1 package org.opentrafficsim.graphs;
2
3 import static org.junit.Assert.assertEquals;
4 import static org.opentrafficsim.road.gtu.lane.RoadGTUTypes.CAR;
5
6 import java.util.ArrayList;
7 import java.util.HashMap;
8 import java.util.HashSet;
9 import java.util.List;
10 import java.util.Map;
11 import java.util.Set;
12
13 import org.djunits.unit.SpeedUnit;
14 import org.djunits.unit.TimeUnit;
15 import org.djunits.unit.UNITS;
16 import org.djunits.value.vdouble.scalar.Acceleration;
17 import org.djunits.value.vdouble.scalar.Duration;
18 import org.djunits.value.vdouble.scalar.Length;
19 import org.djunits.value.vdouble.scalar.Speed;
20 import org.djunits.value.vdouble.scalar.Time;
21 import org.jfree.data.DomainOrder;
22 import org.junit.Test;
23 import org.opentrafficsim.core.dsol.OTSDEVSSimulator;
24 import org.opentrafficsim.core.geometry.OTSPoint3D;
25 import org.opentrafficsim.core.gtu.GTUException;
26 import org.opentrafficsim.core.gtu.GTUType;
27 import org.opentrafficsim.core.network.LongitudinalDirectionality;
28 import org.opentrafficsim.core.network.OTSNetwork;
29 import org.opentrafficsim.core.network.OTSNode;
30 import org.opentrafficsim.road.car.CarTest;
31 import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
32 import org.opentrafficsim.road.gtu.lane.tactical.following.FixedAccelerationModel;
33 import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
34 import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.Egoistic;
35 import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.LaneChangeModel;
36 import org.opentrafficsim.road.network.factory.LaneFactory;
37 import org.opentrafficsim.road.network.lane.Lane;
38 import org.opentrafficsim.road.network.lane.LaneType;
39
40 /**
41 * <p>
42 * Copyright (c) 2013-2017 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
43 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
44 * <p>
45 * $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, @version $Revision: 1401 $, by $Author: averbraeck $,
46 * initial version Aug 22, 2014 <br>
47 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
48 */
49 public class TrajectoryPlotTest implements UNITS
50 {
51 /** Sample interval for the TrajectoryPlot. */
52 Duration sampleInterval = new Duration(0.25, SECOND);
53
54 /**
55 * Test the TrajectoryPlot.
56 * @throws Exception which should not happen, but will be treated as an error by the JUnit framework if it does
57 */
58 @Test
59 public final void trajectoryTest() throws Exception
60 {
61 OTSDEVSSimulator simulator = CarTest.makeSimulator();
62 GTUType gtuType = CAR;
63 Set<GTUType> gtuTypes = new HashSet<GTUType>();
64 gtuTypes.add(gtuType);
65 LaneType laneType = new LaneType("CarLane", gtuTypes);
66 OTSNetwork network = new OTSNetwork("trajectory plot test network");
67 OTSNode node1 = new OTSNode(network, "node 1", new OTSPoint3D(100, 100, 0));
68 OTSNode node2 = new OTSNode(network, "node 2", new OTSPoint3D(1100, 100, 0));
69 OTSNode node3 = new OTSNode(network, "node 3", new OTSPoint3D(10100, 100, 0));
70 List<Lane> trajectory = new ArrayList<Lane>();
71 Speed speedLimit = new Speed(50, SpeedUnit.KM_PER_HOUR);
72 Lane lane1 = LaneFactory.makeMultiLane(network, "12", node1, node2, null, 1, 0, 0, laneType, speedLimit, simulator,
73 LongitudinalDirectionality.DIR_PLUS)[0];
74 trajectory.add(lane1);
75 Lane lane2 = LaneFactory.makeMultiLane(network, "23", node2, node3, null, 1, 0, 0, laneType, speedLimit, simulator,
76 LongitudinalDirectionality.DIR_PLUS)[0];
77 trajectory.add(lane2);
78 TrajectoryPlot tp = new TrajectoryPlot("TestTrajectory", this.sampleInterval, trajectory, simulator);
79 assertEquals("Number of trajectories should initially be 0", 0, tp.getSeriesCount());
80 for (int i = -10; i <= 10; i++)
81 {
82 assertEquals("SeriesKey(" + i + ") should return " + i, i, tp.getSeriesKey(i));
83 }
84 assertEquals("Domain order should be ASCENDING", DomainOrder.ASCENDING, tp.getDomainOrder());
85 // Create a car running 50 km.h
86 Length initialPosition = new Length(200, METER);
87 Speed initialSpeed = new Speed(50, KM_PER_HOUR);
88 Length length = new Length(5.0, METER);
89 Length width = new Length(2.0, METER);
90 Map<Lane, Length> initialLongitudinalPositions = new HashMap<>();
91 initialLongitudinalPositions.put(lane1, initialPosition);
92 // We want to start the car simulation at t=100s; therefore we have to advance the simulator up to that time.
