 final Length lateralOffsetAtEnd, final Length beginWidth, final Length endWidth, final LaneType laneType,
225 final Map<GTUType, LongitudinalDirectionality> directionalityMap, final Map<GTUType, Speed> speedLimitMap,
226 final OvertakingConditions overtakingConditions) throws OTSGeometryException, NetworkException
227 {
228 super(parentLink, id, lateralOffsetAtStart, lateralOffsetAtEnd, beginWidth, endWidth);
229 this.laneType = laneType;
230 this.directionalityMap = directionalityMap;
231 checkDirectionality();
232 this.speedLimitMap = speedLimitMap;
233 this.overtakingConditions = overtakingConditions;
234 }
235
236 /**
237 * Construct a new Lane.
238 * @param parentLink CrossSectionLink; the link to which the element will belong (must be constructed first)
239 * @param id String; the id of this lane within the link; should be unique within the link.
240 * @param lateralOffsetAtStart Length; the lateral offset of the design line of the new CrossSectionLink with respect to the
241 * design line of the parent Link at the start of the parent Link
242 * @param lateralOffsetAtEnd Length; the lateral offset of the design line of the new CrossSectionLink with respect to the
243 * design line of the parent Link at the end of the parent Link
244 * @param beginWidth Length; start width, positioned <i>symmetrically around</i> the design line
245 * @param endWidth Length; end width, positioned <i>symmetrically around</i> the design line
246 * @param laneType LaneType; the type of lane to deduce compatibility with GTU types
247 * @param directionality LongitudinalDirectionality; in direction of geometry, reverse, or both
248 * @param speedLimit Speed; speed limit on this lane
249 * @param overtakingConditions OvertakingConditions; the conditions for overtaking another GTU, viewed from this lane
250 * @throws OTSGeometryException when creation of the center line or contour geometry fails
251 * @throws NetworkException when id equal to null or not unique
252 */
253 @SuppressWarnings("checkstyle:parameternumber")
254 public Lane(final CrossSectionLink parentLink, final String id, final Length lateralOffsetAtStart,
255 final Length lateralOffsetAtEnd, final Length beginWidth, final Length endWidth, final LaneType laneType,
256 final LongitudinalDirectionality directionality, final Speed speedLimit,
257 final OvertakingConditions overtakingConditions) throws OTSGeometryException, NetworkException
258 {
259 super(parentLink, id, lateralOffsetAtStart, lateralOffsetAtEnd, beginWidth, endWidth);
260 this.laneType = laneType;
261 this.directionalityMap = new LinkedHashMap<>(1);
262 this.directionalityMap.put(GTUType.ALL, directionality);
263 checkDirectionality();
264 this.speedLimitMap = new LinkedHashMap<>();
265 this.speedLimitMap.put(GTUType.ALL, speedLimit);
266 this.overtakingConditions = overtakingConditions;
267 }
268
269 /**
270 * Construct a new Lane.
271 * @param parentLink CrossSectionLink; the link to which the element will belong (must be constructed first)
272 * @param id String; the id of this lane within the link; should be unique within the link.
273 * @param lateralOffset Length; the lateral offset of the design line of the new CrossSectionLink with respect to the design
274 * line of the parent Link
275 * @param width Length; width, positioned <i>symmetrically around</i> the design line
276 * @param laneType type of lane to deduce compatibility with GTU types
277 * @param directionalityMap Map<GTUType, LongitudinalDirectionality>; in direction of geometry, reverse, or both,
278 * specified per GTU Type
279 * @param speedLimitMap Map<GTUType, Speed>; the speed limit on this lane, specified per GTU Type
280 * @param overtakingConditions OvertakingConditions; the conditions for overtaking another GTU, viewed from this lane
281 * @throws OTSGeometryException when creation of the center line or contour geometry fails
282 * @throws NetworkException when id equal to null or not unique
283 */
284 @SuppressWarnings("checkstyle:parameternumber")
285 public Lane(final CrossSectionLink parentLink, final String id, final Length lateralOffset, final Length width,
286 final LaneType laneType, final Map<GTUType, LongitudinalDirectionality> directionalityMap,
287 final Map<GTUType, Speed> speedLimitMap, final OvertakingConditions overtakingConditions)
288 throws OTSGeometryException, NetworkException
289 {
290 super(parentLink, id, lateralOffset, width);
291 this.laneType = laneType;
292 this.directionalityMap = directionalityMap;
293 checkDirectionality();
294 this.speedLimitMap = speedLimitMap;
295 this.overtakingConditions = overtakingConditions;
296 }
297
298 /**
299 * Construct a new Lane.
300 * @param parentLink CrossSectionLink; the link to which the element belongs (must be constructed first)
301 * @param id String; the id of this lane within the link; should be unique within the link
302 * @param lateralOffset Length; the lateral offset of the design line of the new CrossSectionLink with respect to the design
303 * line of the parent Link
304 * @param width Length; width, positioned <i>symmetrically around</i> the design line
305 * @param laneType LaneType; the type of lane to deduce compatibility with GTU types
306 * @param directionality in direction of geometry, reverse, or both
307 * @param speedLimit Speed; the speed limit on this lane
308 * @param overtakingConditions OvertakingConditions; the conditions for overtaking another GTU, viewed from this lane
309 * @throws OTSGeometryException when creation of the center line or contour geometry fails
310 * @throws NetworkException when id equal to null or not unique
311 */
312 @SuppressWarnings("checkstyle:parameternumber")
313 public Lane(final CrossSectionLink parentLink, final String id, final Length lateralOffset, final Length width,
314 final LaneType laneType, final LongitudinalDirectionality directionality, final Speed speedLimit,
315 final OvertakingConditions overtakingConditions) throws OTSGeometryException, NetworkException
316 {
317 super(parentLink, id, lateralOffset, width);
318 this.laneType = laneType;
319 this.directionalityMap = new LinkedHashMap<>(1);
320 this.directionalityMap.put(GTUType.ALL, directionality);
321 checkDirectionality();
322 this.speedLimitMap = new LinkedHashMap<>();
323 this.speedLimitMap.put(GTUType.ALL, speedLimit);
324 this.overtakingConditions = overtakingConditions;
325 }
326
327 /**
328 * Construct a new Lane.
329 * @param parentLink CrossSectionLink; the link to which the element belongs (must be constructed first)
330 * @param id String; the id of this lane within the link; should be unique within the link.
331 * @param crossSectionSlices List<CrossSectionSlice>; the offsets and widths at positions along the line, relative to
332 * the design line of the parent link. If there is just one with and offset, there should just be one element in
333 * the list with Length = 0. If there are more slices, the last one should be at the length of the design line.
334 * If not, a NetworkException is thrown.
335 * @param laneType LaneType; the type of lane to deduce compatibility with GTU types
336 * @param directionalityMap Map<GTUType, LongitudinalDirectionality>; in direction of geometry, reverse, or both,
337 * specified per GTU Type
338 * @param speedLimitMap Map<GTUType, Speed>; the speed limit on this lane, specified per GTU Type
339 * @param overtakingConditions OvertakingConditions; the conditions for overtaking another GTU, viewed from this lane
340 * @throws OTSGeometryException when creation of the center line or contour geometry fails
341 * @throws NetworkException when id equal to null or not unique
342 */
343 @SuppressWarnings("checkstyle:parameternumber")
344 public Lane(final CrossSectionLink parentLink, final String id, final List<CrossSectionSlice> crossSectionSlices,
345 final LaneType laneType, final Map<GTUType, LongitudinalDirectionality> directionalityMap,
346 final Map<GTUType, Speed> speedLimitMap, final OvertakingConditions overtakingConditions)
347 throws OTSGeometryException, NetworkException
348 {
349 super(parentLink, id, crossSectionSlices);
350 this.laneType = laneType;
351 this.directionalityMap = directionalityMap;
352 checkDirectionality();
353 this.speedLimitMap = speedLimitMap;
354 this.overtakingConditions = overtakingConditions;
355 }
356
357 /**
358 * Construct a new Lane.
359 * @param parentLink CrossSectionLink; the link to which the element belongs (must be constructed first)
360 * @param id String; the id of this lane within the link; should be unique within the link.
361 * @param crossSectionSlices List<CrossSectionSlice>; the offsets and widths at positions along the line, relative to
362 * the design line of the parent link. If there is just one with and offset, there should just be one element in
363 * the list with Length = 0. If there are more slices, the last one should be at the length of the design line.
364 * If not, a NetworkException is thrown.
