AbstractSensor.java
package org.opentrafficsim.road.network.lane.object.sensor;
import java.util.HashSet;
import java.util.Set;
import org.djunits.value.vdouble.scalar.Length;
import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.geometry.OTSPoint3D;
import org.opentrafficsim.core.gtu.GTUType;
import org.opentrafficsim.core.gtu.RelativePosition;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.network.lane.CrossSectionElement;
import org.opentrafficsim.road.network.lane.Lane;
import org.opentrafficsim.road.network.lane.object.AbstractLaneBasedObject;
import nl.tudelft.simulation.immutablecollections.ImmutableHashSet;
import nl.tudelft.simulation.immutablecollections.ImmutableSet;
import nl.tudelft.simulation.language.Throw;
import nl.tudelft.simulation.language.d3.DirectedPoint;
/**
* <p>
* Copyright (c) 2013-2017 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* <p>
* $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, @version $Revision: 1401 $, by $Author: averbraeck $,
* initial version Dec 31, 2014 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public abstract class AbstractSensor extends AbstractLaneBasedObject implements SingleSensor
{
/** */
private static final long serialVersionUID = 20141231L;
/** The relative position of the vehicle that triggers the sensor. */
private final RelativePosition.TYPE positionType;
/** The simulator for being able to generate an animation. */
private final OTSDEVSSimulatorInterface simulator;
/** The GTU types will trigger this particular sensor. */
private final ImmutableSet<GTUType> triggeringGTUTypes;
/** The immutable set for all gtu type. Implements OTS-219. */
protected static final ImmutableSet<GTUType> GTUTYPE_SET_ALL;
static
{
Set<GTUType> gtuTypeSet = new HashSet<>();
gtuTypeSet.add(GTUType.ALL);
GTUTYPE_SET_ALL = new ImmutableHashSet<GTUType>(gtuTypeSet);
}
/**
* Create a sensor on a lane at a position on that lane.
* @param id String; the id of the sensor.
* @param lane Lane; the lane for which this is a sensor.
* @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
* line of the lane.
* @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
* the sensor.
* @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
* @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
* @param elevation Length; elevation of the sensor
* @param triggeringGTUTypes ImmutableSet<GTUType>; The GTU types will trigger this particular sensor
* @throws NetworkException when the position on the lane is out of bounds
*/
public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry,
final Length elevation, final ImmutableSet<GTUType> triggeringGTUTypes) throws NetworkException
{
super(id, lane, longitudinalPosition, geometry, elevation);
Throw.when(simulator == null, NullPointerException.class, "simulator is null");
Throw.when(positionType == null, NullPointerException.class, "positionType is null");
Throw.when(id == null, NullPointerException.class, "id is null");
this.positionType = positionType;
this.simulator = simulator;
this.triggeringGTUTypes = triggeringGTUTypes;
getLane().addSensor(this); // Implements OTS-218
}
/**
* Create a sensor on a lane at a position on that lane at elevation <code>Sensor.DEFAULT_SENSOR_ELEVATION</code>.
* @param id String; the id of the sensor.
* @param lane Lane; the lane for which this is a sensor.
* @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
* line of the lane.
* @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
* the sensor.
* @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
* @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
* @param triggeringGTUTypes ImmutableSet<GTUType>; The GTU types will trigger this particular sensor
* @throws NetworkException when the position on the lane is out of bounds
*/
public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry,
final ImmutableSet<GTUType> triggeringGTUTypes) throws NetworkException
{
super(id, lane, longitudinalPosition, geometry, DEFAULT_SENSOR_ELEVATION);
Throw.when(simulator == null, NullPointerException.class, "simulator is null");
Throw.when(positionType == null, NullPointerException.class, "positionType is null");
Throw.when(id == null, NullPointerException.class, "id is null");
this.positionType = positionType;
this.simulator = simulator;
this.triggeringGTUTypes = triggeringGTUTypes;
getLane().addSensor(this); // Implements OTS-218
}
/**
* Create a sensor on a lane at a position on that lane at specified elevation and triggering an all GTU types.
* @param id String; the id of the sensor.
* @param lane Lane; the lane for which this is a sensor.
* @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
* line of the lane.
* @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
* the sensor.
* @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
* @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
* @param elevation Length; elevation of the sensor
* @throws NetworkException when the position on the lane is out of bounds
*/
public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry,
final Length elevation) throws NetworkException
{
this(id, lane, longitudinalPosition, positionType, simulator, geometry, elevation, GTUTYPE_SET_ALL);
}
/**
* Create a sensor on a lane at a position on that lane at specified elevation and triggering an all GTU types.
* @param id String; the id of the sensor.
* @param lane Lane; the lane for which this is a sensor.
* @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
* line of the lane.
