MultiLanePerceptionIterable.java
- package org.opentrafficsim.road.gtu.lane.perception;
- import java.util.Iterator;
- import java.util.LinkedHashMap;
- import java.util.Map;
- import java.util.NoSuchElementException;
- import java.util.SortedMap;
- import java.util.TreeMap;
- import org.djunits.value.vdouble.scalar.Length;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.core.gtu.GTUException;
- import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
- import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
- /**
- * Iterable class to search over multiple lanes.
- * <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 20 feb. 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>
- * @param <H> headway type
- * @param <U> underlying headway type
- */
- public class MultiLanePerceptionIterable<H extends Headway, U> extends AbstractPerceptionReiterable<H, U>
- {
- /** Set of iterators per lane. */
- private final Map<RelativeLane, Iterator<PrimaryIteratorEntry>> iterators = new LinkedHashMap<>();
- /** Map of lane per object. */
- private final Map<U, RelativeLane> laneMap = new LinkedHashMap<>();
- /** Map of iterable per lane. */
- private final Map<RelativeLane, AbstractPerceptionReiterable<H, U>> iterables = new LinkedHashMap<>();
- /**
- * Constructor.
- * @param perceivingGtu LaneBasedGTU; perceiving GTU
- */
- public MultiLanePerceptionIterable(final LaneBasedGTU perceivingGtu)
- {
- super(perceivingGtu);
- }
- /**
- * Adds an iterable for a lane.
- * @param lane RelativeLane; lane
- * @param iterable AbstractPerceptionReiterable<H, U>; iterable
- */
- public void addIterable(final RelativeLane lane, final AbstractPerceptionReiterable<H, U> iterable)
- {
- this.iterators.put(lane, iterable.getPrimaryIterator());
- this.iterables.put(lane, iterable);
- }
- /** {@inheritDoc} */
- @Override
- public Iterator<PrimaryIteratorEntry> primaryIterator()
- {
- return new MultiLaneIterator();
- }
- /**
- * Iterator that returns the closest element from a set of lanes.
- * <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 21 feb. 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 MultiLaneIterator implements Iterator<PrimaryIteratorEntry>
- {
- /** Sorted elements per lane. */
- private SortedMap<PrimaryIteratorEntry, RelativeLane> elements;
- /** Constructor. */
- MultiLaneIterator()
- {
- //
- }
- /** {@inheritDoc} */
- @Override
- public boolean hasNext()
- {
- assureNext();
- return !this.elements.isEmpty();
- }
- /** {@inheritDoc} */
- @SuppressWarnings("synthetic-access")
- @Override
- public PrimaryIteratorEntry next()
- {
- assureNext();
- if (this.elements.isEmpty())
- {
- throw new NoSuchElementException();
- }
- // get and remove next
- PrimaryIteratorEntry next = this.elements.firstKey();
- RelativeLane lane = this.elements.get(next);
- this.elements.remove(next);
- // prepare next
- Iterator<PrimaryIteratorEntry> laneIterator = MultiLanePerceptionIterable.this.iterators.get(lane);
- if (laneIterator != null)
- {
- if (laneIterator.hasNext())
- {
- this.elements.put(laneIterator.next(), lane);
- }
- else
- {
- // remove it, it has no more elements to offer
- MultiLanePerceptionIterable.this.iterators.remove(lane);
- }
- }
- MultiLanePerceptionIterable.this.laneMap.put(next.getObject(), lane);
- return next;
- }
- /**
- * Starts the process.
- */
- @SuppressWarnings("synthetic-access")
- public void assureNext()
- {
- if (this.elements == null)
- {
- this.elements = new TreeMap<>();
- for (RelativeLane lane : MultiLanePerceptionIterable.this.iterators.keySet())
- {
- Iterator<PrimaryIteratorEntry> laneIterator = MultiLanePerceptionIterable.this.iterators.get(lane);
- if (laneIterator.hasNext())
- {
- this.elements.put(laneIterator.next(), lane);
- }
- }
- }
- }
- }
- /** {@inheritDoc} */
- @Override
- public H perceive(final LaneBasedGTU perceivingGtu, final U object, final Length distance)
- throws GTUException, ParameterException
- {
- return this.iterables.get(this.laneMap.get(object)).perceive(perceivingGtu, object, distance);
- }
- }