365 * @param laneType LaneType; the type of lane to deduce compatibility with GTU types
366 * @param directionality LongitudinalDirectionality; in direction of geometry, reverse, or both
367 * @param speedLimit Speed; the speed limit on this lane
368 * @param overtakingConditions OvertakingCondition; the conditions for overtaking another GTU, viewed from this lane
369 * @throws OTSGeometryException when creation of the center line or contour geometry fails
370 * @throws NetworkException when id equal to null or not unique
371 */
372 @SuppressWarnings("checkstyle:parameternumber")
373 public Lane(final CrossSectionLink parentLink, final String id, final List<CrossSectionSlice> crossSectionSlices,
374 final LaneType laneType, final LongitudinalDirectionality directionality, final Speed speedLimit,
375 final OvertakingConditions overtakingConditions) throws OTSGeometryException, NetworkException
376 {
377 super(parentLink, id, crossSectionSlices);
378 this.laneType = laneType;
379 this.directionalityMap = new LinkedHashMap<>(1);
380 this.directionalityMap.put(GTUType.ALL, directionality);
381 checkDirectionality();
382 this.speedLimitMap = new LinkedHashMap<>();
383 this.speedLimitMap.put(GTUType.ALL, speedLimit);
384 this.overtakingConditions = overtakingConditions;
385 }
386
387 /**
388 * Clone a Lane for a new network.
389 * @param newParentLink the new link to which the clone belongs
390 * @param newSimulator the new simulator for this network
391 * @param animation whether to (re)create animation or not
392 * @param cse the element to clone from
393 * @throws NetworkException if link already exists in the network, if name of the link is not unique, or if the start node
394 * or the end node of the link are not registered in the network.
395 */
396 protected Lane(final CrossSectionLink newParentLink, final OTSSimulatorInterface newSimulator, final boolean animation,
397 final Lane cse) throws NetworkException
398 {
399 super(newParentLink, newSimulator, animation, cse);
400 this.laneType = cse.laneType;
401 this.directionalityMap = new HashMap<GTUType, LongitudinalDirectionality>(cse.directionalityMap);
402 this.speedLimitMap = new HashMap<GTUType, Speed>(cse.speedLimitMap);
403 this.overtakingConditions = cse.overtakingConditions;
404
405 if (animation)
406 {
407 OTSNetwork.cloneAnimation(cse, this, cse.getParentLink().getSimulator(), newSimulator);
408 }
409 }
410
411 // TODO constructor calls with this(...)
412
413 /**
414 * Retrieve one of the sets of neighboring Lanes that is accessible for the given type of GTU. A defensive copy of the
415 * internal data structure is returned.
416 * @param direction LateralDirectionality; either LEFT or RIGHT, relative to the DESIGN LINE of the link (and the direction
417 * of the center line of the lane). In terms of offsets, 'left' lanes always have a more positive offset than the
418 * current lane, and 'right' lanes a more negative offset.
419 * @param gtuType GTUType; the GTU type to check the accessibility for
420 * @return Set<Lane>; the indicated set of neighboring Lanes
421 */
422 private Set<Lane> neighbors(final LateralDirectionality direction, final GTUType gtuType)
423 {
424 if (this.leftNeighbors == null || this.rightNeighbors == null)
425 {
426 this.leftNeighbors = new LinkedHashMap<>(1);
427 this.rightNeighbors = new LinkedHashMap<>(1);
428 }
429
430 if (!this.leftNeighbors.containsKey(gtuType) || !this.rightNeighbors.containsKey(gtuType))
431 {
432 Set<Lane> leftSet = new LinkedHashSet<>(1);
433 Set<Lane> rightSet = new LinkedHashSet<>(1);
434 this.leftNeighbors.put(gtuType, leftSet);
435 this.rightNeighbors.put(gtuType, rightSet);
436 for (CrossSectionElement cse : this.parentLink.getCrossSectionElementList())
437 {
438 if (cse instanceof Lane && !cse.equals(this))
439 {
440 Lane lane = (Lane) cse;
441 if (laterallyAdjacentAndAccessible(lane, LateralDirectionality.LEFT, gtuType))
442 {
443 leftSet.add(lane);
444 }
445 if (laterallyAdjacentAndAccessible(lane, LateralDirectionality.RIGHT, gtuType))
446 {
447 rightSet.add(lane);
448 }
449 }
450 }
451 }
452
453 Set<Lane> lanes = new LinkedHashSet<>();
454 if (direction.equals(LateralDirectionality.LEFT))
455 {
456 lanes.addAll(this.leftNeighbors.get(gtuType));
457 }
458 else
459 {
460 lanes.addAll(this.rightNeighbors.get(gtuType));
461 }
462 return lanes;
463 }
464
465 /** Lateral alignment margin for longitudinally connected Lanes. */
466 static final Length ADJACENT_MARGIN = new Length(0.2, LengthUnit.METER);
467
468 /**
469 * Determine whether another lane is adjacent to this lane (dependent on distance) and accessible (dependent on stripes) for
470 * a certain GTU type (dependent on usability of the adjacent lane for that GTU type). This method assumes that when there
471 * is NO stripe between two adjacent lanes that are accessible for the GTU type, the GTU can enter that lane. <br>
472 * @param lane Lane; the other lane to evaluate
473 * @param direction LateralDirectionality; the direction to look at, relative to the DESIGN LINE of the link. This is a very
474 * important aspect to note: all information is stored relative to the direction of the design line, and not in a
475 * driving direction, which can vary for lanes that can be driven in two directions (e.g. at overtaking).
476 * @param gtuType GTUType; the GTU type to check the accessibility for
477 * @return boolean; true if the other lane is adjacent to this lane and accessible for the given GTU type; false otherwise
478 */
479 private boolean laterallyAdjacentAndAccessible(final Lane lane, final LateralDirectionality direction,
480 final GTUType gtuType)
481 {
482 if (!lane.getLaneType().isCompatible(gtuType) || gtuType.equals(GTUType.ALL) || gtuType.equals(GTUType.NONE))
483 {
484 // not accessible for the given GTU type
485 return false;
486 }
487
488 if (direction.equals(LateralDirectionality.LEFT))
489 {
490 // TODO take the cross section slices into account...
491 if (Math.abs((getDesignLineOffsetAtBegin().getSI() + getBeginWidth().getSI() / 2.0)
492 - (lane.getDesignLineOffsetAtBegin().getSI() - lane.getBeginWidth().getSI() / 2.0)) < ADJACENT_MARGIN
493 .getSI()
494 && Math.abs((getDesignLineOffsetAtEnd().getSI() + getEndWidth().getSI() / 2.0)
495 - (lane.getDesignLineOffsetAtEnd().getSI() - lane.getEndWidth().getSI() / 2.0)) < ADJACENT_MARGIN
496 .getSI())
497 {
498 // look at stripes between the two lanes
499 for (CrossSectionElement cse : this.parentLink.getCrossSectionElementList())
500 {
501 if (cse instanceof Stripe)
502 {
503 Stripe stripe = (Stripe) cse;
504 // TODO take the cross section slices into account...
505 if (Math.abs((getDesignLineOffsetAtBegin().getSI() + getBeginWidth().getSI() / 2.0)
506 - stripe.getDesignLineOffsetAtBegin().getSI()) < ADJACENT_MARGIN.getSI()
507 && Math.abs((getDesignLineOffsetAtEnd().getSI() + getEndWidth().getSI() / 2.0)
508 - stripe.getDesignLineOffsetAtEnd().getSI()) < ADJACENT_MARGIN.getSI())
509 {
510 if (!stripe.isPermeable(gtuType, LateralDirectionality.LEFT))
511 {
512 // there is a stripe forbidding to cross to the adjacent lane
513 return false;
514 }
515 }
516 }
517 }
518 // the lanes are adjacent, and there is no stripe forbidding us to enter that lane
519 // or there is no stripe at all
520 return true;
521 }
522 }
523
524 else
525 // direction.equals(LateralDirectionality.RIGHT)
526 {
527 // TODO take the cross section slices into account...
528 if (Math.abs((getDesignLineOffsetAtBegin().getSI() - getBeginWidth().getSI() / 2.0)
529 - (lane.getDesignLineOffsetAtBegin().getSI() + lane.getBeginWidth().getSI() / 2.0)) < ADJACENT_MARGIN
530 .getSI()
531 && Math.abs((getDesignLineOffsetAtEnd().getSI() - getEndWidth().getSI() / 2.0)
532 - (lane.getDesignLineOffsetAtEnd().getSI() + lane.getEndWidth().getSI() / 2.0)) < ADJACENT_MARGIN
533 .getSI())
534 {
535 // look at stripes between the two lanes
536 for (CrossSectionElement cse : this.parentLink.getCrossSectionElementList())
537 {
538 if (cse instanceof Stripe)
539 {
540 Stripe stripe = (Stripe) cse;
541 // TODO take the cross section slices into account...
542 if (Math.abs((getDesignLineOffsetAtBegin().getSI() - getBeginWidth().getSI() / 2.0)
543 - stripe.getDesignLineOffsetAtBegin().getSI()) < ADJACENT_MARGIN.getSI()
544 && Math.abs((getDesignLineOffsetAtEnd().getSI() - getEndWidth().getSI() / 2.0)
545 - stripe.getDesignLineOffsetAtEnd().getSI()) < ADJACENT_MARGIN.getSI())
546 {
547 if (!stripe.isPermeable(gtuType, LateralDirectionality.RIGHT))
548 {
549 // there is a stripe forbidding to cross to the adjacent lane
550 return false;
551 }
552 }
553 }
554 }
555 // the lanes are adjacent, and there is no stripe forbidding us to enter that lane
556 // or there is no stripe at all
557 return true;
558 }
559 }
560
561 // no lanes were found that are close enough laterally.
