TrajectoryPlot.java
package org.opentrafficsim.draw.graphs;
import java.awt.BasicStroke;
import java.awt.Color;
import java.awt.Paint;
import java.awt.Shape;
import java.awt.Stroke;
import java.awt.geom.CubicCurve2D;
import java.awt.geom.Line2D;
import java.util.ArrayList;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.Map;
import org.djunits.value.vdouble.scalar.Duration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Time;
import org.djutils.exceptions.Try;
import org.jfree.chart.JFreeChart;
import org.jfree.chart.LegendItem;
import org.jfree.chart.LegendItemCollection;
import org.jfree.chart.axis.NumberAxis;
import org.jfree.chart.entity.EntityCollection;
import org.jfree.chart.entity.XYItemEntity;
import org.jfree.chart.labels.XYToolTipGenerator;
import org.jfree.chart.plot.XYPlot;
import org.jfree.chart.renderer.xy.XYLineAndShapeRenderer;
import org.jfree.data.DomainOrder;
import org.jfree.data.xy.XYDataset;
import org.opentrafficsim.core.animation.gtu.colorer.IDGTUColorer;
import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
import org.opentrafficsim.draw.core.BoundsPaintScale;
import org.opentrafficsim.draw.graphs.GraphPath.Section;
import org.opentrafficsim.kpi.sampling.KpiLaneDirection;
import org.opentrafficsim.kpi.sampling.Sampler;
import org.opentrafficsim.kpi.sampling.SamplingException;
import org.opentrafficsim.kpi.sampling.Trajectory;
import org.opentrafficsim.kpi.sampling.TrajectoryGroup;
/**
* Plot of trajectories along a path.
* <p>
* Copyright (c) 2013-2020 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/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version 13 okt. 2018 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
public class TrajectoryPlot extends AbstractSamplerPlot implements XYDataset
{
/** Single shape to provide due to non-null requirement, but actually not used. */
private static final Shape NO_SHAPE = new Line2D.Float(0, 0, 0, 0);
/** Color map. */
private static final Color[] COLORMAP;
/** Strokes. */
private static final BasicStroke[] STROKES;
/** Shape for the legend entries to draw the line over. */
private static final Shape LEGEND_LINE = new CubicCurve2D.Float(-20, 7, -10, -7, 0, 7, 20, -7);
/** Updater for update times. */
private final GraphUpdater<Time> graphUpdater;
/** Counter of the number of trajectories imported per lane. */
private final Map<KpiLaneDirection, Integer> knownTrajectories = new LinkedHashMap<>();
/** Per lane, mapping from series rank number to trajectory. */
private List<List<OffsetTrajectory>> curves = new ArrayList<>();
/** Stroke per series. */
private List<List<Stroke>> strokes = new ArrayList<>();
/** Number of curves per lane. This may be less than the length of {@code List<OffsetTrajectory>} due to concurrency. */
private List<Integer> curvesPerLane = new ArrayList<>();
/** Legend to change text color to indicate visibility. */
private LegendItemCollection legend;
/** Whether each lane is visible or not. */
private final List<Boolean> laneVisible = new ArrayList<>();
static
{
Color[] c = BoundsPaintScale.hue(6);
COLORMAP = new Color[] {c[0], c[4], c[2], c[1], c[3], c[5]};
float lw = 0.4f;
STROKES = new BasicStroke[] {new BasicStroke(lw, BasicStroke.CAP_SQUARE, BasicStroke.JOIN_MITER, 10.0f, null, 0.0f),
new BasicStroke(lw, BasicStroke.CAP_SQUARE, BasicStroke.JOIN_MITER, 1.0f, new float[] {13f, 4f}, 0.0f),
new BasicStroke(lw, BasicStroke.CAP_SQUARE, BasicStroke.JOIN_MITER, 1.0f, new float[] {11f, 3f, 2f, 3f}, 0.0f)};
}
/**
* Constructor.
