1 package org.opentrafficsim.road.gtu.lane.perception;
2
3 import java.util.Optional;
4
5 import org.opentrafficsim.base.parameters.ParameterException;
6 import org.opentrafficsim.base.parameters.ParameterTypeLength;
7 import org.opentrafficsim.base.parameters.ParameterTypes;
8 import org.opentrafficsim.core.gtu.GtuException;
9 import org.opentrafficsim.core.gtu.perception.AbstractPerception;
10 import org.opentrafficsim.core.network.NetworkException;
11 import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
12 import org.opentrafficsim.road.gtu.lane.perception.mental.Mental;
13 import org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure;
14
15 /**
16 * The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which
17 * includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a
18 * limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be
19 * recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception. <br>
20 * Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU),
21 * parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as
22 * to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending
23 * lanes.
24 * <p>
25 * This class allows {@code PerceptionCategory}s that are either eager or lazy. All categories will have the {@code updateAll}
26 * method invoked prior to an operational plan being determined. Categories may ignore this and instead evaluate results only
27 * when the tactical planner requests them.
28 * <p>
29 * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
30 * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
31 * </p>
32 * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
33 * @author <a href="https://github.com/peter-knoppers">Peter Knoppers</a>
34 * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
35 */
36 public class CategoricalLanePerception extends AbstractPerception<LaneBasedGtu> implements LanePerception
37 {
38
39 /** Look ahead parameter type. */
40 protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
41
42 /** Look back parameter type. */
43 protected static final ParameterTypeLength LOOKBACK = ParameterTypes.LOOKBACK;
44
45 /** Lane structure. */
46 private LaneStructure laneStructure = null;
47
48 /** Mental module. */
49 private Mental mental;
50
51 /**
52 * Create a new LanePerception module without mental module.
53 * @param gtu GTU
54 */
55 public CategoricalLanePerception(final LaneBasedGtu gtu)
56 {
57 super(gtu);
58 this.mental = null;
59 }
60
61 /**
62 * Create a new LanePerception module with mental module.
63 * @param gtu GTU
64 * @param mental mental module
65 */
66 public CategoricalLanePerception(final LaneBasedGtu gtu, final Mental mental)
67 {
68 super(gtu);
69 this.mental = mental;
70 }
71
72 @Override
73 public final LaneStructure getLaneStructure() throws ParameterException
74 {
75 if (this.laneStructure == null)
76 {
77 this.laneStructure = new LaneStructure(getGtu(), getGtu().getParameters().getParameter(LOOKBACK),
78 getGtu().getParameters().getParameter(LOOKAHEAD));
79 }
80 return this.laneStructure;
81 }
82
83 @Override
84 public Optional<Mental> getMental()
85 {
86 return Optional.ofNullable(this.mental);
87 }
88
89 @Override
90 public void perceive() throws GtuException, NetworkException, ParameterException
91 {
92 if (this.mental != null)
93 {
94 this.mental.apply(this);
95 }
96 }
97
98 }