private TurnBehavior DefaultTurnBehavior(IConnectAreaWaypoints icaw)
{
#region Determine Behavior to Accomplish Turn
// get interconnect
ArbiterInterconnect ai = icaw.ToInterconnect;
// behavior we wish to accomplish
TurnBehavior testTurnBehavior = null;
TurnState testTurnState = null;
#region Turn to Lane
if (ai.FinalGeneric is ArbiterWaypoint)
{
// get final wp
ArbiterWaypoint finalWaypoint = (ArbiterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.TurnInfo(finalWaypoint, out finalPath, out leftLL, out rightLL);
// go into turn
testTurnState = new TurnState(ai, ai.TurnDirection, finalWaypoint.Lane, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5));
}
#endregion
#region Turn to Zone
else
{
// final perimeter waypoint
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.ZoneTurnInfo(ai, apw, out finalPath, out leftLL, out rightLL);
// go into turn
testTurnState = new TurnState(ai, ai.TurnDirection, null, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5));
}
#endregion
// get behavior
testTurnBehavior = (TurnBehavior)testTurnState.Resume(CoreCommon.Communications.GetVehicleState(), CoreCommon.Communications.GetVehicleSpeed().Value);
testTurnBehavior.TimeStamp = CoreCommon.Communications.GetVehicleState().Timestamp;
// return the behavior
return testTurnBehavior;
#endregion
}
/// <summary>
/// Plan the maneuver
/// </summary>
/// <param name="planningState"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicleSpeed"></param>
/// <returns></returns>
public Maneuver Plan(IState planningState, VehicleState vehicleState, double vehicleSpeed, List<ITacticalBlockage> blockages, INavigationalPlan plan)
{
#region Encountered a Blockage
// something is blocked
if (CoreCommon.CorePlanningState is EncounteredBlockageState)
{
// cast blockage state
EncounteredBlockageState ebs = (EncounteredBlockageState)CoreCommon.CorePlanningState;
// get the saudi level
SAUDILevel saudi = ebs.Saudi;
// get the defcon level
BlockageRecoveryDEFCON defcon = ebs.Defcon;
#region Stay In Lane Blockage
if (ebs.PlanningState is StayInLaneState)
{
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, ebs.PlanningState, ebs.PlanningState, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
#region Supra Lane Blockage
else if (ebs.PlanningState is StayInSupraLaneState)
{
// get all supra lane info
StayInSupraLaneState sisls = (StayInSupraLaneState)ebs.PlanningState;
SupraLane sl = sisls.Lane;
// the closest component of the supra lane to us is the initial lane
if (sl.ClosestComponent(vehicleState.Front) == SLComponentType.Initial)
{
// get stay in lane state
StayInLaneState sils = new StayInLaneState(sl.Initial, CoreCommon.CorePlanningState);
ebs.PlanningState = sils;
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, sils, sils, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// check if closest part of the supra lane is the final lane
else if (sl.ClosestComponent(vehicleState.Front) == SLComponentType.Final)
{
// get stay in lane state
StayInLaneState sils = new StayInLaneState(sl.Final, CoreCommon.CorePlanningState);
ebs.PlanningState = sils;
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, sils, sils, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// the closest component of the supra lane to us is the interconnect otherwise
else
{
// get turn info
LinePath fP;
LineList lB;
LineList rB;
IntersectionToolkit.TurnInfo(((ArbiterWaypoint)sl.Interconnect.FinalGeneric), out fP, out lB, out rB);
// make sure to update the turn reasoning
this.tacticalUmbrella.intersectionTactical.TurnReasoning =
new TurnReasoning(sl.Interconnect, null);
// get turn state
TurnState ts = new TurnState(sl.Interconnect, sl.Interconnect.TurnDirection, sl.Final, fP, lB, rB, new ScalarSpeedCommand(sl.Interconnect.MaximumDefaultSpeed));
ebs.PlanningState = ts;
// get final lane state
StayInLaneState sils = new StayInLaneState(sl.Final, CoreCommon.CorePlanningState);
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, sils, ts, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Change Lanes Blockage
else if (ebs.PlanningState is ChangeLanesState)
{
// get lane change state
ChangeLanesState cls = (ChangeLanesState)ebs.PlanningState;
// figure out which lane we are closest to being inside
ArbiterLane goLane = cls.Parameters.Initial.LanePolygon.IsInside(vehicleState.Front) ?