562 return false;
563 }
564
565 /**
566 * Insert a sensor at the right place in the sensor list of this Lane.
567 * @param sensor Sensor; the sensor to add
568 * @throws NetworkException when the position of the sensor is beyond (or before) the range of this Lane
569 */
570 public final void addSensor(final SingleSensor sensor) throws NetworkException
571 {
572 double position = sensor.getLongitudinalPosition().si;
573 if (position < 0 || position > getLength().getSI())
574 {
575 throw new NetworkException("Illegal position for sensor " + position + " valid range is 0.." + getLength().getSI());
576 }
577 if (this.parentLink.getNetwork().containsObject(sensor.getId()))
578 {
579 throw new NetworkException("Network already contains an object with the name " + sensor.getId());
580 }
581 List<SingleSensor> sensorList = this.sensors.get(position);
582 if (null == sensorList)
583 {
584 sensorList = new ArrayList<SingleSensor>(1);
585 this.sensors.put(position, sensorList);
586 }
587 sensorList.add(sensor);
588 this.parentLink.getNetwork().addObject(sensor);
589 fireTimedEvent(Lane.SENSOR_ADD_EVENT, new Object[] { sensor.getId(), sensor },
590 sensor.getSimulator().getSimulatorTime());
591 }
592
593 /**
594 * Remove a sensor from the sensor list of this Lane.
595 * @param sensor Sensoe; the sensor to remove.
596 * @throws NetworkException when the sensor was not found on this Lane
597 */
598 public final void removeSensor(final SingleSensor sensor) throws NetworkException
599 {
600 fireTimedEvent(Lane.SENSOR_REMOVE_EVENT, new Object[] { sensor.getId(), sensor },
601 sensor.getSimulator().getSimulatorTime());
602 List<SingleSensor> sensorList = this.sensors.get(sensor.getLongitudinalPosition().si);
603 if (null == sensorList)
604 {
605 throw new NetworkException("No sensor at " + sensor.getLongitudinalPosition().si);
606 }
607 sensorList.remove(sensor);
608 if (sensorList.size() == 0)
609 {
610 this.sensors.remove(sensor.getLongitudinalPosition().si);
611 }
612 this.parentLink.getNetwork().removeObject(sensor);
613 }
614
615 /**
616 * Retrieve the list of Sensors of this Lane in the specified distance range for the given GTUType. The sensors that are
617 * triggered by GTUTypes.ALL are added as well. The resulting list is a defensive copy.
618 * @param minimumPosition Length; the minimum distance on the Lane (inclusive)
619 * @param maximumPosition Length; the maximum distance on the Lane (inclusive)
620 * @param gtuType the GTU type to provide the sensors for
621 * @return List<Sensor>; list of the sensor in the specified range. This is a defensive copy.
622 */
623 public final List<SingleSensor> getSensors(final Length minimumPosition, final Length maximumPosition,
624 final GTUType gtuType)
625 {
626 List<SingleSensor> sensorList = new ArrayList<>(1);
627 for (List<SingleSensor> sl : this.sensors.values())
628 {
629 for (SingleSensor sensor : sl)
630 {
631 if ((sensor.getTriggeringGTUTypes().contains(gtuType) || sensor.getTriggeringGTUTypes().contains(GTUType.ALL))
632 && sensor.getLongitudinalPosition().ge(minimumPosition)
633 && sensor.getLongitudinalPosition().le(maximumPosition))
634 {
635 sensorList.add(sensor);
636 }
637 }
638 }
639 return sensorList;
640 }
641
642 /**
643 * Retrieve the list of Sensors of this Lane that are triggered by the given GTUType. The sensors that are triggered by
644 * GTUTypes.ALL are added as well. The resulting list is a defensive copy.
645 * @param gtuType GTUType; the GTU type to provide the sensors for
646 * @return List<Sensor>; list of the sensors, in ascending order for the location on the Lane
647 */
648 public final List<SingleSensor> getSensors(final GTUType gtuType)
649 {
650 List<SingleSensor> sensorList = new ArrayList<>(1);
651 for (List<SingleSensor> sl : this.sensors.values())
652 {
653 for (SingleSensor sensor : sl)
654 {
655 if ((sensor.getTriggeringGTUTypes().contains(gtuType) || sensor.getTriggeringGTUTypes().contains(GTUType.ALL)))
656 {
657 sensorList.add(sensor);
658 }
659 }
660 }
661 return sensorList;
662 }
663
664 /**
665 * Retrieve the list of all Sensors of this Lane. The resulting list is a defensive copy.
666 * @return List<Sensor>; list of the sensors, in ascending order for the location on the Lane
667 */
668 public final List<SingleSensor> getSensors()
669 {
670 if (this.sensors == null)
671 {
672 return new ArrayList<>();
673 }
674 List<SingleSensor> sensorList = new ArrayList<>(1);
675 for (List<SingleSensor> sl : this.sensors.values())
676 {
677 for (SingleSensor sensor : sl)
678 {
679 sensorList.add(sensor);
680 }
681 }
682 return sensorList;
683 }
684
685 /**
686 * Retrieve the list of Sensors of this Lane for the given GTUType. The sensors that are triggered by GTUTypes.ALL are added
687 * as well. The resulting Map is a defensive copy.
688 * @param gtuType GTUType; the GTU type to provide the sensors for
689 * @return SortedMap<Double, List<Sensor>>; all sensors on this lane for the given GTUType as a map per distance
690 */
691 public final SortedMap<Double, List<SingleSensor>> getSensorMap(final GTUType gtuType)
692 {
693 SortedMap<Double, List<SingleSensor>> sensorMap = new TreeMap<>();
694 for (double d : this.sensors.keySet())
695 {
696 List<SingleSensor> sensorList = new ArrayList<>(1);
697 for (List<SingleSensor> sl : this.sensors.values())
698 {
699 for (SingleSensor sensor : sl)
700 {
701 if (sensor.getLongitudinalPosition().si == d && (sensor.getTriggeringGTUTypes().contains(gtuType)
702 || sensor.getTriggeringGTUTypes().contains(GTUType.ALL)))
703 {
704 sensorList.add(sensor);
705 }
706 }
707 }
708 if (sensorList.size() > 0)
709 {
710 sensorMap.put(d, sensorList);
711 }
712 }
713 // System.out.println("getSensorMap returns");
714 // for (Double key : sensorMap.keySet())
715 // {
716 // System.out.println("\t" + key + " -> " + (sensorMap.get(key).size()) + " sensors");
717 // for (Sensor s : sensorMap.get(key))
718 // {
719 // System.out.println("\t\t" + s);
720 // }
721 // }
722 return sensorMap;
723 }
724
725 /**
726 * Schedule triggering of the sensors for a certain time step; from now until the nextEvaluationTime of the GTU.
727 * @param gtu LaneBasedGTU; the lane based GTU for which to schedule triggering of the sensors.
728 * @param referenceStartSI double; the SI distance of the GTU reference point on the lane at the current time
729 * @param referenceMoveSI double; the SI distance traveled in the next time step.
730 * @throws NetworkException when GTU not on this lane.
731 * @throws SimRuntimeException when method cannot be scheduled.
732 */
733 public final void scheduleSensorTriggers(final LaneBasedGTU gtu, final double referenceStartSI,
734 final double referenceMoveSI) throws NetworkException, SimRuntimeException
735 {
736 // System.out.println("Getting sensor map for " + gtu.getGTUType() + ":");
737 for (List<SingleSensor> sensorList : getSensorMap(gtu.getGTUType()).values())
738 {
739 // System.out.println("Time=" + gtu.getSimulator().getSimulatorTime().toString() + " SensorList contains "
740 // + (sensorList.size()) + " sensors:");
741 // for (Sensor sensor : sensorList)
742 // {
743 // System.out.println("\t" + sensor);
744 // }
745 for (SingleSensor sensor : sensorList)
746 {
747 for (RelativePosition relativePosition : gtu.getRelativePositions().values())
748 {
749 // System.out.println("GTU relative position " + relativePosition + " sensor relative position "
750 // + sensor.getPositionType());
751 if (sensor.getPositionType().equals(relativePosition.getType())
752 && referenceStartSI + relativePosition.getDx().getSI() <= sensor.getLongitudinalPosition().si
753 && referenceStartSI + referenceMoveSI
754 + relativePosition.getDx().getSI() > sensor.getLongitudinalPosition().si)
755 {
756 // the exact time of triggering is based on the distance between the current position of the
757 // relative position on the GTU and the location of the sensor.