* @param caption String; caption
* @param updateInterval Duration; regular update interval (simulation time)
* @param simulator OTSSimulatorInterface; simulator
* @param sampler Sampler<?>; road sampler
* @param path GraphPath<KpiLaneDirection>; path
*/
public TrajectoryPlot(final String caption, final Duration updateInterval, final OTSSimulatorInterface simulator,
final Sampler<?> sampler, final GraphPath<KpiLaneDirection> path)
{
super(caption, updateInterval, simulator, sampler, path, Duration.ZERO);
for (int i = 0; i < path.getNumberOfSeries(); i++)
{
this.curves.add(new ArrayList<>());
this.strokes.add(new ArrayList<>());
this.curvesPerLane.add(0);
this.laneVisible.add(true);
}
setChart(createChart());
// setup updater to do the actual work in another thread
this.graphUpdater = new GraphUpdater<>("Trajectories worker", Thread.currentThread(), (t) ->
{
for (Section<KpiLaneDirection> section : path.getSections())
{
Length startDistance = path.getStartDistance(section);
for (int i = 0; i < path.getNumberOfSeries(); i++)
{
KpiLaneDirection lane = section.getSource(i);
TrajectoryGroup<?> trajectoryGroup = getSampler().getTrajectoryGroup(lane);
int from = this.knownTrajectories.getOrDefault(lane, 0);
int to = trajectoryGroup.size();
double scaleFactor = section.getLength().si / lane.getLaneData().getLength().si;
for (Trajectory<?> trajectory : trajectoryGroup.getTrajectories().subList(from, to))
{
if (getPath().getNumberOfSeries() > 1)
{
// assign a stroke with random offset, otherwise it will look artificial
BasicStroke stroke = STROKES[i % STROKES.length];
if (stroke.getDashArray() != null)
{
float dashLength = 0.0f;
for (float d : stroke.getDashArray())
{
dashLength += d;
}
stroke = new BasicStroke(stroke.getLineWidth(), stroke.getEndCap(), stroke.getLineJoin(),
stroke.getMiterLimit(), stroke.getDashArray(), (float) (Math.random() * dashLength));
}
this.strokes.get(i).add(stroke);
}
this.curves.get(i).add(
new OffsetTrajectory(trajectory, startDistance, scaleFactor, lane.getLaneData().getLength()));
}
this.knownTrajectories.put(lane, to);
}
}
});
}
/**
* Create a chart.
* @return JFreeChart; chart
*/
private JFreeChart createChart()
{
NumberAxis xAxis = new NumberAxis("Time [s] \u2192");
NumberAxis yAxis = new NumberAxis("Distance [m] \u2192");
XYLineAndShapeRendererID renderer = new XYLineAndShapeRendererID();
XYPlot plot = new XYPlot(this, xAxis, yAxis, renderer);
boolean showLegend;
if (getPath().getNumberOfSeries() < 2)
{
plot.setFixedLegendItems(null);
showLegend = false;
}
else
{
this.legend = new LegendItemCollection();
for (int i = 0; i < getPath().getNumberOfSeries(); i++)
{
LegendItem li = new LegendItem(getPath().getName(i));
li.setSeriesKey(i); // lane series, not curve series
li.setShape(STROKES[i & STROKES.length].createStrokedShape(LEGEND_LINE));
li.setFillPaint(COLORMAP[i % COLORMAP.length]);
this.legend.add(li);
}
plot.setFixedLegendItems(this.legend);
showLegend = true;
}
return new JFreeChart(getCaption(), JFreeChart.DEFAULT_TITLE_FONT, plot, showLegend);
}
/** {@inheritDoc} */
@Override
public GraphType getGraphType()
{
return GraphType.TRAJECTORY;
}
/** {@inheritDoc} */
@Override
public String getStatusLabel(final double domainValue, final double rangeValue)
{
return String.format("time %.0fs, distance %.0fm", domainValue, rangeValue);
}
/** {@inheritDoc} */
@Override
protected void increaseTime(final Time time)
{
if (this.graphUpdater != null) // null during construction
{
this.graphUpdater.offer(time);
}
}
/** {@inheritDoc} */
@Override
public int getSeriesCount()
{
int n = 0;
for (int i = 0; i < this.curves.size(); i++)
{
List<OffsetTrajectory> list = this.curves.get(i);
int m = list.size();
this.curvesPerLane.set(i, m);
n += m;
}
return n;
}
/** {@inheritDoc} */
@Override
public Comparable<Integer> getSeriesKey(final int series)
{
return series;
}
/** {@inheritDoc} */
@SuppressWarnings("rawtypes")
@Override
public int indexOf(final Comparable seriesKey)
{
return 0;
}
/** {@inheritDoc} */
@Override
public DomainOrder getDomainOrder()
{
return DomainOrder.ASCENDING;
}
/** {@inheritDoc} */
@Override
public int getItemCount(final int series)
{
OffsetTrajectory trajectory = getTrajectory(series);
return trajectory == null ? 0 : trajectory.size();
}
/** {@inheritDoc} */
@Override
public Number getX(final int series, final int item)
{
return getXValue(series, item);
}
/** {@inheritDoc} */
@Override
public double getXValue(final int series, final int item)
{
return getTrajectory(series).getT(item);
}
/** {@inheritDoc} */
@Override
public Number getY(final int series, final int item)
{
return getYValue(series, item);
}
/** {@inheritDoc} */
@Override
public double getYValue(final int series, final int item)
{
return getTrajectory(series).getX(item);
}
/**
* Get the trajectory of the series number.
