Gtu.java
package org.opentrafficsim.core.gtu;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.LinkedHashMap;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
import org.djunits.unit.DirectionUnit;
import org.djunits.unit.DurationUnit;
import org.djunits.unit.PositionUnit;
import org.djunits.unit.TimeUnit;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Direction;
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.djunits.value.vdouble.vector.PositionVector;
import org.djutils.base.Identifiable;
import org.djutils.draw.line.Polygon2d;
import org.djutils.draw.point.OrientedPoint2d;
import org.djutils.draw.point.Point2d;
import org.djutils.event.EventType;
import org.djutils.event.LocalEventProducer;
import org.djutils.exceptions.Throw;
import org.djutils.exceptions.Try;
import org.djutils.immutablecollections.Immutable;
import org.djutils.immutablecollections.ImmutableHashSet;
import org.djutils.immutablecollections.ImmutableLinkedHashMap;
import org.djutils.immutablecollections.ImmutableMap;
import org.djutils.immutablecollections.ImmutableSet;
import org.djutils.metadata.MetaData;
import org.djutils.metadata.ObjectDescriptor;
import org.opentrafficsim.base.HierarchicallyTyped;
import org.opentrafficsim.base.geometry.BoundingRectangle;
import org.opentrafficsim.base.geometry.OtsBounds2d;
import org.opentrafficsim.base.geometry.OtsLocatable;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.core.DynamicSpatialObject;
import org.opentrafficsim.core.animation.Drawable;
import org.opentrafficsim.core.dsol.OtsSimulatorInterface;
import org.opentrafficsim.core.geometry.OtsGeometryException;
import org.opentrafficsim.core.geometry.OtsLine2d;
import org.opentrafficsim.core.gtu.RelativePosition.Type;
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.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;
/**
* Implements the basic functionalities of any GTU: the ability to move on 3D-space according to a plan.
* <p>
* Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
* @author <a href="https://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
*/
public class Gtu extends LocalEventProducer
implements HierarchicallyTyped<GtuType, Gtu>, DynamicSpatialObject, OtsLocatable, Serializable, Identifiable, Drawable
{
/** */
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. */
private final Historical<OperationalPlan> operationalPlan;
/** The next move event as scheduled on the simulator, can be used for interrupting the current move. */
private SimEvent<Duration> 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<>();
/** Error handler. */
private GtuErrorHandler errorHandler = GtuErrorHandler.THROW;
/** shape of the Gtu contour. */
private Polygon2d shape = null;
/** Sensing positions. */
private final Map<RelativePosition.Type, RelativePosition> relativePositions = new LinkedHashMap<>();
/** cached front. */
private final RelativePosition frontPos;
/** cached rear. */
private final RelativePosition rearPos;
/** contour points. */
private final Set<RelativePosition> contourPoints = new LinkedHashSet<>();
/** The maximum length of the GTU (parallel with driving direction). */
private final Length length;
/** The maximum width of the GTU (perpendicular to driving direction). */
private final Length width;
/** The maximum speed of the GTU (in the driving direction). */
private final Speed maximumSpeed;
/** Tags of the GTU, these are used for specific use cases of any sort. */
private final Map<String, String> tags = new LinkedHashMap<>();
/** Bounds. */
private OtsBounds2d bounds;
/**
* @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
* @param length Length; the maximum length of the GTU (parallel with driving direction)
* @param width Length; the maximum width of the GTU (perpendicular to driving direction)
* @param maximumSpeed Speed;the maximum speed of the GTU (in the driving direction)
* @param front Length; front distance relative to the reference position
* @param centerOfGravity Length; distance from the center of gravity to the reference position
* @throws GtuException when the preconditions of the constructor are not met
*/
@SuppressWarnings("checkstyle:parameternumber")
public Gtu(final String id, final GtuType gtuType, final OtsSimulatorInterface simulator,
final PerceivableContext perceivableContext, final Length length, final Length width, final Speed maximumSpeed,
final Length front, final Length centerOfGravity) 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);
this.length = length;
this.width = width;
if (null == maximumSpeed)
{
throw new GtuException("maximumSpeed may not be null");
}
this.maximumSpeed = maximumSpeed;
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);
// sensor positions.