758 // TODO make sure triggering is done right when driving in DIR_MINUS direction
759 double d = sensor.getLongitudinalPosition().si - referenceStartSI - relativePosition.getDx().getSI();
760 if (d < 0)
761 {
762 throw new NetworkException("scheduleTriggers for gtu: " + gtu + ", d<0 d=" + d);
763 }
764
765 OperationalPlan oPlan = gtu.getOperationalPlan();
766 Time triggerTime = oPlan.timeAtDistance(new Length(d, LengthUnit.METER));
767 if (triggerTime.gt(oPlan.getEndTime()))
768 {
769 System.err.println("Time=" + gtu.getSimulator().getSimulatorTime().getTime().getSI()
770 + " - Scheduling trigger at " + triggerTime.getSI() + "s. > " + oPlan.getEndTime().getSI()
771 + "s. (nextEvalTime) for sensor " + sensor + " , gtu " + gtu);
772 System.err.println(" v=" + gtu.getSpeed() + ", a=" + gtu.getAcceleration() + ", lane=" + toString()
773 + ", refStartSI=" + referenceStartSI + ", moveSI=" + referenceMoveSI);
774 triggerTime =
775 new Time(oPlan.getEndTime().getSI() - Math.ulp(oPlan.getEndTime().getSI()), TimeUnit.SI);
776 // gtu.timeAtDistance(new Length(-d, METER));
777 // System.exit(-1);
778 }
779 // System.out.println("Scheduling a trigger for relativePosition " + relativePosition);
780 // System.out.println("Time=" + gtu.getSimulator().getSimulatorTime().toString()
781 // + " - Scheduling trigger at " + triggerTime + " for sensor " + sensor + " , gtu " + gtu);
782 SimEvent<OTSSimTimeDouble> event = new SimEvent<OTSSimTimeDouble>(new OTSSimTimeDouble(triggerTime),
783 this, sensor, "trigger", new Object[] { gtu });
784 gtu.getSimulator().scheduleEvent(event);
785 gtu.addTrigger(this, event);
786 }
787 }
788 }
789 }
790 }
791
792 /**
793 * Insert a laneBasedObject at the right place in the laneBasedObject list of this Lane.
794 * @param laneBasedObject LaneBasedObject; the laneBasedObject to add
795 * @throws NetworkException when the position of the laneBasedObject is beyond (or before) the range of this Lane
796 */
797 public final void addLaneBasedObject(final LaneBasedObject laneBasedObject) throws NetworkException
798 {
799 double position = laneBasedObject.getLongitudinalPosition().si;
800 if (position < 0 || position > getLength().getSI())
801 {
802 throw new NetworkException(
803 "Illegal position for laneBasedObject " + position + " valid range is 0.." + getLength().getSI());
804 }
805 if (this.parentLink.getNetwork().containsObject(laneBasedObject.getId()))
806 {
807 throw new NetworkException("Network already contains an object with the name " + laneBasedObject.getId());
808 }
809 List<LaneBasedObject> laneBasedObjectList = this.laneBasedObjects.get(position);
810 if (null == laneBasedObjectList)
811 {
812 laneBasedObjectList = new ArrayList<LaneBasedObject>(1);
813 this.laneBasedObjects.put(position, laneBasedObjectList);
814 }
815 laneBasedObjectList.add(laneBasedObject);
816 this.parentLink.getNetwork().addObject(laneBasedObject);
817 fireEvent(Lane.OBJECT_ADD_EVENT, new Object[] { laneBasedObject });
818 }
819
820 /**
821 * Remove a laneBasedObject from the laneBasedObject list of this Lane.
822 * @param laneBasedObject Sensoe; the laneBasedObject to remove.
823 * @throws NetworkException when the laneBasedObject was not found on this Lane
824 */
825 public final void removeLaneBasedObject(final LaneBasedObject laneBasedObject) throws NetworkException
826 {
827 fireEvent(Lane.OBJECT_REMOVE_EVENT, new Object[] { laneBasedObject });
828 List<LaneBasedObject> laneBasedObjectList =
829 this.laneBasedObjects.get(laneBasedObject.getLongitudinalPosition().getSI());
830 if (null == laneBasedObjectList)
831 {
832 throw new NetworkException("No laneBasedObject at " + laneBasedObject.getLongitudinalPosition().si);
833 }
834 laneBasedObjectList.remove(laneBasedObject);
835 if (laneBasedObjectList.isEmpty())
836 {
837 this.laneBasedObjects.remove(laneBasedObject.getLongitudinalPosition().doubleValue());
838 }
839 this.parentLink.getNetwork().removeObject(laneBasedObject);
840 }
841
842 /**
843 * Retrieve the list of LaneBasedObjects of this Lane in the specified distance range. The resulting list is a defensive
844 * copy.
845 * @param minimumPosition Length; the minimum distance on the Lane (inclusive)
846 * @param maximumPosition Length; the maximum distance on the Lane (inclusive)
847 * @return List<LaneBasedObject>; list of the laneBasedObject in the specified range. This is a defensive copy.
848 */
849 public final List<LaneBasedObject> getLaneBasedObjects(final Length minimumPosition, final Length maximumPosition)
850 {
851 List<LaneBasedObject> laneBasedObjectList = new ArrayList<>(1);
852 for (List<LaneBasedObject> lbol : this.laneBasedObjects.values())
853 {
854 for (LaneBasedObject lbo : lbol)
855 {
856 if (lbo.getLongitudinalPosition().ge(minimumPosition) && lbo.getLongitudinalPosition().le(maximumPosition))
857 {
858 laneBasedObjectList.add(lbo);
859 }
860 }
861 }
862 return laneBasedObjectList;
863 }
864
865 /**
866 * Retrieve the list of all LaneBasedObjects of this Lane. The resulting list is a defensive copy.
867 * @return List<LaneBasedObject>; list of the laneBasedObjects, in ascending order for the location on the Lane
868 */
869 public final List<LaneBasedObject> getLaneBasedObjects()
870 {
871 if (this.laneBasedObjects == null)
872 {
873 return new ArrayList<>();
874 }
875 List<LaneBasedObject> laneBasedObjectList = new ArrayList<>(1);
876 for (List<LaneBasedObject> lbol : this.laneBasedObjects.values())
877 {
878 for (LaneBasedObject lbo : lbol)
879 {
880 laneBasedObjectList.add(lbo);
881 }
882 }
883 return laneBasedObjectList;
884 }
885
886 /**
887 * Retrieve the list of LaneBasedObjects of this Lane. The resulting Map is a defensive copy.
888 * @return SortedMap<Double, List<LaneBasedObject>>; all laneBasedObjects on this lane
889 */
890 public final SortedMap<Double, List<LaneBasedObject>> getLaneBasedObjectMap()
891 {
892 SortedMap<Double, List<LaneBasedObject>> laneBasedObjectMap = new TreeMap<>();
893 for (double d : this.laneBasedObjects.keySet())
894 {
895 List<LaneBasedObject> laneBasedObjectList = new ArrayList<>(1);
896 for (LaneBasedObject lbo : this.laneBasedObjects.get(d))
897 {
898 laneBasedObjectList.add(lbo);
899 }
900 laneBasedObjectMap.put(d, laneBasedObjectList);
901 }
902 return laneBasedObjectMap;
903 }
904
905 /**
906 * Transform a fraction on the lane to a relative length (can be less than zero or larger than the lane length).
907 * @param fraction double; fraction relative to the lane length.
908 * @return Length; the longitudinal length corresponding to the fraction.
909 */
910 public final Length position(final double fraction)
911 {
912 if (this.length.getUnit().isBaseSIUnit())
913 {
914 return new Length(this.length.si * fraction, LengthUnit.SI);
915 }
916 return new Length(this.length.getInUnit() * fraction, this.length.getUnit());
917 }
918
919 /**
920 * Transform a fraction on the lane to a relative length in SI units (can be less than zero or larger than the lane length).
921 * @param fraction double; fraction relative to the lane length.
922 * @return double; length corresponding to the fraction, in SI units.
923 */
924 public final double positionSI(final double fraction)
925 {
926 return this.length.si * fraction;
927 }
928
929 /**
930 * Transform a position on the lane (can be less than zero or larger than the lane length) to a fraction.
931 * @param position Length; relative length on the lane (may be less than zero or larger than the lane length).
932 * @return fraction double; fraction relative to the lane length.
933 */
934 public final double fraction(final Length position)
935 {
936 return position.si / this.length.si;
937 }
938
939 /**
940 * Transform a position on the lane in SI units (can be less than zero or larger than the lane length) to a fraction.
941 * @param positionSI double; relative length on the lane in SI units (may be less than zero or larger than the lane length).
942 * @return double; fraction relative to the lane length.
943 */
944 public final double fractionSI(final double positionSI)
945 {
946 return positionSI / this.length.si;
947 }
948
949 /**
950 * Add a LaneBasedGTU to the list of this Lane.