* @param series int; series
* @return OffsetTrajectory; trajectory of the series number
*/
private OffsetTrajectory getTrajectory(final int series)
{
int[] n = getLaneAndSeriesNumber(series);
return this.curves.get(n[0]).get(n[1]);
}
/**
* Returns the lane number, and series number within the lane data.
* @param series int; overall series number
* @return int[]; lane number, and series number within the lane data
*/
private int[] getLaneAndSeriesNumber(final int series)
{
int n = series;
for (int i = 0; i < this.curves.size(); i++)
{
int m = this.curvesPerLane.get(i);
if (n < m)
{
return new int[] {i, n};
}
n -= m;
}
throw new RuntimeException("Discrepancy between series number and available data.");
}
/**
* Extension of a line renderer to select a color based on GTU ID, and to overrule an unused shape to save memory.
* <p>
* Copyright (c) 2013-2020 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/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version 14 okt. 2018 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
private final class XYLineAndShapeRendererID extends XYLineAndShapeRenderer
{
/** */
private static final long serialVersionUID = 20181014L;
/**
* Constructor.
*/
XYLineAndShapeRendererID()
{
super(false, true);
setDefaultLinesVisible(true);
setDefaultShapesVisible(false);
setDrawSeriesLineAsPath(true);
}
/** {@inheritDoc} */
@SuppressWarnings("synthetic-access")
@Override
public boolean isSeriesVisible(final int series)
{
int[] n = getLaneAndSeriesNumber(series);
return TrajectoryPlot.this.laneVisible.get(n[0]);
}
/** {@inheritDoc} */
@SuppressWarnings("synthetic-access")
@Override
public Stroke getSeriesStroke(final int series)
{
if (TrajectoryPlot.this.curves.size() == 1)
{
return STROKES[0];
}
int[] n = getLaneAndSeriesNumber(series);
return TrajectoryPlot.this.strokes.get(n[0]).get(n[1]);
}
/** {@inheritDoc} */
@SuppressWarnings("synthetic-access")
@Override
public Paint getSeriesPaint(final int series)
{
if (TrajectoryPlot.this.curves.size() == 1)
{
String gtuId = getTrajectory(series).getGtuId();
for (int pos = gtuId.length(); --pos >= 0;)
{
Character c = gtuId.charAt(pos);
if (Character.isDigit(c))
{
return IDGTUColorer.LEGEND.get(c - '0').getColor();
}
}
}
int[] n = getLaneAndSeriesNumber(series);
return COLORMAP[n[0] % COLORMAP.length];
}
/**
* {@inheritDoc} Largely based on the super implementation, but returns a dummy shape for markers to save memory and as
* markers are not used.
*/
@SuppressWarnings("synthetic-access")
@Override
protected void addEntity(final EntityCollection entities, final Shape hotspot, final XYDataset dataset,
final int series, final int item, final double entityX, final double entityY)
{
if (!getItemCreateEntity(series, item))
{
return;
}
// if not hotspot is provided, we create a default based on the
// provided data coordinates (which are already in Java2D space)
Shape hotspot2 = hotspot == null ? NO_SHAPE : hotspot;
String tip = null;
XYToolTipGenerator generator = getToolTipGenerator(series, item);
if (generator != null)
{
tip = generator.generateToolTip(dataset, series, item);
}
String url = null;
if (getURLGenerator() != null)
{
url = getURLGenerator().generateURL(dataset, series, item);
}
XYItemEntity entity = new XYItemEntity(hotspot2, dataset, series, item, tip, url);
entities.add(entity);
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "XYLineAndShapeRendererID []";
}
}
/**
* Class containing a trajectory with an offset. Takes care of bits that are before and beyond the lane without affecting
* the trajectory itself.