cls.Parameters.Initial : cls.Parameters.Target;
// check if lane is oncoming
bool goLaneOncoming = cls.Parameters.Initial.LanePolygon.IsInside(vehicleState.Front) ?
cls.Parameters.InitialOncoming : cls.Parameters.TargetOncoming;
// normal
if (!goLaneOncoming)
{
// get lane state
StayInLaneState sils = new StayInLaneState(goLane, CoreCommon.CorePlanningState);
ebs.PlanningState = sils;
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, sils, sils, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// opposing
else
{
// get lane state
OpposingLanesState ols = new OpposingLanesState(goLane, true, CoreCommon.CorePlanningState, vehicleState);
ebs.PlanningState = ols;
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, ols, ols, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Turn Blockage
else if (ebs.PlanningState is TurnState)
{
// get turn state
TurnState ts = (TurnState)ebs.PlanningState;
// notify
ArbiterOutput.Output("Encountered turn blockage, entering blockage recovery state");
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, ts, ts, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new HoldBrakeBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
#region Opposing Lanes Blockage
else if (ebs.PlanningState is OpposingLanesState)
{
// get the recovery state
BlockageRecoveryState brs = new BlockageRecoveryState(null, ebs.PlanningState, ebs.PlanningState, defcon, ebs, BlockageRecoverySTATUS.ENCOUNTERED);
// set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
// return
return new Maneuver(new NullBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
#region Fallout
// plan through the blockage state
Maneuver final = new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
// return the final maneuver
return final;
#endregion
}
#endregion
#region Blockage Recovery State
// recover from blockages
else if (CoreCommon.CorePlanningState is BlockageRecoveryState)
{
// get the blockage recovery state
BlockageRecoveryState brs = (BlockageRecoveryState)CoreCommon.CorePlanningState;
#region Blockage Encountered
if (brs.RecoveryStatus == BlockageRecoverySTATUS.ENCOUNTERED)
{
// check encoutnered state for a turn
if (brs.EncounteredState.PlanningState is TurnState)
{
// reset timing
this.Reset();
// return the turn recovery maneuver
TurnState ts = (TurnState)brs.EncounteredState.PlanningState;
return this.TurnRecoveryManeuver(ts.Interconnect, vehicleState, vehicleSpeed, brs);
}
// check encountered state for a lane
else if (brs.EncounteredState.PlanningState is StayInLaneState)
{
// reset execution timer
ExecutionTimer.Stop();
ExecutionTimer.Reset();
// lane blockage recovery
bool fakeWait;
StayInLaneState sils = (StayInLaneState)brs.EncounteredState.PlanningState;
return this.LaneRecoveryManeuver(sils.Lane, vehicleState, vehicleSpeed,
plan, brs, false, out fakeWait);
}
// check encountered state for opposing lane
else if (brs.EncounteredState.PlanningState is OpposingLanesState)
{
// reset timing
this.Reset();
// reset timing
OpposingLanesState ols = (OpposingLanesState)brs.EncounteredState.PlanningState;
return this.OpposingLaneRecoveryManeuver(ols.OpposingLane, vehicleState, vehicleSpeed, plan, brs, false);
}
}
#endregion
#region Blockage Recovery Executing
else if (brs.RecoveryStatus == BlockageRecoverySTATUS.EXECUTING)
{
// reset uturn timer
uTurnTimer.Stop();
uTurnTimer.Reset();
// check if lane change
if (brs.RecoveryBehavior is ChangeLaneBehavior)
{
// reset timing
this.Reset();
// bypass
ArbiterOutput.Output("Executing behavior of type: " + brs.RecoveryBehavior.GetType().ToString() + ", waiting for completion");
return new Maneuver(brs.RecoveryBehavior, CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
// check execution timer
if (!ExecutionTimer.IsRunning)
{
ExecutionTimer.Stop();
ExecutionTimer.Reset();
ExecutionTimer.Start();
}
// check too long
if (ExecutionTimer.ElapsedMilliseconds / 1000.0 > 25)
{
// reset execution timer
ExecutionTimer.Stop();
ExecutionTimer.Reset();
// bypass
// notify
ArbiterOutput.Output("Blockage recovery execution timeout, bypassing to send hold brake");
try
{