Length dy2 = width.times(0.5);
this.frontPos = new RelativePosition(front, Length.ZERO, Length.ZERO, RelativePosition.FRONT);
this.relativePositions.put(RelativePosition.FRONT, this.frontPos);
this.rearPos = new RelativePosition(front.minus(length), Length.ZERO, Length.ZERO, RelativePosition.REAR);
this.relativePositions.put(RelativePosition.REAR, this.rearPos);
this.relativePositions.put(RelativePosition.REFERENCE, RelativePosition.REFERENCE_POSITION);
this.relativePositions.put(RelativePosition.CENTER,
new RelativePosition(Length.ZERO, Length.ZERO, Length.ZERO, RelativePosition.CENTER));
this.bounds = new BoundingRectangle(getRear().dx().si, getFront().dx().si, -dy2.si, dy2.si);
// Contour positions. For now, a rectangle with the four corners.
for (int i = -1; i <= 1; i += 2)
{
Length x = i < 0 ? front.minus(length) : front;
for (int j = -1; j <= 1; j += 2)
{
this.contourPoints.add(new RelativePosition(x, dy2.times(j), Length.ZERO, RelativePosition.CONTOUR));
}
}
}
/**
* 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 OrientedPoint2d; 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 OrientedPoint2d 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), 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());
try
{
move(initialLocation);
}
catch (OperationalPlanException | NetworkException | ParameterException exception)
{
throw new GtuException("Failed to create OperationalPlan for GTU " + this.id, exception);
}
}
/** @return the front position of the GTU, relative to its reference point. */
public final RelativePosition getFront()
{
return this.frontPos;
}
/** @return the rear position of the GTU, relative to its reference point. */
public final RelativePosition getRear()
{
return this.rearPos;
}
/** @return the center position of the GTU, relative to its reference point. */
public final RelativePosition getCenter()
{
return this.relativePositions.get(RelativePosition.CENTER);
}
/** @return the positions for this GTU, but not the contour points. */
public final ImmutableMap<Type, RelativePosition> getRelativePositions()
{
return new ImmutableLinkedHashMap<>(this.relativePositions, Immutable.WRAP);
}
/** @return the contour points of the GTU. */
public final ImmutableSet<RelativePosition> getContourPoints()
{
return new ImmutableHashSet<>(this.contourPoints, Immutable.WRAP);
}
/** @return the maximum length of the GTU (parallel with driving direction). */
public final Length getLength()
{
return this.length;
}
/** @return the maximum width of the GTU (perpendicular to driving direction). */
public final Length getWidth()
{
return this.width;
}
/** @return the maximum speed of the GTU, in the direction of movement. */
public final Speed getMaximumSpeed()
{
return this.maximumSpeed;
}
/** {@inheritDoc} */
@Override
public final OtsBounds2d getBounds()
{
// TODO: inconsistent with reference point, this is just half width/length
return this.bounds;
}
/**
* Destructor. Don't forget to call with super.destroy() from any override to avoid memory leaks in the network.
*/
@SuppressWarnings("checkstyle:designforextension")
public void destroy()
{
OrientedPoint2d location = getLocation();
fireTimedEvent(Gtu.DESTROY_EVENT,
new Object[] {getId(), new PositionVector(new double[] {location.x, location.y}, PositionUnit.METER),
new Direction(location.getDirZ(), DirectionUnit.EAST_RADIAN), 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 OrientedPoint2d; the last known location (initial location, or end location of the previous
* operational plan)
* @return boolean; whether an exception occurred
* @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 boolean move(final OrientedPoint2d fromLocation)
throws SimRuntimeException, OperationalPlanException, GtuException, NetworkException, ParameterException
{
try
{
Time now = this.simulator.getSimulatorAbsTime();
// 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);
}
synchronized (this)
{
tactPlanner.getPerception().perceive();
}
OperationalPlan newOperationalPlan = tactPlanner.generateOperationalPlan(now, fromLocation);
synchronized (this)
{
this.operationalPlan.set(newOperationalPlan);
this.cachedSpeedTime = Double.NaN;
this.cachedAccelerationTime = Double.NaN;
this.odometer.set(currentOdometer);
}
// 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;
OrientedPoint2d p = (tNext - now.si < 0.5) ? newOperationalPlan.getEndLocation()
: newOperationalPlan.getLocation(new Duration(tNext - now.si, DurationUnit.SI));
this.nextMoveEvent =
new SimEvent<Duration>(new Duration(tNext - getSimulator().getStartTimeAbs().si, DurationUnit.SI), 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<>(now.plus(newOperationalPlan.getTotalDuration()).minus(getSimulator().getStartTimeAbs()),
this, "move", new Object[] {newOperationalPlan.getEndLocation()});
}
this.simulator.scheduleEvent(this.nextMoveEvent);
fireTimedEvent(Gtu.MOVE_EVENT,
new Object[] {getId(),
new PositionVector(new double[] {fromLocation.x, fromLocation.y}, PositionUnit.METER),
new Direction(fromLocation.getDirZ(), DirectionUnit.EAST_RADIAN), getSpeed(), getAcceleration(),
getOdometer()},
this.simulator.getSimulatorTime());
return false;
}
catch (Exception ex)
{
try
{
this.errorHandler.handle(this, ex);
}
catch (Exception exception)
{
throw new GtuException(exception);
}
return true;
}
}
/**
* 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.getSimulatorAbsTime()));
}
/** @return the id of the GTU */
@Override
public final String getId()
{
return this.id;
}
/**
* Sets a tag, these are used for specific use cases of any sort.