951 * @param gtu LaneBasedGTU; the GTU to add
952 * @param fractionalPosition double; the fractional position that the newly added GTU will have on this Lane
953 * @return int; the rank that the newly added GTU has on this Lane (should be 0, except when the GTU enters this Lane due to
954 * a lane change operation)
955 * @throws GTUException when the fractionalPosition is outside the range 0..1, or the GTU is already registered on this Lane
956 */
957 public final int addGTU(final LaneBasedGTU gtu, final double fractionalPosition) throws GTUException
958 {
959 int index;
960 // check if we are the first
961 if (this.gtuList.size() == 0)
962 {
963 this.gtuList.add(gtu);
964 index = 0;
965 }
966 else
967 {
968 // check if we can add at the end
969 LaneBasedGTU lastGTU = this.gtuList.get(this.gtuList.size() - 1);
970 if (fractionalPosition > lastGTU.fractionalPosition(this, lastGTU.getFront()))
971 {
972 this.gtuList.add(gtu);
973 index = this.gtuList.size() - 1;
974 }
975 else
976 {
977 // figure out the rank for the new GTU
978 for (index = 0; index < this.gtuList.size(); index++)
979 {
980 LaneBasedGTU otherGTU = this.gtuList.get(index);
981 if (gtu == otherGTU)
982 {
983 throw new GTUException(gtu + " already registered on Lane " + this + " [registered lanes: "
984 + gtu.positions(gtu.getFront()).keySet() + "] locations: "
985 + gtu.positions(gtu.getFront()).values() + " time: "
986 + gtu.getSimulator().getSimulatorTime().getTime());
987 }
988 if (otherGTU.fractionalPosition(this, otherGTU.getFront()) >= fractionalPosition)
989 {
990 break;
991 }
992 }
993 this.gtuList.add(index, gtu);
994 }
995 }
996 fireTimedEvent(Lane.GTU_ADD_EVENT, new Object[] { gtu.getId(), gtu, this.gtuList.size() },
997 gtu.getSimulator().getSimulatorTime());
998 getParentLink().addGTU(gtu);
999 return index;
1000 }
1001
1002 /**
1003 * Add a LaneBasedGTU to the list of this Lane.
1004 * @param gtu LaneBasedGTU; the GTU to add
1005 * @param longitudinalPosition Length; the longitudinal position that the newly added GTU will have on this Lane
1006 * @return int; the rank that the newly added GTU has on this Lane (should be 0, except when the GTU enters this Lane due to
1007 * a lane change operation)
1008 * @throws GTUException when longitudinalPosition is negative or exceeds the length of this Lane
1009 */
1010 public final int addGTU(final LaneBasedGTU gtu, final Length longitudinalPosition) throws GTUException
1011 {
1012 return addGTU(gtu, longitudinalPosition.getSI() / getLength().getSI());
1013 }
1014
1015 /**
1016 * Remove a GTU from the GTU list of this lane.
1017 * @param gtu the GTU to remove.
1018 * @param removeFromParentLink when the GTU leaves the last lane of the parentLink of this Lane
1019 * @param position Length; last position of the GTU
1020 */
1021 public final void removeGTU(final LaneBasedGTU gtu, final boolean removeFromParentLink, final Length position)
1022 {
1023 this.gtuList.remove(gtu);
1024 fireTimedEvent(Lane.GTU_REMOVE_EVENT, new Object[] { gtu.getId(), gtu, this.gtuList.size(), position },
1025 gtu.getSimulator().getSimulatorTime());
1026 if (removeFromParentLink)
1027 {
1028 this.parentLink.removeGTU(gtu);
1029 }
1030 }
1031
1032 /**
1033 * Get the last GTU on the lane, relative to a driving direction on this lane.
1034 * @param direction GTUDirectionality; whether we are looking in the the design line direction or against the center line
1035 * direction.
1036 * @return LaneBasedGTU; the last GTU on this lane in the given direction, or null if no GTU could be found.
1037 * @throws GTUException when there is a problem with the position of the GTUs on the lane.
1038 */
1039 public final LaneBasedGTU getLastGtu(final GTUDirectionality direction) throws GTUException
1040 {
1041 if (this.gtuList.size() == 0)
1042 {
1043 return null;
1044 }
1045 if (direction.equals(GTUDirectionality.DIR_PLUS))
1046 {
1047 return this.gtuList.get(this.gtuList.size() - 1);
1048 }
1049 else
1050 {
1051 return this.gtuList.get(0);
1052 }
1053 }
1054
1055 /**
1056 * Get the first GTU on the lane, relative to a driving direction on this lane.
1057 * @param direction GTUDirectionality; whether we are looking in the the design line direction or against the center line
1058 * direction.
1059 * @return LaneBasedGTU; the first GTU on this lane in the given direction, or null if no GTU could be found.
1060 * @throws GTUException when there is a problem with the position of the GTUs on the lane.
1061 */
1062 public final LaneBasedGTU getFirstGtu(final GTUDirectionality direction) throws GTUException
1063 {
1064 if (this.gtuList.size() == 0)
1065 {
1066 return null;
1067 }
1068 if (direction.equals(GTUDirectionality.DIR_PLUS))
1069 {
1070 return this.gtuList.get(0);
1071 }
1072 else
1073 {
1074 return this.gtuList.get(this.gtuList.size() - 1);
1075 }
1076 }
1077
1078 /**
1079 * Get the first GTU where the relativePosition is in front of another GTU on the lane, in a driving direction on this lane,
1080 * compared to the DESIGN LINE.
1081 * @param position Length; the position before which the relative position of a GTU will be searched.
1082 * @param direction GTUDirectionality; whether we are looking in the the center line direction or against the center line
1083 * direction.
1084 * @param relativePosition RelativePosition.TYPE; the relative position we want to compare against
1085 * @param when Time; the time for which to evaluate the positions.
1086 * @return LaneBasedGTU; the first GTU before a position on this lane in the given direction, or null if no GTU could be
1087 * found.
1088 * @throws GTUException when there is a problem with the position of the GTUs on the lane.
1089 */
1090 public final LaneBasedGTU getGtuAhead(final Length position, final GTUDirectionality direction,
1091 final RelativePosition.TYPE relativePosition, final Time when) throws GTUException
1092 {
1093 if (direction.equals(GTUDirectionality.DIR_PLUS))
1094 {
1095 for (LaneBasedGTU gtu : this.gtuList)
1096 {
1097 Length gtuPos = gtu.position(this, gtu.getRelativePositions().get(relativePosition), when);
1098 if (gtuPos.gt(position))
1099 {
1100 return gtu;
1101 }
1102 }
1103 }
1104 else
1105 {
1106 for (int i = this.gtuList.size() - 1; i >= 0; i--)
1107 {
1108 LaneBasedGTU gtu = this.gtuList.get(i);
1109 if (gtu.position(this, gtu.getRelativePositions().get(relativePosition), when).lt(position))
1110 {
1111 return gtu;
1112 }
1113 }
1114 }
1115 return null;
1116 }
1117
1118 /**
1119 * Get the first object where the relativePosition is in front of a certain position on the lane, in a driving direction on
1120 * this lane, compared to the DESIGN LINE. Perception should iterate over results from this method to see what is most
1121 * limiting.
1122 * @param position Length; the position after which the relative position of an object will be searched.
1123 * @param direction GTUDirectionality; whether we are looking in the the center line direction or against the center line
1124 * direction.
1125 * @return List<LaneBasedObject>; the first object(s) before a position on this lane in the given direction, or null
1126 * if no object could be found.
1127 */
1128 public final List<LaneBasedObject> getObjectAhead(final Length position, final GTUDirectionality direction)
1129 {
1130 if (direction.equals(GTUDirectionality.DIR_PLUS))
1131 {
1132 for (double distance : this.laneBasedObjects.keySet())
1133 {
1134 if (distance > position.si)
1135 {
1136 return new ArrayList<>(this.laneBasedObjects.get(distance));
1137 }
1138 }
1139 }
1140 else
1141 {
1142 NavigableMap<Double, List<LaneBasedObject>> reverseLBO =
1143 (NavigableMap<Double, List<LaneBasedObject>>) this.laneBasedObjects;
1144 for (double distance : reverseLBO.descendingKeySet())
1145 {
1146 if (distance < position.si)
1147 {
1148 return new ArrayList<>(this.laneBasedObjects.get(distance));
1149 }
1150 }
1151 }
1152 return null;
1153 }
1154
1155 /**
1156 * Get the first object where the relativePosition is behind of a certain position on the lane, in a driving direction on
1157 * this lane, compared to the DESIGN LINE. Perception should iterate over results from this method to see what is most
1158 * limiting.
1159 * @param position Length; the position after which the relative position of an object will be searched.
1160 * @param direction GTUDirectionality; whether we are looking in the the center line direction or against the center line
1161 * direction.
1162 * @return List<LaneBasedObject>; the first object(s) after a position on this lane in the given direction, or null if
1163 * no object could be found.
1164 */
1165 public final List<LaneBasedObject> getObjectBehind(final Length position, final GTUDirectionality direction)
1166 {
1167 if (direction.equals(GTUDirectionality.DIR_PLUS))
1168 {
1169 return getObjectAhead(position, GTUDirectionality.DIR_MINUS);
1170 }
1171 return getObjectAhead(position, GTUDirectionality.DIR_PLUS);
1172 }
1173
1174 /**
1175 * Get the first GTU where the relativePosition is behind a certain position on the lane, in a driving direction on this
1176 * lane, compared to the DESIGN LINE.
