AbstractGTU.java
package org.opentrafficsim.core.gtu;
import java.util.LinkedHashSet;
import java.util.Set;
import org.djunits.unit.DurationUnit;
import org.djunits.unit.TimeUnit;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Duration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.djunits.value.vdouble.scalar.Time;
import org.djutils.exceptions.Throw;
import org.djutils.exceptions.Try;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.gtu.plan.strategical.StrategicalPlanner;
import org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner;
import org.opentrafficsim.core.idgenerator.IdGenerator;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.perception.Historical;
import org.opentrafficsim.core.perception.HistoricalValue;
import org.opentrafficsim.core.perception.HistoryManager;
import org.opentrafficsim.core.perception.PerceivableContext;
import nl.tudelft.simulation.dsol.SimRuntimeException;
import nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEvent;
import nl.tudelft.simulation.dsol.logger.SimLogger;
import nl.tudelft.simulation.dsol.simtime.SimTimeDoubleUnit;
import nl.tudelft.simulation.event.EventProducer;
import nl.tudelft.simulation.language.d3.DirectedPoint;
/**
* Implements the basic functionalities of any GTU: the ability to move on 3D-space according to a plan.
* <p>
* Copyright (c) 2013-2019 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>
* @version $Revision: 5158 $, $LastChangedDate: 2019-03-17 22:16:44 +0100 (Sun, 17 Mar 2019) $, by $Author: averbraeck $,
* initial version Oct 22, 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 AbstractGTU extends EventProducer implements GTU
{
/** */
private static final long serialVersionUID = 20140822L;
/** The id of the GTU. */
private final String id;
/** unique number of the GTU. */
private final int uniqueNumber;
/** the unique number counter. */
private static int staticUNIQUENUMBER = 0;
/** The type of GTU, e.g. TruckType, CarType, BusType. */
private final GTUType gtuType;
/** The simulator to schedule activities on. */
private final OTSSimulatorInterface simulator;
/** Model parameters. */
private Parameters parameters;
/** The maximum acceleration. */
private Acceleration maximumAcceleration;
/** The maximum deceleration, stored as a negative number. */
private Acceleration maximumDeceleration;
/**
* The odometer which measures how much distance have we covered between instantiation and the last completed operational
* plan. In order to get a complete odometer reading, the progress of the current plan execution has to be added to this
* value.
*/
private Historical<Length> odometer;
/** The strategical planner that can instantiate tactical planners to determine mid-term decisions. */
private final Historical<StrategicalPlanner> strategicalPlanner;
/** The tactical planner that can generate an operational plan. */
private final Historical<TacticalPlanner<?, ?>> tacticalPlanner;
/** The current operational plan, which provides a short-term movement over time. */
protected final Historical<OperationalPlan> operationalPlan;
/** The next move event as scheduled on the simulator, can be used for interrupting the current move. */
private SimEvent<SimTimeDoubleUnit> nextMoveEvent;
/** The model in which this GTU is registered. */
private PerceivableContext perceivableContext;
/** Is this GTU destroyed? */
private boolean destroyed = false;
/** aligned or not. */
// TODO: should be indicated with a Parameter
public static boolean ALIGNED = true;
/** aligned schedule count. */
// TODO: can be removed after testing period
public static int ALIGN_COUNT = 0;
/** Cached speed time. */
private double cachedSpeedTime = Double.NaN;
/** Cached speed. */
private Speed cachedSpeed = null;
/** Cached acceleration time. */
private double cachedAccelerationTime = Double.NaN;
/** Cached acceleration. */
private Acceleration cachedAcceleration = null;
/** Parent GTU. */
private GTU parent = null;
/** Children GTU's. */
private Set<GTU> children = new LinkedHashSet<>();
/**
* @param id String; the id of the GTU
* @param gtuType GTUType; the type of GTU, e.g. TruckType, CarType, BusType
* @param simulator OTSSimulatorInterface; the simulator to schedule plan changes on
* @param perceivableContext PerceivableContext; the perceivable context in which this GTU will be registered
* @throws GTUException when the preconditions of the constructor are not met
*/
@SuppressWarnings("checkstyle:parameternumber")
public AbstractGTU(final String id, final GTUType gtuType, final OTSSimulatorInterface simulator,