* @param tag String; name of the tag.
* @param value String; value of the tag.
*/
public void setTag(final String tag, final String value)
{
this.tags.put(tag, value);
}
/**
* Returns the value for the given tag, these are used for specific use cases of any sort.
* @param tag String; name of the tag.
* @return String; value of the tag, or {@code null} if it is not given to the GTU.
*/
public String getTag(final String tag)
{
return this.tags.get(tag);
}
/** {@inheritDoc} */
@SuppressWarnings("checkstyle:designforextension")
@Override
public GtuType getType()
{
return this.gtuType;
}
/** @return the reference position of the GTU, by definition (0, 0, 0). */
public final RelativePosition getReference()
{
return RelativePosition.REFERENCE_POSITION;
}
/** @return the simulator of the GTU. */
public final OtsSimulatorInterface getSimulator()
{
return this.simulator;
}
/** @return Parameters. */
public final Parameters getParameters()
{
return this.parameters;
}
/** @param parameters Parameters; parameters */
public final void setParameters(final Parameters parameters)
{
this.parameters = parameters;
}
/**
* @return StrategicalPlanner; the 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.
*/
public StrategicalPlanner getStrategicalPlanner()
{
return this.strategicalPlanner.get();
}
/**
* @param time Time; time to obtain the strategical planner at
* @return StrategicalPlanner; the 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.
*/
public StrategicalPlanner getStrategicalPlanner(final Time time)
{
return this.strategicalPlanner.get(time);
}
/** @return TacticalPlanner; the current tactical planner that can generate an operational plan */
public TacticalPlanner<?, ?> getTacticalPlanner()
{
return getStrategicalPlanner().getTacticalPlanner();
}
/**
* @param time Time; time to obtain the tactical planner at
* @return TacticalPlanner; the tactical planner that can generate an operational plan at the given time
*/
public TacticalPlanner<?, ?> getTacticalPlanner(final Time time)
{
return getStrategicalPlanner(time).getTacticalPlanner(time);
}
/** @return the current operational plan for the GTU */
public final OperationalPlan getOperationalPlan()
{
return this.operationalPlan.get();
}
/**
* @param time Time; time to obtain the operational plan at
* @return the operational plan for the GTU at the given time.
*/
public final OperationalPlan getOperationalPlan(final Time time)
{
return this.operationalPlan.get(time);
}
/**
* Set the operational plan. This method is for sub classes.
* @param operationalPlan OperationalPlan; operational plan.
*/
protected void setOperationalPlan(final OperationalPlan operationalPlan)
{
this.operationalPlan.set(operationalPlan);
}
/**
* @return Length; the current odometer value.
*/
public final Length getOdometer()
{
return getOdometer(this.simulator.getSimulatorAbsTime());
}
/**
* @param time Time; time to obtain the odometer at
* @return Length; the odometer value at given time.
*/
public final Length getOdometer(final Time time)
{
synchronized (this)
{
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);
}
}
}
/** @return the current speed of the GTU, along the direction of movement. */
public final Speed getSpeed()
{
synchronized (this)
{
return getSpeed(this.simulator.getSimulatorAbsTime());
}
}
/**
* @param time Time; time at which to obtain the speed
* @return the current speed of the GTU, along the direction of movement.
