public int CompareTo(object obj)
{
if (obj is ArbiterUserPartition)
{
ArbiterUserPartition aup = (ArbiterUserPartition)obj;
if (this.InitialGeneric is ArbiterWaypoint)
{
return(-1);
}
else if (aup.InitialGeneric is ArbiterWaypoint)
{
return(1);
}
else
{
ArbiterUserWaypoint auw1 = (ArbiterUserWaypoint)this.InitialGeneric;
ArbiterUserWaypoint auw2 = (ArbiterUserWaypoint)aup.InitialGeneric;
return(auw1.WaypointId.Number.CompareTo(auw2.WaypointId.Number));
}
}
else
{
return(-1);
}
}
public void InsertUserWaypoint(Coordinates c)
{
if (this.Partition is ArbiterLanePartition)
{
ArbiterLanePartition alp = (ArbiterLanePartition)this.Partition;
ArbiterUserWaypoint final = null;
if (this.InitialGeneric is ArbiterUserWaypoint)
{
ArbiterUserWaypoint auw = (ArbiterUserWaypoint)this.InitialGeneric;
ArbiterUserWaypointId auwi = new ArbiterUserWaypointId(auw.WaypointId.Number + 1, this.Partition.ConnectionId);
final = new ArbiterUserWaypoint(c, auwi, this.Partition);
}
else
{
ArbiterUserWaypointId auwi = new ArbiterUserWaypointId(1, this.Partition.ConnectionId);
final = new ArbiterUserWaypoint(c, auwi, this.Partition);
}
foreach (ArbiterUserWaypoint aup in alp.UserWaypoints)
{
if (aup.WaypointId.Number >= final.WaypointId.Number)
aup.WaypointId.Number++;
}
ArbiterUserPartition aup1 = new ArbiterUserPartition(
new ArbiterUserPartitionId(this.Partition.ConnectionId, this.InitialGeneric.GenericId, final.WaypointId),
this.Partition, this.InitialGeneric, final);
aup1.FinalGeneric = final;
aup1.InitialGeneric = this.InitialGeneric;
final.Previous = aup1;
if (aup1.InitialGeneric is ArbiterUserWaypoint)
((ArbiterUserWaypoint)aup1.InitialGeneric).Next = aup1;
ArbiterUserPartition aup2 = new ArbiterUserPartition(
new ArbiterUserPartitionId(this.Partition.ConnectionId, final.WaypointId, this.FinalGeneric.GenericId),
this.Partition, final, this.FinalGeneric);
aup2.InitialGeneric = final;
aup2.FinalGeneric = this.FinalGeneric;
final.Next = aup2;
if (aup2.FinalGeneric is ArbiterUserWaypoint)
((ArbiterUserWaypoint)aup2.FinalGeneric).Previous = aup2;
alp.UserPartitions.Remove(this);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Remove(this);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Add(final);
alp.UserWaypoints.Add(final);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Add(aup1);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Add(aup2);
alp.UserPartitions.Add(aup1);
alp.UserPartitions.Add(aup2);
alp.UserPartitions.Sort();
alp.Lane.ReformPath();
}
}
/// <summary>
/// Generates the xySegments into segments and inputs them into the input road network
/// </summary>
/// <param name="arn"></param>
/// <returns></returns>
public ArbiterRoadNetwork GenerateSegments(ArbiterRoadNetwork arn)
{
foreach (SimpleSegment ss in segments)
{
// seg
ArbiterSegmentId asi = new ArbiterSegmentId(int.Parse(ss.Id));
ArbiterSegment asg = new ArbiterSegment(asi);
arn.ArbiterSegments.Add(asi, asg);
asg.RoadNetwork = arn;
asg.SpeedLimits = new ArbiterSpeedLimit();
asg.SpeedLimits.MaximumSpeed = 13.4112; // 30mph max speed
// way1
ArbiterWayId awi1 = new ArbiterWayId(1, asi);
ArbiterWay aw1 = new ArbiterWay(awi1);
aw1.Segment = asg;
asg.Ways.Add(awi1, aw1);
asg.Way1 = aw1;
// way2
ArbiterWayId awi2 = new ArbiterWayId(2, asi);
ArbiterWay aw2 = new ArbiterWay(awi2);
aw2.Segment = asg;
asg.Ways.Add(awi2, aw2);
asg.Way2 = aw2;
// make lanes
foreach (SimpleLane sl in ss.Lanes)
{
// lane
ArbiterLaneId ali;