final PerceivableContext perceivableContext) throws GTUException
{
Throw.when(id == null, GTUException.class, "id is null");
Throw.when(gtuType == null, GTUException.class, "gtuType is null");
Throw.when(perceivableContext == null, GTUException.class, "perceivableContext is null for GTU with id %s", id);
Throw.when(perceivableContext.containsGtuId(id), GTUException.class,
"GTU with id %s already registered in perceivableContext %s", id, perceivableContext.getId());
Throw.when(simulator == null, GTUException.class, "simulator is null for GTU with id %s", id);
HistoryManager historyManager = simulator.getReplication().getHistoryManager(simulator);
this.id = id;
this.uniqueNumber = ++staticUNIQUENUMBER;
this.gtuType = gtuType;
this.simulator = simulator;
this.odometer = new HistoricalValue<>(historyManager, Length.ZERO);
this.perceivableContext = perceivableContext;
this.perceivableContext.addGTU(this);
this.strategicalPlanner = new HistoricalValue<>(historyManager);
this.tacticalPlanner = new HistoricalValue<>(historyManager, null);
this.operationalPlan = new HistoricalValue<>(historyManager, null);
}
/**
* @param idGenerator IdGenerator; the generator that will produce a unique id of the GTU
* @param gtuType GTUType; the type of GTU, e.g. TruckType, CarType, BusType
* @param simulator OTSSimulatorInterface; the simulator to schedule plan changes on
* @param perceivableContext PerceivableContext; the perceivable context in which this GTU will be registered
* @throws GTUException when the preconditions of the constructor are not met
*/
@SuppressWarnings("checkstyle:parameternumber")
public AbstractGTU(final IdGenerator idGenerator, final GTUType gtuType, final OTSSimulatorInterface simulator,
final PerceivableContext perceivableContext) throws GTUException
{
this(generateId(idGenerator), gtuType, simulator, perceivableContext);
}
/**
* Initialize the GTU at a location and speed, and give it a mission to fulfill through the strategical planner.
* @param strategicalPlanner StrategicalPlanner; the strategical planner responsible for the overall 'mission' of the GTU,
* usually indicating where it needs to go. It operates by instantiating tactical planners to do the work.
* @param initialLocation DirectedPoint; the initial location (and direction) of the GTU
* @param initialSpeed Speed; the initial speed of the GTU
* @throws SimRuntimeException when scheduling after the first move fails
* @throws GTUException when the preconditions of the parameters are not met or when the construction of the original
* waiting path fails
*/
@SuppressWarnings({"checkstyle:hiddenfield", "hiding", "checkstyle:designforextension"})
public void init(final StrategicalPlanner strategicalPlanner, final DirectedPoint initialLocation, final Speed initialSpeed)
throws SimRuntimeException, GTUException
{
Throw.when(strategicalPlanner == null, GTUException.class, "strategicalPlanner is null for GTU with id %s", this.id);
Throw.whenNull(initialLocation, "Initial location of GTU cannot be null");
Throw.when(Double.isNaN(initialLocation.x) || Double.isNaN(initialLocation.y) || Double.isNaN(initialLocation.z),
GTUException.class, "initialLocation %s invalid for GTU with id %s", initialLocation, this.id);
Throw.when(initialSpeed == null, GTUException.class, "initialSpeed is null for GTU with id %s", this.id);
Throw.when(!getId().equals(strategicalPlanner.getGtu().getId()), GTUException.class,
"GTU %s is initialized with a strategical planner for GTU %s", getId(), strategicalPlanner.getGtu().getId());
this.strategicalPlanner.set(strategicalPlanner);
this.tacticalPlanner.set(strategicalPlanner.getTacticalPlanner());
Time now = this.simulator.getSimulatorTime();
fireTimedEvent(GTU.INIT_EVENT, new Object[] {getId(), initialLocation, getLength(), getWidth()}, now);
try
{
move(initialLocation);
}
catch (OperationalPlanException | NetworkException | ParameterException exception)
{
throw new GTUException("Failed to create OperationalPlan for GTU " + this.id, exception);
}
}
/**
* Generate an id, but check first that we have a valid IdGenerator.
* @param idGenerator IdGenerator; the generator that will produce a unique id of the GTU
* @return a (hopefully unique) Id of the GTU
* @throws GTUException when the idGenerator is null
*/
private static String generateId(final IdGenerator idGenerator) throws GTUException
{
Throw.when(idGenerator == null, GTUException.class, "AbstractGTU.<init>: idGenerator is null");
return idGenerator.nextId();
}
/**
* Destructor. Don't forget to call with super.destroy() from any override to avoid memory leaks in the network.