*/
public final Speed getSpeed(final Time time)
{
synchronized (this)
{
if (this.cachedSpeedTime != time.si)
{
// Invalidate everything
this.cachedSpeedTime = Double.NaN;
this.cachedSpeed = null;
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");
}
this.cachedSpeedTime = time.si; // Do this last
}
return this.cachedSpeed;
}
}
/** @return the current acceleration of the GTU, along the direction of movement. */
public final Acceleration getAcceleration()
{
synchronized (this)
{
return getAcceleration(this.simulator.getSimulatorAbsTime());
}
}
/**
* @param time Time; time at which to obtain the acceleration
* @return the current acceleration of the GTU, along the direction of movement.
*/
public final Acceleration getAcceleration(final Time time)
{
synchronized (this)
{
if (this.cachedAccelerationTime != time.si)
{
// Invalidate everything
this.cachedAccelerationTime = Double.NaN;
this.cachedAcceleration = null;
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");
}
this.cachedAccelerationTime = time.si;
}
return this.cachedAcceleration;
}
}
/**
* @return maximumAcceleration
*/
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
*/
public final Acceleration getMaximumDeceleration()
{
return this.maximumDeceleration;
}
/**
* Set the maximum deceleration.
* @param maximumDeceleration Acceleration; set maximumDeceleration, must be a negative number
*/
public final void setMaximumDeceleration(final Acceleration maximumDeceleration)
{
if (maximumDeceleration.ge(Acceleration.ZERO))
{
throw new RuntimeException("Cannot set maximum deceleration of GTU " + this.id + " to " + maximumDeceleration
+ " (value must be negative)");
}
this.maximumDeceleration = maximumDeceleration;
}
/** Cache location time. */
private Time cacheLocationTime = new Time(Double.NaN, TimeUnit.DEFAULT);
/** Cached location at that time. */
private OrientedPoint2d cacheLocation = null;
/** {@inheritDoc} */
@Override
@SuppressWarnings("checkstyle:designforextension")
public OrientedPoint2d getLocation()
{
synchronized (this)
{
if (this.operationalPlan.get() == null)
{
this.simulator.getLogger().always()
.error("No operational plan for GTU " + this.id + " at t=" + this.getSimulator().getSimulatorTime());
return new OrientedPoint2d(0, 0, 0); // Do not cache it
}
try
{
// cache
Time locationTime = this.simulator.getSimulatorAbsTime();
if (null == this.cacheLocationTime || this.cacheLocationTime.si != locationTime.si)
{
this.cacheLocationTime = null;
this.cacheLocation = this.operationalPlan.get().getLocation(locationTime);
this.cacheLocationTime = locationTime;
}
return this.cacheLocation;
}
catch (OperationalPlanException exception)
{
return new OrientedPoint2d(0, 0, 0);
}
}
}
/**
* Return the shape of a dynamic object at time 'time'. Note that the getShape() method without a time returns the Minkowski
* sum of all shapes of the spatial object for a validity time window, e.g., a contour that describes all locations of a GTU
* for the next time step, i.e., the contour of the GTU belonging to the next operational plan.
* @param time Time; the time for which we want the shape
* @return OtsShape; the shape of the object at time 'time'
*/
@Override
public Polygon2d getShape(final Time time)
{
try
{
if (this.shape == null)
{
double w = getWidth().si;
double l = getLength().si;
this.shape = new Polygon2d(new Point2d(-0.5 * l, -0.5 * w), new Point2d(-0.5 * l, 0.5 * w),
new Point2d(0.5 * l, 0.5 * w), new Point2d(0.5 * l, -0.5 * w));
}
Polygon2d s = transformShape(this.shape, this.operationalPlan.get(time).getLocation(time));
System.out.println("gtu " + getId() + ", shape(t)=" + s);
return s;
}
catch (OtsGeometryException | OperationalPlanException exception)
{
throw new RuntimeException(exception);
}
}
/**
* Return the shape of the GTU for the validity time of the operational plan. Note that this method without a time returns
* the Minkowski sum of all shapes of the spatial object for a validity time window, e.g., a contour that describes all
* locations of a GTU for the next time step, i.e., the contour of the GTU belonging to the next operational plan.
* @return OtsShape; the shape of the object over the validity of the operational plan
*/
@Override
public Polygon2d getShape()
{
try
{
// TODO: the actual contour of the GTU has to be moved over the path
OtsLine2d path = this.operationalPlan.get().getPath();
// part of the Gtu length has to be added before the start and after the end of the path.