93 simulator.runUpTo(new Time(100, TimeUnit.BASE_SECOND));
94 Speed maxSpeed = new Speed(120, KM_PER_HOUR);
95 GTUFollowingModelOld gtuFollowingModel =
96 new FixedAccelerationModel(new Acceleration(0, METER_PER_SECOND_2), new Duration(10, SECOND));
97 LaneChangeModel laneChangeModel = new Egoistic();
98 /*-
99 LaneBasedIndividualGTU car =
100 CarTest.makeReferenceCar("12345", gtuType, lane1, initialPosition, initialSpeed, simulator, gtuFollowingModel,
101 laneChangeModel, network);
102 // Make the car accelerate with constant acceleration of 0.05 m/s/s for 400 seconds
103 Duration duration = new Duration(400, SECOND);
104
105 Time endTime = simulator.getSimulatorTime().getTime().plus(duration);
106 car.setState(new GTUFollowingModelResult(new Acceleration(0.05, METER_PER_SECOND_2), endTime));
107 // System.out.println("Car end position " + car.getPosition(car.getNextEvaluationTime()));
108 tp.addData(car);
109 assertEquals("Number of trajectories should now be 1", 1, tp.getSeriesCount());
110 verifyTrajectory(car, 0, tp);
111 simulateUntil(new Time(150, SECOND), simulator);
112 Car secondCar =
113 new Car(2, carType, null, initialLongitudinalPositions, initialSpeed, length, width, maxSpeed, simulator);
114 // Make the second car accelerate with constant acceleration of 0.03 m/s/s for 500 seconds
115 secondCar.setState(new GTUFollowingModelResult(new Acceleration(0.03, METER_PER_SECOND_2), endTime));
116 // System.out.println("Second car end position " + car.getPosition(secondCar.getNextEvaluationTime()));
117 tp.addData(secondCar);
118 assertEquals("Number of trajectories should now be 2", 2, tp.getSeriesCount());
119 verifyTrajectory(car, 0, tp); // first car trajectory should not change by adding the second
120 verifyTrajectory(secondCar, 1, tp);
121 // Check the updateHint method in the PointerHandler
122 // First get the panel that stores the result of updateHint (this is ugly)
123 JLabel hintPanel = null;
124 ChartPanel chartPanel = null;
125 for (Component c0 : tp.getComponents())
126 {
127 for (Component c1 : ((Container) c0).getComponents())
128 {
129 if (c1 instanceof Container)
130 {
131 for (Component c2 : ((Container) c1).getComponents())
132 {
133 // System.out.println("c2 is " + c2);
134 if (c2 instanceof Container)
135 {
136 for (Component c3 : ((Container) c2).getComponents())
137 {
138 // System.out.println("c3 is " + c3);
139 if (c3 instanceof JLabel)
140 {
141 if (null == hintPanel)
142 {
143 hintPanel = (JLabel) c3;
144 }
145 else
146 {
147 fail("There should be only one JPanel in a ContourPlot");
148 }
149 }
150 if (c3 instanceof ChartPanel)
151 {
152 if (null == chartPanel)
153 {
154 chartPanel = (ChartPanel) c3;
155 }
156 else
157 {
158 fail("There should be only one ChartPanel in a ContourPlot");
159 }
160 }
161 }
162 }
163 }
164 }
165 }
166 }
167 if (null == hintPanel)
168 {
169 fail("Could not find a JLabel in ContourPlot");
170 }
171 if (null == chartPanel)
172 {
173 fail("Could not find a ChartPanel in ContourPlot");