*/
@Override
@SuppressWarnings("checkstyle:designforextension")
public void destroy()
{
fireTimedEvent(GTU.DESTROY_EVENT, new Object[] {getId(), getLocation(), getOdometer()},
this.simulator.getSimulatorTime());
// cancel the next move
if (this.nextMoveEvent != null)
{
this.simulator.cancelEvent(this.nextMoveEvent);
this.nextMoveEvent = null;
}
this.perceivableContext.removeGTU(this);
this.destroyed = true;
}
/**
* Move from the current location according to an operational plan to a location that will bring us nearer to reaching the
* location provided by the strategical planner. <br>
* This method can be overridden to carry out specific behavior during the execution of the plan (e.g., scheduling of
* triggers, entering or leaving lanes, etc.). Please bear in mind that the call to super.move() is essential, and that one
* has to take care to handle the situation that the plan gets interrupted.
* @param fromLocation DirectedPoint; the last known location (initial location, or end location of the previous operational
* plan)
* @throws SimRuntimeException when scheduling of the next move fails
* @throws OperationalPlanException when there is a problem creating a good path for the GTU
* @throws GTUException when there is a problem with the state of the GTU when planning a path
* @throws NetworkException in case of a problem with the network, e.g., a dead end where it is not expected
* @throws ParameterException in there is a parameter problem
*/
@SuppressWarnings("checkstyle:designforextension")
protected void move(final DirectedPoint fromLocation)
throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException, ParameterException
{
Time now = this.simulator.getSimulatorTime();
// Add the odometer distance from the currently running operational plan.
// Because a plan can be interrupted, we explicitly calculate the covered distance till 'now'
Length currentOdometer;
if (this.operationalPlan.get() != null)
{
currentOdometer = this.odometer.get().plus(this.operationalPlan.get().getTraveledDistance(now));
}
else
{
currentOdometer = this.odometer.get();
}
// Do we have an operational plan?
// TODO discuss when a new tactical planner may be needed
TacticalPlanner<?, ?> tactPlanner = this.tacticalPlanner.get();
if (tactPlanner == null)
{
// Tell the strategical planner to provide a tactical planner
tactPlanner = this.strategicalPlanner.get().getTacticalPlanner();
this.tacticalPlanner.set(tactPlanner);
}
tactPlanner.getPerception().perceive();
OperationalPlan newOperationalPlan = tactPlanner.generateOperationalPlan(now, fromLocation);
this.operationalPlan.set(newOperationalPlan);
this.cachedSpeedTime = Double.NaN;
this.cachedAccelerationTime = Double.NaN;
this.odometer.set(currentOdometer);
if (getOperationalPlan().getAcceleration(Duration.ZERO).si < -10
&& getOperationalPlan().getSpeed(Duration.ZERO).si > 2.5)
{
SimLogger.always().error("(getOperationalPlan().getAcceleration(Duration.ZERO).si < -10)");
// this.tacticalPlanner.generateOperationalPlan(now, fromLocation);
}
// TODO allow alignment at different intervals, also different between GTU's within a single simulation
if (ALIGNED && newOperationalPlan.getTotalDuration().si == 0.5)
{
// schedule the next move at exactly 0.5 seconds on the clock
// store the event, so it can be cancelled in case the plan has to be interrupted and changed halfway
double tNext = Math.floor(2.0 * now.si + 1.0) / 2.0;
DirectedPoint p = (tNext - now.si < 0.5) ? newOperationalPlan.getEndLocation()
: newOperationalPlan.getLocation(new Duration(tNext - now.si, DurationUnit.SI));
this.nextMoveEvent =
new SimEvent<>(new SimTimeDoubleUnit(new Time(tNext, TimeUnit.BASE)), this, this, "move", new Object[] {p});
ALIGN_COUNT++;
}
else
{
// schedule the next move at the end of the current operational plan
// store the event, so it can be cancelled in case the plan has to be interrupted and changed halfway
this.nextMoveEvent = new SimEvent<>(new SimTimeDoubleUnit(now.plus(newOperationalPlan.getTotalDuration())), this,
this, "move", new Object[] {newOperationalPlan.getEndLocation()});
}
this.simulator.scheduleEvent(this.nextMoveEvent);
fireTimedEvent(GTU.MOVE_EVENT, new Object[] {getId(), fromLocation, getSpeed(), getAcceleration(), getOdometer()},
this.simulator.getSimulatorTime());
}
/**
* Interrupt the move and ask for a new plan. This method can be overridden to carry out the bookkeeping needed when the
* current plan gets interrupted.