1177 * @param position Length; the position before which the relative position of a GTU will be searched.
1178 * @param direction GTUDirectionality; whether we are looking in the the center line direction or against the center line
1179 * direction.
1180 * @param relativePosition RelativePosition.TYPE; the relative position of the GTU we are looking for.
1181 * @param when Time; the time for which to evaluate the positions.
1182 * @return LaneBasedGTU; the first GTU after a position on this lane in the given direction, or null if no GTU could be
1183 * found.
1184 * @throws GTUException when there is a problem with the position of the GTUs on the lane.
1185 */
1186 public final LaneBasedGTU getGtuBehind(final Length position, final GTUDirectionality direction,
1187 final RelativePosition.TYPE relativePosition, final Time when) throws GTUException
1188 {
1189 if (direction.equals(GTUDirectionality.DIR_PLUS))
1190 {
1191 return getGtuAhead(position, GTUDirectionality.DIR_MINUS, relativePosition, when);
1192 }
1193 return getGtuAhead(position, GTUDirectionality.DIR_PLUS, relativePosition, when);
1194 }
1195
1196 /*
1197 * TODO only center position? Or also width? What is a good cutoff? Base on average width of the GTU type that can drive on
1198 * this Lane? E.g., for a Tram or Train, a 5 cm deviation is a problem; for a Car or a Bicycle, more deviation is
1199 * acceptable.
1200 */
1201 /** Lateral alignment margin for longitudinally connected Lanes. */
1202 public static final Length MARGIN = new Length(0.5, LengthUnit.METER);
1203
1204 /**
1205 * NextLanes returns the successor lane(s) in the design line direction, if any exist.<br>
1206 * The next lane(s) are cached, as it is too expensive to make the calculation every time. There are several possibilities:
1207 * (1) Returning an empty set when there is no successor lane in the design direction or there is no longitudinal transfer
1208 * possible to a successor lane in the design direction. (2) Returning a set with just one lane if the lateral position of
1209 * the successor lane matches the lateral position of this lane (based on an overlap of the lateral positions of the two
1210 * joining lanes of more than a certain percentage). (3) Multiple lanes in case the Node where the underlying Link for this
1211 * Lane has multiple "outgoing" Links, and there are multiple lanes that match the lateral position of this lane.<br>
1212 * The next lanes can differ per GTU type. For instance, a lane where cars and buses are allowed can have a next lane where
1213 * only buses are allowed, forcing the cars to leave that lane.
1214 * @param gtuType the GTU type for which we return the next lanes.
1215 * @return set of Lanes following this lane for the given GTU type.
1216 */
1217 public final Map<Lane, GTUDirectionality> nextLanes(final GTUType gtuType)
1218 {
1219 if (this.nextLanes == null)
1220 {
1221 this.nextLanes = new LinkedHashMap<>(1);
1222 }
1223 if (!this.nextLanes.containsKey(gtuType))
1224 {
1225 Map<Lane, GTUDirectionality> laneMap = new LinkedHashMap<>(1);
1226 this.nextLanes.put(gtuType, laneMap);
1227 // Construct (and cache) the result.
1228 for (Link link : getParentLink().getEndNode().getLinks())
1229 {
1230 if (!(link.equals(this.getParentLink())) && link instanceof CrossSectionLink)
1231 {
1232 for (CrossSectionElement cse : ((CrossSectionLink) link).getCrossSectionElementList())
1233 {
1234 if (cse instanceof Lane)
1235 {
1236 Lane lane = (Lane) cse;
1237 Length df = this.getCenterLine().getLast().distance(lane.getCenterLine().getFirst());
1238 Length dl = this.getCenterLine().getLast().distance(lane.getCenterLine().getLast());
1239 // this, parentLink ---> O ---> lane, link
1240 if (df.lt(MARGIN) && df.lt(dl) && link.getStartNode().equals(getParentLink().getEndNode()))
1241 {
1242 // does the GTU move in the design line direction or against it?
1243 // TODO And is it aligned with its next lane?
1244 if (lane.getDirectionality(gtuType).isForwardOrBoth())
1245 {
1246 laneMap.put(lane, GTUDirectionality.DIR_PLUS);
1247 }
1248 else if (lane.getDirectionality(gtuType).isBackwardOrBoth())
1249 {
1250 laneMap.put(lane, GTUDirectionality.DIR_MINUS);
1251 }
1252 }
1253 // this, parentLink ---> O <--- lane, link
1254 else if (dl.lt(MARGIN) && dl.lt(df) && link.getEndNode().equals(getParentLink().getEndNode()))
1255 {
1256 // does the GTU move in the design line direction or against it?
1257 // TODO And is it aligned with its next lane?
1258 if (lane.getDirectionality(gtuType).isForwardOrBoth())
1259 {
1260 laneMap.put(lane, GTUDirectionality.DIR_PLUS);
1261 }
1262 else if (lane.getDirectionality(gtuType).isBackwardOrBoth())
1263 {
1264 laneMap.put(lane, GTUDirectionality.DIR_MINUS);
1265 }
1266 }
1267 }
1268 }
1269 }
1270 }
1271 }
1272 return this.nextLanes.get(gtuType);
1273 }
1274
1275 /**
1276 * PrevLanes returns the predecessor lane(s) relative to the design line direction, if any exist.<br>
1277 * The previous lane(s) are cached, as it is too expensive to make the calculation every time. There are several
1278 * possibilities: (1) Returning an empty set when there is no predecessor lane relative to the design direction or there is
1279 * no longitudinal transfer possible to a predecessor lane relative to the design direction. (2) Returning a set with just
1280 * one lane if the lateral position of the predecessor lane matches the lateral position of this lane (based on an overlap
1281 * of the lateral positions of the two joining lanes of more than a certain percentage). (3) Multiple lanes in case the Node
1282 * where the underlying Link for this Lane has multiple "incoming" Links, and there are multiple lanes that match the
1283 * lateral position of this lane.<br>
1284 * The previous lanes can differ per GTU type. For instance, a lane where cars and buses are allowed can be preceded by a
1285 * lane where only buses are allowed.
1286 * @param gtuType the GTU type for which we return the next lanes.
1287 * @return set of Lanes following this lane for the given GTU type.
1288 */
1289 public final Map<Lane, GTUDirectionality> prevLanes(final GTUType gtuType)
1290 {
1291 if (this.prevLanes == null)
1292 {
1293 this.prevLanes = new LinkedHashMap<>(1);
1294 }
1295 if (!this.prevLanes.containsKey(gtuType))
1296 {
1297 Map<Lane, GTUDirectionality> laneMap = new LinkedHashMap<>(1);
1298 this.prevLanes.put(gtuType, laneMap);
1299 // Construct (and cache) the result.
1300 for (Link link : getParentLink().getStartNode().getLinks())
1301 {
1302 if (!(link.equals(this.getParentLink())) && link instanceof CrossSectionLink)
1303 {
1304 for (CrossSectionElement cse : ((CrossSectionLink) link).getCrossSectionElementList())
1305 {
1306 if (cse instanceof Lane)
1307 {
1308 Lane lane = (Lane) cse;
1309 Length df = this.getCenterLine().getFirst().distance(lane.getCenterLine().getFirst());
1310 Length dl = this.getCenterLine().getFirst().distance(lane.getCenterLine().getLast());
1311 // this, parentLink <--- O ---> lane, link
1312 if (df.lt(MARGIN) && df.lt(dl) && link.getStartNode().equals(getParentLink().getStartNode()))
1313 {
1314 // does the GTU move in the design line direction or against it?
1315 // TODO And is it aligned with its next lane?
1316 if (lane.getDirectionality(gtuType).isForwardOrBoth())
1317 {
1318 laneMap.put(lane, GTUDirectionality.DIR_PLUS);
1319 }
1320 else if (lane.getDirectionality(gtuType).isBackwardOrBoth())
1321 {
1322 laneMap.put(lane, GTUDirectionality.DIR_MINUS);
1323 }
1324 }
1325 // this, parentLink <--- O <--- lane, link
1326 else if (dl.lt(MARGIN) && dl.lt(df) && link.getEndNode().equals(getParentLink().getStartNode()))
1327 {
1328 // does the GTU move in the design line direction or against it?
1329 // TODO And is it aligned with its next lane?
1330 if (lane.getDirectionality(gtuType).isForwardOrBoth())
1331 {
1332 laneMap.put(lane, GTUDirectionality.DIR_PLUS);
1333 }
1334 else if (lane.getDirectionality(gtuType).isBackwardOrBoth())
1335 {
1336 laneMap.put(lane, GTUDirectionality.DIR_MINUS);
1337 }
1338 }
1339 }
1340 }
1341 }
1342 }
1343 }
1344 return this.prevLanes.get(gtuType);
1345 }
1346
1347 /**
1348 * Returns the lanes that could be followed in a given direction and for the given GTU type.