174 }
175 assertEquals("Initially the text should be a single space", " ", hintPanel.getText());
176 PointerHandler ph = null;
177 for (MouseListener ml : chartPanel.getMouseListeners())
178 {
179 if (ml instanceof PointerHandler)
180 {
181 if (null == ph)
182 {
183 ph = (PointerHandler) ml;
184 }
185 else
186 {
187 fail("There should be only one PointerHandler on the chartPanel");
188 }
189 }
190 }
191 if (null == ph)
192 {
193 fail("Could not find the PointerHandler for the chartPanel");
194 }
195 ph.updateHint(1, 2);
196 // System.out.println("Hint text is now " + hintPanel.getText());
197 assertFalse("Hint should not be a single space", " ".equals(hintPanel.getText()));
198 ph.updateHint(Double.NaN, Double.NaN);
199 assertEquals("The text should again be a single space", " ", hintPanel.getText());
200 */
201 }
202
203 /**
204 * Verify that a sampled trajectory matches the actual trajectory.
205 * @param car Car; the car whose trajectory was sampled
206 * @param series Integer; the series in the TrajectoryPlot that should correspond to the car
207 * @param tp TrajectoryPlot; the TrajectoryPlot that contains the samples
208 * @throws GTUException when car is not on lane anymore
209 */
210 private void verifyTrajectory(final LaneBasedIndividualGTU car, final int series, final TrajectoryPlot tp)
211 throws GTUException
212 {
213 // XXX we take the first (and only) lane on which the vehicle is registered.
214 Lane lane = car.positions(car.getFront()).keySet().iterator().next();
215 Time initialTime = car.getOperationalPlan().getStartTime();
216 Duration duration = car.getOperationalPlan().getTotalDuration();
217 int expectedNumberOfSamples = (int) (duration.getSI() / this.sampleInterval.getSI());
218 assertEquals("Number of samples in trajectory should be ", expectedNumberOfSamples, tp.getItemCount(series));
219 // Check that the stored trajectory accurately matches the trajectory of the car at all sampling times
220 for (int sample = 0; sample < expectedNumberOfSamples; sample++)
221 {
222 Duration deltaTime = new Duration(this.sampleInterval.getSI() * sample, SECOND);
223 Time sampleTime = initialTime.plus(deltaTime);
224 double sampledTime = tp.getXValue(series, sample);
225 assertEquals("Sample should have been taken at " + sampleTime, sampleTime.getSI(), sampledTime, 0.0001);
226 sampledTime = tp.getX(series, sample).doubleValue();
227 assertEquals("Sample should have been taken at " + sampleTime, sampleTime.getSI(), sampledTime, 0.0001);
228 Length actualPosition = car.position(lane, car.getFront(), sampleTime);
229 double sampledPosition = tp.getYValue(series, sample);
230 assertEquals("Sample position should have been " + actualPosition, actualPosition.getSI(), sampledPosition, 0.0001);
231 sampledPosition = tp.getY(series, sample).doubleValue();
232 assertEquals("Sample position should have been " + actualPosition, actualPosition.getSI(), sampledPosition, 0.0001);
233 }
234 }
235
236 }