* @throws OperationalPlanException when there was a problem retrieving the location from the running plan
* @throws SimRuntimeException when scheduling of the next move fails
* @throws OperationalPlanException when there is a problem creating a good path for the GTU
* @throws GTUException when there is a problem with the state of the GTU when planning a path
* @throws NetworkException in case of a problem with the network, e.g., unreachability of a certain point
* @throws ParameterException when there is a problem with a parameter
*/
@SuppressWarnings("checkstyle:designforextension")
protected void interruptMove()
throws SimRuntimeException, OperationalPlanException, GTUException, NetworkException, ParameterException
{
this.simulator.cancelEvent(this.nextMoveEvent);
move(this.operationalPlan.get().getLocation(this.simulator.getSimulatorTime()));
}
/** {@inheritDoc} */
@Override
public final String getId()
{
return this.id;
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public GTUType getGTUType()
{
return this.gtuType;
}
/** {@inheritDoc} */
@Override
public final RelativePosition getReference()
{
return RelativePosition.REFERENCE_POSITION;
}
/** {@inheritDoc} */
@Override
public final OTSSimulatorInterface getSimulator()
{
return this.simulator;
}
/** {@inheritDoc} */
@Override
public final Parameters getParameters()
{
return this.parameters;
}
/** {@inheritDoc} */
@Override
public final void setParameters(final Parameters parameters)
{
this.parameters = parameters;
}
/** {@inheritDoc} */
@Override
public StrategicalPlanner getStrategicalPlanner()
{
return this.strategicalPlanner.get();
}
/** {@inheritDoc} */
@Override
public StrategicalPlanner getStrategicalPlanner(final Time time)
{
return this.strategicalPlanner.get(time);
}
/** {@inheritDoc} */
@Override
public final OperationalPlan getOperationalPlan()
{
return this.operationalPlan.get();
}
/** {@inheritDoc} */
@Override
public final OperationalPlan getOperationalPlan(final Time time)
{
return this.operationalPlan.get(time);
}
/** {@inheritDoc} */
@Override
public final Length getOdometer()
{
return getOdometer(this.simulator.getSimulatorTime());
}
/** {@inheritDoc} */
@Override
public final Length getOdometer(final Time time)
{
if (getOperationalPlan(time) == null)
{
return this.odometer.get(time);
}
try
{
return this.odometer.get(time).plus(getOperationalPlan(time).getTraveledDistance(time));
}
catch (OperationalPlanException ope)
{
return this.odometer.get(time);
}
}
/** {@inheritDoc} */
@Override
public final Speed getSpeed()
{
return getSpeed(this.simulator.getSimulatorTime());
}
/** {@inheritDoc} */
@Override
public final Speed getSpeed(final Time time)
{
if (this.cachedSpeedTime != time.si)
{
this.cachedSpeedTime = time.si;
OperationalPlan plan = getOperationalPlan(time);
if (plan == null)
{
this.cachedSpeed = Speed.ZERO;
}
else if (time.si < plan.getStartTime().si)
{
this.cachedSpeed = plan.getStartSpeed();
}
else if (time.si > plan.getEndTime().si)
{
if (time.si - plan.getEndTime().si < 1e-6)
{
this.cachedSpeed = Try.assign(() -> plan.getSpeed(plan.getEndTime()),
"getSpeed() could not derive a valid speed for the current operationalPlan");
}
else
{
throw new IllegalStateException("Requesting speed value beyond plan.");
}
}
else
{
this.cachedSpeed = Try.assign(() -> plan.getSpeed(time),
"getSpeed() could not derive a valid speed for the current operationalPlan");
}
}
return this.cachedSpeed;
}
/** {@inheritDoc} */
@Override
public final Acceleration getAcceleration()
{
return getAcceleration(this.simulator.getSimulatorTime());
}
/** {@inheritDoc} */
@Override
public final Acceleration getAcceleration(final Time time)
{
if (this.cachedAccelerationTime != time.si)
{
this.cachedAccelerationTime = time.si;
OperationalPlan plan = getOperationalPlan(time);
if (plan == null)
{
this.cachedAcceleration = Acceleration.ZERO;
}
else if (time.si < plan.getStartTime().si)
{
this.cachedAcceleration =
Try.assign(() -> plan.getAcceleration(plan.getStartTime()), "Exception obtaining acceleration.");
}
else if (time.si > plan.getEndTime().si)
{
if (time.si - plan.getEndTime().si < 1e-6)
{
this.cachedAcceleration = Try.assign(() -> plan.getAcceleration(plan.getEndTime()),