1349 * @param direction GTUDirectionality; gtu direction
1350 * @param gtuType GTUType; gtu type
1351 * @return lanes that can be followed in a given direction and for the given GTU type
1352 */
1353 public final Map<Lane, GTUDirectionality> downstreamLanes(final GTUDirectionality direction, final GTUType gtuType)
1354 {
1355 if (this.downLanes == null)
1356 {
1357 this.downLanes = new LinkedHashMap<>(1);
1358 }
1359 if (!this.downLanes.containsKey(gtuType))
1360 {
1361 this.downLanes.put(gtuType, new HashMap<>());
1362 }
1363 if (!this.downLanes.get(gtuType).containsKey(direction))
1364 {
1365 Map<Lane, GTUDirectionality> down = direction.isPlus() ? nextLanes(gtuType) : prevLanes(gtuType);
1366 down = new LinkedHashMap<>(down); // safe copy
1367 Node downNode = direction.isPlus() ? getParentLink().getEndNode() : getParentLink().getStartNode();
1368 Iterator<Entry<Lane, GTUDirectionality>> iterator = down.entrySet().iterator();
1369 while (iterator.hasNext())
1370 {
1371 Entry<Lane, GTUDirectionality> entry = iterator.next();
1372 if ((entry.getValue().isPlus() && !entry.getKey().getParentLink().getStartNode().equals(downNode))
1373 || (entry.getValue().isMinus() && !entry.getKey().getParentLink().getEndNode().equals(downNode)))
1374 {
1375 // cannot move onto this lane
1376 iterator.remove();
1377 }
1378 }
1379 this.downLanes.get(gtuType).put(direction, down);
1380 }
1381 return this.downLanes.get(gtuType).get(direction);
1382 }
1383
1384 /**
1385 * Returns the lanes that could precede in a given direction and for the given GTU type.
1386 * @param direction GTUDirectionality; gtu direction
1387 * @param gtuType GTUType; gtu type
1388 * @return lanes that can be followed in a given direction and for the given GTU type
1389 */
1390 public final Map<Lane, GTUDirectionality> upstreamLanes(final GTUDirectionality direction, final GTUType gtuType)
1391 {
1392 if (this.upLanes == null)
1393 {
1394 this.upLanes = new LinkedHashMap<>(1);
1395 }
1396 if (!this.upLanes.containsKey(gtuType))
1397 {
1398 this.upLanes.put(gtuType, new HashMap<>());
1399 }
1400 if (!this.upLanes.get(gtuType).containsKey(direction))
1401 {
1402 Map<Lane, GTUDirectionality> up = direction.isPlus() ? prevLanes(gtuType) : nextLanes(gtuType);
1403 up = new LinkedHashMap<>(up); // safe copy
1404 Node upNode = direction.isPlus() ? getParentLink().getStartNode() : getParentLink().getEndNode();
1405 Iterator<Entry<Lane, GTUDirectionality>> iterator = up.entrySet().iterator();
1406 while (iterator.hasNext())
1407 {
1408 Entry<Lane, GTUDirectionality> entry = iterator.next();
1409 if ((entry.getValue().isPlus() && !entry.getKey().getParentLink().getEndNode().equals(upNode))
1410 || (entry.getValue().isMinus() && !entry.getKey().getParentLink().getStartNode().equals(upNode)))
1411 {
1412 // cannot have come from this lane
1413 iterator.remove();
1414 }
1415 }
1416 this.upLanes.get(gtuType).put(direction, up);
1417 }
1418 return this.upLanes.get(gtuType).get(direction);
1419 }
1420
1421 /**
1422 * Determine the set of lanes to the left or to the right of this lane, which are accessible from this lane, or an empty set
1423 * if no lane could be found. The method takes the LongitidinalDirectionality of the lane into account. In other words, if
1424 * we drive in the DIR_PLUS direction and look for a lane on the LEFT, and there is a lane but the Directionality of that
1425 * lane is not DIR_PLUS or DIR_BOTH, it will not be included.<br>
1426 * A lane is called adjacent to another lane if the lateral edges are not more than a delta distance apart. This means that
1427 * a lane that <i>overlaps</i> with another lane is <b>not</b> returned as an adjacent lane. <br>
1428 * <b>Note:</b> LEFT and RIGHT are seen from the direction of the GTU, in its forward driving direction. <br>
1429 * @param lateralDirection LEFT or RIGHT.
1430 * @param gtuType the type of GTU for which to return the adjacent lanes.
1431 * @return the set of lanes that are accessible, or null if there is no lane that is accessible with a matching driving
1432 * direction.
1433 */
1434 public final Set<Lane> accessibleAdjacentLanes(final LateralDirectionality lateralDirection, final GTUType gtuType)
1435 {
1436 Set<Lane> candidates = new LinkedHashSet<>(1);
1437 LateralDirectionality dir = this.getDirectionality(gtuType).isForwardOrBoth() ? lateralDirection
1438 : lateralDirection.isLeft() ? LateralDirectionality.RIGHT : LateralDirectionality.LEFT;
1439 for (Lane lane : neighbors(dir, gtuType))
1440 {
1441 if (lane.getDirectionality(gtuType).equals(LongitudinalDirectionality.DIR_BOTH)
1442 || lane.getDirectionality(gtuType).equals(this.getDirectionality(gtuType)))
1443 {
1444 candidates.add(lane);
1445 }
1446 }
1447 return candidates;
1448 }
1449
1450 /**
1451 * Get the speed limit of this lane, which can differ per GTU type. E.g., cars might be allowed to drive 120 km/h and trucks
1452 * 90 km/h.
1453 * @param gtuType the GTU type to provide the speed limit for
1454 * @return the speedLimit.
1455 * @throws NetworkException on network inconsistency
1456 */
1457 public final Speed getSpeedLimit(final GTUType gtuType) throws NetworkException
1458 {
1459 if (this.speedLimitMap.containsKey(gtuType))
1460 {
1461 return this.speedLimitMap.get(gtuType);
1462 }
1463 if (gtuType.getParent() != null)
1464 {
1465 return getSpeedLimit(gtuType.getParent());
1466 }
1467 throw new NetworkException("No speed limit set for GTUType " + gtuType + " on lane " + toString());
1468 }
1469
1470 /**
1471 * Get the highest speed limit of this lane.
1472 * @return the highest speedLimit.
1473 * @throws NetworkException on network inconsistency
1474 */
1475 public final Speed getHighestSpeedLimit() throws NetworkException
1476 {
1477 Throw.when(this.speedLimitMap.isEmpty(), NetworkException.class, "Lane %s has no speed limits set.", toString());
1478 Speed out = Speed.ZERO;
1479 for (GTUType gtuType : this.speedLimitMap.keySet())
1480 {
1481 out = Speed.max(out, this.speedLimitMap.get(gtuType));
1482 }
1483 return out;
1484 }
1485
1486 /**
1487 * Set the speed limit of this lane, which can differ per GTU type. Cars might be allowed to drive 120 km/h and trucks 90
1488 * km/h. If the speed limit is the same for all GTU types, GTUType.ALL will be used. This means that the settings can be
1489 * used additive, or subtractive. <br>
1490 * In <b>additive use</b>, do not set the speed limit for GTUType.ALL. Now, one by one, the allowed maximum speeds for each
1491 * of the GTU Types have be added. Do this when there are few GTU types or the speed limits per TU type are very different.
1492 * <br>
1493 * In <b>subtractive use</b>, set the speed limit for GTUType.ALL to the most common one. Override the speed limit for
1494 * certain GTUTypes to a different value. An example is a lane on a highway where all vehicles, except truck (CAR, BUS,
1495 * MOTORCYCLE, etc.), can drive 120 km/h, but trucks are allowed only 90 km/h. In that case, set the speed limit for
1496 * GTUType.ALL to 120 km/h, and for TRUCK to 90 km/h.
1497 * @param gtuType the GTU type to provide the speed limit for
1498 * @param speedLimit the speed limit for this gtu type
1499 */
1500 public final void setSpeedLimit(final GTUType gtuType, final Speed speedLimit)
1501 {
1502 this.speedLimitMap.put(gtuType, speedLimit);
1503 }
1504
1505 /**
1506 * Remove the set speed limit for a GTUType. If the speed limit for GTUType.ALL will be removed, there will not be a
1507 * 'default' speed limit anymore. If the speed limit for a certain GTUType is removed, its speed limit will default to the
1508 * speed limit of GTUType.ALL. <br>
1509 * <b>Note</b>: if no speed limit is known for a GTUType, getSpeedLimit will throw a NetworkException when the speed limit
1510 * is retrieved for that GTUType.
1511 * @param gtuType the GTU type to provide the speed limit for
1512 */
1513 public final void removeSpeedLimit(final GTUType gtuType)
1514 {
1515 this.speedLimitMap.remove(gtuType);
1516 }
1517
1518 /**
1519 * @return laneType.