* <p>
* Copyright (c) 2013-2020 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/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version 14 okt. 2018 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
private class OffsetTrajectory
{
/** The trajectory. */
private final Trajectory<?> trajectory;
/** The offset. */
private final double offset;
/** Scale factor for space dimension. */
private final double scaleFactor;
/** First index of the trajectory to include, possibly cutting some measurements before the lane. */
private int first;
/** Size of the trajectory to consider starting at first, possibly cutting some measurements beyond the lane. */
private int size;
/** Length of the lane to determine {@code size}. */
private final Length laneLength;
/**
* Construct a new TrajectoryAndLengthOffset object.
* @param trajectory Trajectory<?>; the trajectory
* @param offset Length; the length from the beginning of the sampled path to the start of the lane to which the
* trajectory belongs
* @param scaleFactor double; scale factor for space dimension
* @param laneLength Length; length of the lane
*/
OffsetTrajectory(final Trajectory<?> trajectory, final Length offset, final double scaleFactor, final Length laneLength)
{
this.trajectory = trajectory;
this.offset = offset.si;
this.scaleFactor = scaleFactor;
this.laneLength = laneLength;
}
/**
* Returns the number of measurements in the trajectory.
* @return int; number of measurements in the trajectory
*/
public final int size()
{
// as trajectories grow, this calculation needs to be done on each request
try
{
/*
* Note on overlap:
*
* Suppose a GTU crosses a lane boundary producing the following events, where distance e->| is the front, and
* |->l is the tail, relative to the reference point of the GTU.
* @formatter:off
* ------------------------------------------- o) regular move event
* o e o o | l o o e) lane enter event on next lane
* ------------------------------------------- l) lane leave event on previous lane
* o o o (l) measurements on previous lane
* (e) (o) (o) o o measurements on next lane
* @formatter:on
* Trajectories of a particular GTU are not explicitly tied together. Not only would this involve quite some
* work, it is also impossible to distinguish a lane change near the start or end of a lane, from moving
* longitudinally on to the next lane. The basic idea to minimize overlap is to remove all positions on the
* previous lane beyond the lane length, and all negative positions on the next lane, i.e. all between ( ). This
* would however create a gap at the lane boundary '|'. Allowing one event beyond the lane length may still
* result in a gap, l->o in this case. Allowing one event before the lane would work in this case, but 'e' could
* also fall between an 'o' and '|'. At one trajectory it is thus not known whether the other trajectory
* continues from, or is continued from, the extra point. Hence we require an extra point before the lane and
* one beyond the lane to assure there is no gap. The resulting overlap can be as large as a move, but this is
* better than occasional gaps.
*/
int f = 0;
while (f < this.trajectory.size() - 1 && this.trajectory.getX(f + 1) < 0.0)
{
f++;
}
this.first = f;
int s = this.trajectory.size() - 1;
while (s > 1 && this.trajectory.getX(s - 1) > this.laneLength.si)
{
s--;
}
this.size = s - f + 1;
}
catch (SamplingException exception)
{
throw new RuntimeException("Unexpected exception while obtaining location value from trajectory for plotting.",
exception);
}
return this.size;
}
/**
* Returns the location, including offset, of an item.
* @param item int; item (sample) number
* @return double; location, including offset, of an item
*/
public final double getX(final int item)
{
return Try.assign(() -> this.offset + this.trajectory.getX(this.first + item) * this.scaleFactor,
"Unexpected exception while obtaining location value from trajectory for plotting.");
}
/**
* Returns the time of an item.
* @param item int; item (sample) number
* @return double; time of an item
*/
public final double getT(final int item)
{
return Try.assign(() -> (double) this.trajectory.getT(this.first + item),
"Unexpected exception while obtaining time value from trajectory for plotting.");
}
/**
* Returns the ID of the GTU of this trajectory.
* @return String; the ID of the GTU of this trajectory
*/
public final String getGtuId()
{
return this.trajectory.getGtuId();
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "OffsetTrajectory [trajectory=" + this.trajectory + ", offset=" + this.offset + "]";
}
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "TrajectoryPlot [graphUpdater=" + this.graphUpdater + ", knownTrajectories=" + this.knownTrajectories
+ ", curves=" + this.curves + ", strokes=" + this.strokes + ", curvesPerLane=" + this.curvesPerLane
+ ", legend=" + this.legend + ", laneVisible=" + this.laneVisible + "]";
}
/**
* Retrieve the legend.
* @return LegendItemCollection; the legend
*/
public LegendItemCollection getLegend()
{
return legend;
}
/**
* Retrieve the lane visibility flags.
* @return List<Boolean>; the lane visibility flags
*/
public List<Boolean> getLaneVisible()
{
return laneVisible;
}
}