ArbiterLane al;
// get way of lane id
if (ss.Way1Lanes.Contains(sl))
{
ali = new ArbiterLaneId(GenerationTools.GetId(sl.Id)[1], awi1);
al = new ArbiterLane(ali);
aw1.Lanes.Add(ali, al);
al.Way = aw1;
}
else
{
ali = new ArbiterLaneId(GenerationTools.GetId(sl.Id)[1], awi2);
al = new ArbiterLane(ali);
aw2.Lanes.Add(ali, al);
al.Way = aw2;
}
// add to display
arn.DisplayObjects.Add(al);
// width
al.Width = sl.LaneWidth == 0 ? TahoeParams.T * 2.0 : sl.LaneWidth * 0.3048;
if (sl.LaneWidth == 0)
{
Console.WriteLine("lane: " + ali.ToString() + " contains no lane width, setting to 4m");
}
// lane boundaries
al.BoundaryLeft = this.GenerateLaneBoundary(sl.LeftBound);
al.BoundaryRight = this.GenerateLaneBoundary(sl.RightBound);
// add lane to seg
asg.Lanes.Add(ali, al);
// waypoints
List <ArbiterWaypoint> waypointList = new List <ArbiterWaypoint>();
// generate waypoints
foreach (SimpleWaypoint sw in sl.Waypoints)
{
// waypoint
ArbiterWaypointId awi = new ArbiterWaypointId(GenerationTools.GetId(sw.ID)[2], ali);
ArbiterWaypoint aw = new ArbiterWaypoint(sw.Position, awi);
aw.Lane = al;
// stop
if (sl.Stops.Contains(sw.ID))
{
aw.IsStop = true;
}
// checkpoint
foreach (SimpleCheckpoint sc in sl.Checkpoints)
{
if (sw.ID == sc.WaypointId)
{
aw.IsCheckpoint = true;
aw.CheckpointId = int.Parse(sc.CheckpointId);
arn.Checkpoints.Add(aw.CheckpointId, aw);
}
}
// add
asg.Waypoints.Add(awi, aw);
arn.ArbiterWaypoints.Add(awi, aw);
al.Waypoints.Add(awi, aw);
waypointList.Add(aw);
arn.DisplayObjects.Add(aw);
arn.LegacyWaypointLookup.Add(sw.ID, aw);
}
al.WaypointList = waypointList;
// lane partitions
List <ArbiterLanePartition> alps = new List <ArbiterLanePartition>();
al.Partitions = alps;
// generate lane partitions
for (int i = 0; i < waypointList.Count - 1; i++)
{
// create lane partition
ArbiterLanePartitionId alpi = new ArbiterLanePartitionId(waypointList[i].WaypointId, waypointList[i + 1].WaypointId, ali);
ArbiterLanePartition alp = new ArbiterLanePartition(alpi, waypointList[i], waypointList[i + 1], asg);
alp.Lane = al;
waypointList[i].NextPartition = alp;
waypointList[i + 1].PreviousPartition = alp;
alps.Add(alp);
arn.DisplayObjects.Add(alp);
// crete initial user partition
ArbiterUserPartitionId aupi = new ArbiterUserPartitionId(alp.PartitionId, waypointList[i].WaypointId, waypointList[i + 1].WaypointId);
ArbiterUserPartition aup = new ArbiterUserPartition(aupi, alp, waypointList[i], waypointList[i + 1]);
List <ArbiterUserPartition> aups = new List <ArbiterUserPartition>();
aups.Add(aup);
alp.UserPartitions = aups;
alp.SetDefaultSparsePolygon();
arn.DisplayObjects.Add(aup);
}
// path segments of lane
List <IPathSegment> ips = new List <IPathSegment>();
List <Coordinates> pathSegments = new List <Coordinates>();
pathSegments.Add(alps[0].Initial.Position);
// loop
foreach (ArbiterLanePartition alPar in alps)
{
ips.Add(new LinePathSegment(alPar.Initial.Position, alPar.Final.Position));
// make new segment
pathSegments.Add(alPar.Final.Position);
}
// generate lane partition path
LinePath partitionPath = new LinePath(pathSegments);
al.SetLanePath(partitionPath);
al.PartitionPath = new Path(ips, CoordinateMode.AbsoluteProjected);
// safeto zones
foreach (ArbiterWaypoint aw in al.Waypoints.Values)
{
if (aw.IsStop)
{
LinePath.PointOnPath end = al.GetClosestPoint(aw.Position);
double dist = -30;
LinePath.PointOnPath begin = al.LanePath().AdvancePoint(end, ref dist);
if (dist != 0)