1520 */
1521 public final LaneType getLaneType()
1522 {
1523 return this.laneType;
1524 }
1525
1526 /**
1527 * The direction in which vehicles can drive, i.e., in direction of geometry, reverse, or both. This can differ per GTU
1528 * type. In an overtake lane, cars might overtake and trucks not. It might be that the lane (e.g., a street in a city) is
1529 * FORWARD (from start node of the link to end node of the link) for the GTU type CAR, but BOTH for the GTU type BICYCLE
1530 * (i.e., bicycles can also go in the other direction, opposite to the drawing direction of the Link). If the directionality
1531 * for a GTUType is set to NONE, this means that the given GTUType cannot use the Lane. If a Directionality is set for
1532 * GTUType.ALL, the getDirectionality will default to these settings when there is no specific entry for a given
1533 * directionality. This means that the settings can be used additive, or restrictive. <br>
1534 * In <b>additive use</b>, set the directionality for GTUType.ALL to NONE, or do not set the directionality for GTUType.ALL.
1535 * Now, one by one, the allowed directionalities can be added. An example is a lane on a highway, which we only open for
1536 * CAR, TRUCK and BUS. <br>
1537 * In <b>restrictive use</b>, set the directionality for GTUType.ALL to BOTH, FORWARD, or BACKWARD. Override the
1538 * directionality for certain GTUTypes to a more restrictive access, e.g. to NONE. An example is a lane that is open for all
1539 * road users, except TRUCK.
1540 * @param gtuType the GTU type to provide the directionality for
1541 * @return the directionality.
1542 */
1543 public final LongitudinalDirectionality getDirectionality(final GTUType gtuType)
1544 {
1545 if (this.directionalityMap.containsKey(gtuType))
1546 {
1547 return this.directionalityMap.get(gtuType);
1548 }
1549 if (this.directionalityMap.containsKey(GTUType.ALL))
1550 {
1551 return this.directionalityMap.get(GTUType.ALL);
1552 }
1553 return LongitudinalDirectionality.DIR_NONE;
1554 }
1555
1556 /**
1557 * This method sets the directionality of the lane for a GTU type. It might be that the driving direction in the lane is
1558 * FORWARD (from start node of the link to end node of the link) for the GTU type CAR, but BOTH for the GTU type BICYCLE
1559 * (i.e., bicycles can also go in the other direction; we see this on some city streets). If the directionality for a
1560 * GTUType is set to NONE, this means that the given GTUType cannot use the Lane. If a Directionality is set for
1561 * GTUType.ALL, the getDirectionality will default to these settings when there is no specific entry for a given
1562 * directionality. This means that the settings can be used additive, or restrictive. <br>
1563 * In <b>additive use</b>, set the directionality for GTUType.ALL to NONE, or do not set the directionality for GTUType.ALL.
1564 * Now, one by one, the allowed directionalities can be added. An example is a lane on a highway, which we only open for
1565 * CAR, TRUCK and BUS. <br>
1566 * In <b>restrictive use</b>, set the directionality for GTUType.ALL to BOTH, FORWARD, or BACKWARD. Override the
1567 * directionality for certain GTUTypes to a more restrictive access, e.g. to NONE. An example is a lane that is open for all
1568 * road users, except TRUCK.
1569 * @param gtuType the GTU type to set the directionality for.
1570 * @param directionality the longitudinal directionality of the link (FORWARD, BACKWARD, BOTH or NONE) for the given GTU
1571 * type.
1572 * @throws NetworkException when the lane directionality for the given GTUType is inconsistent with the Link directionality
1573 * to which the lane belongs.
1574 */
1575 public void addDirectionality(final GTUType gtuType, final LongitudinalDirectionality directionality)
1576 throws NetworkException
1577 {
1578 this.directionalityMap.put(gtuType, directionality);
1579 checkDirectionality();
1580 }
1581
1582 /**
1583 * This method removes an earlier provided directionality of the lane for a given GTU type, e.g. for maintenance of the
1584 * lane. After removing, the directionality for the GTU will fall back to the provided directionality for GTUType.ALL (if
1585 * present). Thereby removing a directionality is different from setting the directionality to NONE.
1586 * @param gtuType the GTU type to remove the directionality for on this lane.
1587 */
1588 public void removeDirectionality(final GTUType gtuType)
1589 {
1590 this.directionalityMap.remove(gtuType);
1591 }
1592
1593 /**
1594 * Check whether the directionalities for the GTU types for this lane are consistent with the directionalities of the
1595 * overarching Link.
1596 * @throws NetworkException when the lane directionality for a given GTUType is inconsistent with the Link directionality to
1597 * which the lane belongs.
1598 */
1599 private void checkDirectionality() throws NetworkException
1600 {
1601 for (GTUType gtuType : this.directionalityMap.keySet())
1602 {
1603 LongitudinalDirectionality directionality = this.directionalityMap.get(gtuType);
1604 if (!getParentLink().getDirectionality(gtuType).contains(directionality))
1605 {
1606 throw new NetworkException("Lane " + toString() + " allows " + gtuType + " a directionality of "
1607 + directionality + " which is not present in the overarching link " + getParentLink().toString());
1608 }
1609 }
1610 }
1611
1612 /**
1613 * @return gtuList.
1614 */
1615 public final ImmutableList<LaneBasedGTU> getGtuList()
1616 {
1617 return this.gtuList == null ? new ImmutableArrayList<>(new ArrayList<>())
1618 : new ImmutableArrayList<>(this.gtuList, Immutable.WRAP);
1619 }
1620
1621 /** {@inheritDoc} */
1622 @Override
1623 @SuppressWarnings("checkstyle:designforextension")
1624 protected double getZ()
1625 {
1626 return 0.0;
1627 }
1628
1629 /**
1630 * @return overtakingConditions
1631 */
1632 public final OvertakingConditions getOvertakingConditions()
1633 {
1634 return this.overtakingConditions;
1635 }
1636
1637 /** {@inheritDoc} */
1638 @Override
1639 public final String toString()
1640 {
1641 CrossSectionLink link = getParentLink();
1642 return String.format("Lane %s of %s", getId(), link.getId());
1643 }
1644
1645 /** Cache of the hashCode. */
1646 private Integer cachedHashCode = null;
1647
1648 /** {@inheritDoc} */
1649 @SuppressWarnings("checkstyle:designforextension")
1650 @Override
1651 public int hashCode()
1652 {
1653 if (this.cachedHashCode == null)
1654 {
1655 final int prime = 31;
1656 int result = super.hashCode();
1657 result = prime * result + ((this.laneType == null) ? 0 : this.laneType.hashCode());
1658 this.cachedHashCode = result;
1659 }
1660 return this.cachedHashCode;
1661 }
1662
1663 /** {@inheritDoc} */
1664 @SuppressWarnings({ "checkstyle:designforextension", "checkstyle:needbraces" })
1665 @Override
1666 public boolean equals(final Object obj)
1667 {
1668 if (this == obj)
1669 return true;
1670 if (!super.equals(obj))
1671 return false;
1672 if (getClass() != obj.getClass())
1673 return false;
1674 Lane other = (Lane) obj;
1675 if (this.laneType == null)
1676 {
1677 if (other.laneType != null)
1678 return false;
1679 }
1680 else if (!this.laneType.equals(other.laneType))
1681 return false;
1682 return true;
1683 }
1684
1685 /** {@inheritDoc} */
1686 @Override
1687 @SuppressWarnings("checkstyle:designforextension")
1688 public Lane clone(final CrossSectionLink newParentLink, final OTSSimulatorInterface newSimulator, final boolean animation)
1689 throws NetworkException
1690 {
1691 Lane newLane = new Lane(newParentLink, newSimulator, animation, this);
1692 // nextLanes, prevLanes, nextNeighbors, rightNeighbors are filled at first request
1693
1694 SortedMap<Double, List<SingleSensor>> newSensorMap = new TreeMap<>();
1695 for (double distance : this.sensors.keySet())
1696 {
1697 List<SingleSensor> newSensorList = new ArrayList<>();
1698 for (SingleSensor sensor : this.sensors.get(distance))
1699 {
1700 SingleSensor newSensor = ((AbstractSensor) sensor).clone(newLane, newSimulator, animation);
1701 newSensorList.add(newSensor);
1702 }
1703 newSensorMap.put(distance, newSensorList);
1704 }
1705 newLane.sensors.clear();
1706 newLane.sensors.putAll(newSensorMap);
1707
1708 SortedMap<Double, List<LaneBasedObject>> newLaneBasedObjectMap = new TreeMap<>();
1709 for (double distance : this.laneBasedObjects.keySet())
1710 {
1711 List<LaneBasedObject> newLaneBasedObjectList = new ArrayList<>();
1712 for (LaneBasedObject lbo : this.laneBasedObjects.get(distance))
1713 {
1714 AbstractLaneBasedObject laneBasedObject = (AbstractLaneBasedObject) lbo;
1715 LaneBasedObject newLbo = laneBasedObject.clone(newLane, newSimulator, animation);
1716 newLaneBasedObjectList.add(newLbo);
1717 }
1718 newLaneBasedObjectMap.put(distance, newLaneBasedObjectList);
1719 }
1720 newLane.laneBasedObjects.clear();
1721 newLane.laneBasedObjects.putAll(newLaneBasedObjectMap);
1722
1723 return newLane;
1724 }
1725 }