* @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
* the sensor.
* @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
* @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
* @throws NetworkException when the position on the lane is out of bounds
*/
public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry)
throws NetworkException
{
this(id, lane, longitudinalPosition, positionType, simulator, geometry, GTUTYPE_SET_ALL);
}
/**
* @param id String; the id of the sensor.
* @param lane Lane; the lane for which this is a sensor.
* @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
* line of the lane.
* @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
* the sensor.
* @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
* @throws NetworkException when the position on the lane is out of bounds
*/
public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator) throws NetworkException
{
this(id, lane, longitudinalPosition, positionType, simulator, makeGeometry(lane, longitudinalPosition));
}
/**
* Make a geometry perpendicular to the center line of the lane with a length of 90% of the width of the lane.
* @param lane the lane for which to make a perpendicular geometry
* @param longitudinalPosition the position on the lane
* @return an OTSLine3D that describes the line
* @throws NetworkException in case the sensor point on the center line of the lane cannot be found
*/
private static OTSLine3D makeGeometry(final Lane lane, final Length longitudinalPosition) throws NetworkException
{
try
{
double w45 = lane.getWidth(longitudinalPosition).si * 0.45;
DirectedPoint c = lane.getCenterLine().getLocation(longitudinalPosition);
double a = c.getRotZ();
OTSPoint3D p1 = new OTSPoint3D(c.x + w45 * Math.cos(a + Math.PI / 2), c.y - w45 * Math.sin(a + Math.PI / 2), c.z);
OTSPoint3D p2 = new OTSPoint3D(c.x - w45 * Math.cos(a + Math.PI / 2), c.y + w45 * Math.sin(a + Math.PI / 2), c.z);
return new OTSLine3D(p1, p2);
}
catch (OTSGeometryException exception)
{
throw new NetworkException(exception);
}
}
/** {@inheritDoc} */
@Override
public final void trigger(final LaneBasedGTU gtu)
{
fireTimedEvent(SingleSensor.SENSOR_TRIGGER_EVENT, new Object[] { getId(), this, gtu, this.positionType },
getSimulator().getSimulatorTime());
triggerResponse(gtu);
}
/**
* Implementation of the response to a trigger of this sensor by a GTU.
* @param gtu LaneBasedGTU; the lane based GTU that triggered this sensor.
*/
protected abstract void triggerResponse(final LaneBasedGTU gtu);
/** {@inheritDoc} */
@Override
public final RelativePosition.TYPE getPositionType()
{
return this.positionType;
}
/** {@inheritDoc} */
@Override
public final OTSDEVSSimulatorInterface getSimulator()
{
return this.simulator;
}
/** {@inheritDoc} */
@Override
public final ImmutableSet<GTUType> getTriggeringGTUTypes()
{
return this.triggeringGTUTypes;
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public int hashCode()
{
final int prime = 31;
int result = 1;
result = prime * result + ((getLane() == null) ? 0 : getLane().hashCode());
long temp;
temp = Double.doubleToLongBits(getLongitudinalPosition().si);
result = prime * result + (int) (temp ^ (temp >>> 32));
result = prime * result + ((this.positionType == null) ? 0 : this.positionType.hashCode());
return result;
}
/** {@inheritDoc} */
@SuppressWarnings({ "checkstyle:needbraces", "checkstyle:designforextension" })
@Override
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
AbstractSensor other = (AbstractSensor) obj;
if (this.getLane() == null)
{
if (other.getLane() != null)
return false;
}
else if (!this.getLane().equals(other.getLane()))
return false;
if (Double.doubleToLongBits(this.getLongitudinalPosition().si) != Double
.doubleToLongBits(other.getLongitudinalPosition().si))
return false;
if (this.positionType == null)
{
if (other.positionType != null)
return false;
}
else if (!this.positionType.equals(other.positionType))
return false;
return true;
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public int compareTo(final SingleSensor o)
{
if (this.getLane() != o.getLane())
{
return this.getLane().hashCode() < o.getLane().hashCode() ? -1 : 1;
}
if (this.getLongitudinalPosition().si != o.getLongitudinalPosition().si)
{
return this.getLongitudinalPosition().si < o.getLongitudinalPosition().si ? -1 : 1;
}
if (!this.positionType.equals(o.getPositionType()))
{
return this.positionType.hashCode() < o.getPositionType().hashCode() ? -1 : 1;
}
if (!this.equals(o))
{
return this.hashCode() < o.hashCode() ? -1 : 1;
}
return 0;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public String toString()
{
return "Sensor[" + getId() + "]";
}
/** {@inheritDoc} */
@Override
public abstract AbstractSensor clone(CrossSectionElement newCSE, OTSSimulatorInterface newSimulator, boolean animation)
throws NetworkException;
}