{
begin = al.LanePath().StartPoint;
}
ArbiterSafetyZone asz = new ArbiterSafetyZone(al, end, begin);
asz.isExit = true;
asz.Exit = aw;
al.SafetyZones.Add(asz);
arn.DisplayObjects.Add(asz);
arn.ArbiterSafetyZones.Add(asz);
}
}
}
}
return(arn);
}
/// <summary>
/// Generates the xySegments into segments and inputs them into the input road network
/// </summary>
/// <param name="arn"></param>
/// <returns></returns>
public ArbiterRoadNetwork GenerateSegments(ArbiterRoadNetwork arn)
{
foreach (SimpleSegment ss in segments)
{
// seg
ArbiterSegmentId asi = new ArbiterSegmentId(int.Parse(ss.Id));
ArbiterSegment asg = new ArbiterSegment(asi);
arn.ArbiterSegments.Add(asi, asg);
asg.RoadNetwork = arn;
asg.SpeedLimits = new ArbiterSpeedLimit();
asg.SpeedLimits.MaximumSpeed = 13.4112; // 30mph max speed
// way1
ArbiterWayId awi1 = new ArbiterWayId(1, asi);
ArbiterWay aw1 = new ArbiterWay(awi1);
aw1.Segment = asg;
asg.Ways.Add(awi1, aw1);
asg.Way1 = aw1;
// way2
ArbiterWayId awi2 = new ArbiterWayId(2, asi);
ArbiterWay aw2 = new ArbiterWay(awi2);
aw2.Segment = asg;
asg.Ways.Add(awi2, aw2);
asg.Way2 = aw2;
// make lanes
foreach (SimpleLane sl in ss.Lanes)
{
// lane
ArbiterLaneId ali;
ArbiterLane al;
// get way of lane id
if (ss.Way1Lanes.Contains(sl))
{
ali = new ArbiterLaneId(GenerationTools.GetId(sl.Id)[1], awi1);
al = new ArbiterLane(ali);
aw1.Lanes.Add(ali, al);
al.Way = aw1;
}
else
{
ali = new ArbiterLaneId(GenerationTools.GetId(sl.Id)[1], awi2);
al = new ArbiterLane(ali);
aw2.Lanes.Add(ali, al);
al.Way = aw2;
}
// add to display
arn.DisplayObjects.Add(al);
// width
al.Width = sl.LaneWidth == 0 ? TahoeParams.T * 2.0 : sl.LaneWidth * 0.3048;
if(sl.LaneWidth == 0)
Console.WriteLine("lane: " + ali.ToString() + " contains no lane width, setting to 4m");
// lane boundaries
al.BoundaryLeft = this.GenerateLaneBoundary(sl.LeftBound);
al.BoundaryRight = this.GenerateLaneBoundary(sl.RightBound);
// add lane to seg
asg.Lanes.Add(ali, al);
// waypoints
List<ArbiterWaypoint> waypointList = new List<ArbiterWaypoint>();
// generate waypoints
foreach (SimpleWaypoint sw in sl.Waypoints)
{
// waypoint
ArbiterWaypointId awi = new ArbiterWaypointId(GenerationTools.GetId(sw.ID)[2], ali);
ArbiterWaypoint aw = new ArbiterWaypoint(sw.Position, awi);
aw.Lane = al;
// stop
if (sl.Stops.Contains(sw.ID))
{
aw.IsStop = true;
}
// checkpoint
foreach (SimpleCheckpoint sc in sl.Checkpoints)
{
if (sw.ID == sc.WaypointId)
{
aw.IsCheckpoint = true;
aw.CheckpointId = int.Parse(sc.CheckpointId);
arn.Checkpoints.Add(aw.CheckpointId, aw);
}
}
// add
asg.Waypoints.Add(awi, aw);
arn.ArbiterWaypoints.Add(awi, aw);
al.Waypoints.Add(awi, aw);
waypointList.Add(aw);
arn.DisplayObjects.Add(aw);
arn.LegacyWaypointLookup.Add(sw.ID, aw);
}
al.WaypointList = waypointList;
// lane partitions
List<ArbiterLanePartition> alps = new List<ArbiterLanePartition>();
al.Partitions = alps;
// generate lane partitions
for (int i = 0; i < waypointList.Count-1; i++)
{
// create lane partition
ArbiterLanePartitionId alpi = new ArbiterLanePartitionId(waypointList[i].WaypointId, waypointList[i + 1].WaypointId, ali);
ArbiterLanePartition alp = new ArbiterLanePartition(alpi, waypointList[i], waypointList[i+1], asg);
alp.Lane = al;
waypointList[i].NextPartition = alp;
waypointList[i + 1].PreviousPartition = alp;
alps.Add(alp);
arn.DisplayObjects.Add(alp);
// crete initial user partition