// we assume the reference point is within the contour of the Gtu.
double rear = Math.max(0.0, getReference().dx().si - getRear().dx().si);
double front = path.getLength().si + Math.max(0.0, getFront().dx().si - getReference().dx().si);
Point2d p0 = path.getLocationExtendedSI(-rear);
Point2d pn = path.getLocationExtendedSI(front);
List<Point2d> pList = new ArrayList<>(Arrays.asList(path.getPoints()));
pList.add(0, p0);
pList.add(pn);
OtsLine2d extendedPath = new OtsLine2d(pList);
List<Point2d> swath = new ArrayList<>();
swath.addAll(Arrays.asList(extendedPath.offsetLine(getWidth().si / 2.0).getPoints()));
swath.addAll(Arrays.asList(extendedPath.offsetLine(-getWidth().si / 2.0).reverse().getPoints()));
Polygon2d s = new Polygon2d(swath);
// System.out.println("gtu " + getId() + ", w=" + getWidth() + ", path="
// + this.operationalPlan.get().getPath().toString() + ", shape=" + s);
return s;
}
catch (Exception e)
{
throw new RuntimeException(e);
}
}
/**
* Returns whether the GTU is destroyed.
* @return whether the GTU is destroyed
*/
public final boolean isDestroyed()
{
return this.destroyed;
}
/** @return the context to which the GTU belongs */
public PerceivableContext getPerceivableContext()
{
return this.perceivableContext;
}
/**
* Adds the provided GTU to this GTU, meaning it moves with this GTU.
* @param gtu Gtu; gtu to enter this GTU
* @throws GtuException if the gtu already has a parent
*/
public void addGtu(final Gtu gtu) throws GtuException
{
this.children.add(gtu);
gtu.setParent(this);
}
/**
* Removes the provided GTU from this GTU, meaning it no longer moves with this GTU.
* @param gtu Gtu; gtu to exit this GTU
*/
public void removeGtu(final Gtu gtu)
{
this.children.remove(gtu);
try
{
gtu.setParent(null);
}
catch (GtuException exception)
{
// cannot happen, setting null is always ok
}
}
/**
* Set the parent GTU.
* @param gtu Gtu; parent GTU, may be {@code null}
* @throws GtuException if the gtu already has a parent
*/
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;
}
/**
* Returns the parent GTU, or {@code null} if this GTU has no parent.
* @return Gtu; parent GTU, or {@code null} if this GTU has no parent
*/
public Gtu getParent()
{
return this.parent;
}
/**
* Returns the children GTU's.
* @return Set<GTU>; children GTU's
*/
public Set<Gtu> getChildren()
{
return new LinkedHashSet<>(this.children); // safe copy
}
/**
* @return errorHandler.
*/
protected GtuErrorHandler getErrorHandler()
{
return this.errorHandler;
}
/**
* Sets the error handler.
* @param errorHandler GTUErrorHandler; error handler
*/
public void setErrorHandler(final GtuErrorHandler errorHandler)
{
this.errorHandler = errorHandler;
}
/**
* 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<Duration> 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;
Gtu other = (Gtu) 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;
}
/**
* The event type for pub/sub indicating a move. <br>
* Payload: [String id, DirectedPoint position, Speed speed, Acceleration acceleration, Length odometer]
*/
public static EventType MOVE_EVENT = new EventType("GTU.MOVE",
new MetaData("GTU move", "GTU id, position, speed, acceleration, odometer",
new ObjectDescriptor[] {new ObjectDescriptor("Id", "GTU Id", String.class),
new ObjectDescriptor("position", "position", PositionVector.class),
new ObjectDescriptor("direction", "direction", Direction.class),
new ObjectDescriptor("speed", "speed", Speed.class),
new ObjectDescriptor("acceleration", "acceleration", Acceleration.class),
new ObjectDescriptor("Odometer", "Total distance travelled since incarnation", Length.class)}));
/**
* The event type for pub/sub indicating destruction of the GTU. <br>
* Payload: [String id, DirectedPoint lastPosition, Length odometer]
*/
public static EventType DESTROY_EVENT = new EventType("GTU.DESTROY",
new MetaData("GTU destroy", "GTU id, final position, final odometer",
new ObjectDescriptor[] {new ObjectDescriptor("Id", "GTU Id", String.class),
new ObjectDescriptor("position", "position", PositionVector.class),
new ObjectDescriptor("direction", "direction", Direction.class),
new ObjectDescriptor("Odometer", "Total distance travelled since incarnation", Length.class)}));
}