"getAcceleration() could not derive a valid acceleration for the current operationalPlan");
}
else
{
throw new IllegalStateException("Requesting acceleration value beyond plan.");
}
}
else
{
this.cachedAcceleration = Try.assign(() -> plan.getAcceleration(time),
"getAcceleration() could not derive a valid acceleration for the current operationalPlan");
}
}
return this.cachedAcceleration;
}
/**
* @return maximumAcceleration
*/
@Override
public final Acceleration getMaximumAcceleration()
{
return this.maximumAcceleration;
}
/**
* @param maximumAcceleration Acceleration; set maximumAcceleration
*/
public final void setMaximumAcceleration(final Acceleration maximumAcceleration)
{
if (maximumAcceleration.le(Acceleration.ZERO))
{
throw new RuntimeException("Maximum acceleration of GTU " + this.id + " set to value <= 0");
}
this.maximumAcceleration = maximumAcceleration;
}
/**
* @return maximumDeceleration
*/
@Override
public final Acceleration getMaximumDeceleration()
{
return this.maximumDeceleration;
}
/**
* @param maximumDeceleration Acceleration; set maximumDeceleration, stored as a negative number
*/
public final void setMaximumDeceleration(final Acceleration maximumDeceleration)
{
if (maximumDeceleration.ge(Acceleration.ZERO))
{
throw new RuntimeException("Maximum deceleration of GTU " + this.id + " set to value >= 0");
}
this.maximumDeceleration = maximumDeceleration;
}
/** cache time. */
private Time cacheLocationTime = new Time(Double.NaN, TimeUnit.BASE);
/** caced position at time. */
private DirectedPoint cacheLocation = null;
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public DirectedPoint getLocation()
{
if (this.operationalPlan.get() == null)
{
SimLogger.always()
.error("No operational plan for GTU " + this.id + " at t=" + this.getSimulator().getSimulatorTime());
return new DirectedPoint(0, 0, 0);
}
try
{
// cache
if (this.cacheLocationTime.si != this.simulator.getSimulatorTime().si)
{
this.cacheLocationTime = this.simulator.getSimulatorTime();
this.cacheLocation = this.operationalPlan.get().getLocation(this.cacheLocationTime);
}
return this.cacheLocation;
}
catch (OperationalPlanException exception)
{
return new DirectedPoint(0, 0, 0);
}
}
/** {@inheritDoc} */
@Override
public final boolean isDestroyed()
{
return this.destroyed;
}
/** {@inheritDoc} */
@Override
public PerceivableContext getPerceivableContext()
{
return this.perceivableContext;
}
/** {@inheritDoc} */
@Override
public void addGtu(final GTU gtu) throws GTUException
{
this.children.add(gtu);
gtu.setParent(this);
}
/** {@inheritDoc} */
@Override
public void removeGtu(final GTU gtu)
{
this.children.remove(gtu);
try
{
gtu.setParent(null);
}
catch (GTUException exception)
{
// cannot happen, setting null is always ok
}
}
/** {@inheritDoc} */
@Override
public void setParent(final GTU gtu) throws GTUException
{
Throw.when(gtu != null && this.parent != null, GTUException.class, "GTU %s already has a parent.", this);
this.parent = gtu;
}
/** {@inheritDoc} */
@Override
public GTU getParent()
{
return this.parent;
}
/** {@inheritDoc} */
@Override
public Set<GTU> getChildren()
{
return new LinkedHashSet<>(this.children); // safe copy
}
/**
* Note that destroying the next move event of the GTU can be dangerous!
* @return nextMoveEvent the next move event of the GTU, e.g. to cancel it from outside.
*/
public final SimEvent<SimTimeDoubleUnit> getNextMoveEvent()
{
return this.nextMoveEvent;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings("designforextension")
public int hashCode()
{
final int prime = 31;
int result = 1;
result = prime * result + ((this.id == null) ? 0 : this.id.hashCode());
result = prime * result + this.uniqueNumber;
return result;
}
/** {@inheritDoc} */
@Override
@SuppressWarnings({"designforextension", "needbraces"})
public boolean equals(final Object obj)
{
if (this == obj)
return true;
if (obj == null)
return false;
if (getClass() != obj.getClass())
return false;
AbstractGTU other = (AbstractGTU) obj;
if (this.id == null)
{
if (other.id != null)
return false;
}
else if (!this.id.equals(other.id))
return false;
if (this.uniqueNumber != other.uniqueNumber)
return false;
return true;
}
}