ArbiterUserPartitionId aupi = new ArbiterUserPartitionId(alp.PartitionId, waypointList[i].WaypointId, waypointList[i + 1].WaypointId);
ArbiterUserPartition aup = new ArbiterUserPartition(aupi, alp, waypointList[i], waypointList[i + 1]);
List<ArbiterUserPartition> aups = new List<ArbiterUserPartition>();
aups.Add(aup);
alp.UserPartitions = aups;
alp.SetDefaultSparsePolygon();
arn.DisplayObjects.Add(aup);
}
// path segments of lane
List<IPathSegment> ips = new List<IPathSegment>();
List<Coordinates> pathSegments = new List<Coordinates>();
pathSegments.Add(alps[0].Initial.Position);
// loop
foreach(ArbiterLanePartition alPar in alps)
{
ips.Add(new LinePathSegment(alPar.Initial.Position, alPar.Final.Position));
// make new segment
pathSegments.Add(alPar.Final.Position);
}
// generate lane partition path
LinePath partitionPath = new LinePath(pathSegments);
al.SetLanePath(partitionPath);
al.PartitionPath = new Path(ips, CoordinateMode.AbsoluteProjected);
// safeto zones
foreach (ArbiterWaypoint aw in al.Waypoints.Values)
{
if(aw.IsStop)
{
LinePath.PointOnPath end = al.GetClosestPoint(aw.Position);
double dist = -30;
LinePath.PointOnPath begin = al.LanePath().AdvancePoint(end, ref dist);
if (dist != 0)
{
begin = al.LanePath().StartPoint;
}
ArbiterSafetyZone asz = new ArbiterSafetyZone(al, end, begin);
asz.isExit = true;
asz.Exit = aw;
al.SafetyZones.Add(asz);
arn.DisplayObjects.Add(asz);
arn.ArbiterSafetyZones.Add(asz);
}
}
}
}
return arn;
}
public void InsertUserWaypoint(Coordinates c)
{
if (this.Partition is ArbiterLanePartition)
{
ArbiterLanePartition alp = (ArbiterLanePartition)this.Partition;
ArbiterUserWaypoint final = null;
if (this.InitialGeneric is ArbiterUserWaypoint)
{
ArbiterUserWaypoint auw = (ArbiterUserWaypoint)this.InitialGeneric;
ArbiterUserWaypointId auwi = new ArbiterUserWaypointId(auw.WaypointId.Number + 1, this.Partition.ConnectionId);
final = new ArbiterUserWaypoint(c, auwi, this.Partition);
}
else
{
ArbiterUserWaypointId auwi = new ArbiterUserWaypointId(1, this.Partition.ConnectionId);
final = new ArbiterUserWaypoint(c, auwi, this.Partition);
}
foreach (ArbiterUserWaypoint aup in alp.UserWaypoints)
{
if (aup.WaypointId.Number >= final.WaypointId.Number)
{
aup.WaypointId.Number++;
}
}
ArbiterUserPartition aup1 = new ArbiterUserPartition(
new ArbiterUserPartitionId(this.Partition.ConnectionId, this.InitialGeneric.GenericId, final.WaypointId),
this.Partition, this.InitialGeneric, final);
aup1.FinalGeneric = final;
aup1.InitialGeneric = this.InitialGeneric;
final.Previous = aup1;
if (aup1.InitialGeneric is ArbiterUserWaypoint)
{
((ArbiterUserWaypoint)aup1.InitialGeneric).Next = aup1;
}
ArbiterUserPartition aup2 = new ArbiterUserPartition(
new ArbiterUserPartitionId(this.Partition.ConnectionId, final.WaypointId, this.FinalGeneric.GenericId),
this.Partition, final, this.FinalGeneric);
aup2.InitialGeneric = final;
aup2.FinalGeneric = this.FinalGeneric;
final.Next = aup2;
if (aup2.FinalGeneric is ArbiterUserWaypoint)
{
((ArbiterUserWaypoint)aup2.FinalGeneric).Previous = aup2;
}
alp.UserPartitions.Remove(this);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Remove(this);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Add(final);
alp.UserWaypoints.Add(final);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Add(aup1);
alp.Lane.Way.Segment.RoadNetwork.DisplayObjects.Add(aup2);
alp.UserPartitions.Add(aup1);
alp.UserPartitions.Add(aup2);
alp.UserPartitions.Sort();
alp.Lane.ReformPath();
}
}