CoreCommon.Communications.Execute(new HoldBrakeBehavior());
Thread.Sleep(100);
}
catch (Exception) { }
// notify
ArbiterOutput.Output("Blockage recovery execution timeout, resending behavior");
// resend recovery behavior
return new Maneuver(brs.RecoveryBehavior, CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// bypass
ArbiterOutput.Output("Executing behavior of type: " + brs.RecoveryBehavior.GetType().ToString() + ", Currently Sending Null Behavior, waiting for completion");
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Blockage Recovery Behavior Completed
else if (brs.RecoveryStatus == BlockageRecoverySTATUS.COMPLETED)
{
// reset timing
this.Reset();
// check encoutnered state for a turn
if (brs.EncounteredState.PlanningState is TurnState)
{
// return the turn recovery maneuver
TurnState ts = (TurnState)brs.EncounteredState.PlanningState;
return this.TurnRecoveryManeuver(ts.Interconnect, vehicleState, vehicleSpeed, brs);
}
// check lane state
else if (brs.EncounteredState.PlanningState is StayInLaneState)
{
// return the completion state
brs.RecoveryStatus = BlockageRecoverySTATUS.ENCOUNTERED;
return new Maneuver(new HoldBrakeBehavior(), brs.CompletionState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// check opposing
else if(brs.EncounteredState.PlanningState is OpposingLanesState)
{
// return the completion state
brs.RecoveryStatus = BlockageRecoverySTATUS.ENCOUNTERED;
return new Maneuver(new HoldBrakeBehavior(), brs.CompletionState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Fallout Of Recovery
// reset timing
this.Reset();
ArbiterOutput.Output("Fell out of blockage recovery state: recovery status: " + brs.RecoveryStatus.ToString());
return new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, brs.RecoveryBehavior != null ? brs.RecoveryBehavior.Decorators : TurnDecorators.NoDecorators, vehicleState.Timestamp);
#endregion
}
#endregion
#region Unknown
else
{
throw new Exception("Unknown blockage planning state type");
}
#endregion
}
/// <summary>
/// Plans what maneuer we should take next
/// </summary>
/// <param name="planningState"></param>
/// <param name="navigationalPlan"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicles"></param>
/// <param name="obstacles"></param>
/// <param name="blockage"></param>
/// <returns></returns>
public Maneuver Plan(IState planningState, INavigationalPlan navigationalPlan, VehicleState vehicleState,
SceneEstimatorTrackedClusterCollection vehicles, SceneEstimatorUntrackedClusterCollection obstacles, List<ITacticalBlockage> blockages)
{
#region Waiting At Intersection Exit
if (planningState is WaitingAtIntersectionExitState)
{
// state
WaitingAtIntersectionExitState waies = (WaitingAtIntersectionExitState)planningState;
// get intersection plan
IntersectionPlan ip = (IntersectionPlan)navigationalPlan;
// nullify turn reasoning
this.TurnReasoning = null;
#region Intersection Monitor Updates
// check correct intersection monitor
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(waies.exitWaypoint.AreaSubtypeWaypointId) &&
(IntersectionTactical.IntersectionMonitor == null ||
!IntersectionTactical.IntersectionMonitor.OurMonitor.Waypoint.Equals(waies.exitWaypoint)))
{
// create new intersection monitor
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
waies.exitWaypoint,
CoreCommon.RoadNetwork.IntersectionLookup[waies.exitWaypoint.AreaSubtypeWaypointId],
vehicleState,
ip.BestOption);
}
// update if exists
if (IntersectionTactical.IntersectionMonitor != null)
{
// update monitor
IntersectionTactical.IntersectionMonitor.Update(vehicleState);
// print current
ArbiterOutput.Output(IntersectionTactical.IntersectionMonitor.IntersectionStateString());
}
#endregion
#region Desired Behavior
// get best option from previously saved
IConnectAreaWaypoints icaw = null;
if (waies.desired != null)
{
ArbiterInterconnect tmpInterconnect = waies.desired;
if (waies.desired.InitialGeneric is ArbiterWaypoint)
{
ArbiterWaypoint init = (ArbiterWaypoint)waies.desired.InitialGeneric;
if (init.NextPartition != null && init.NextPartition.Final.Equals(tmpInterconnect.FinalGeneric))
icaw = init.NextPartition;
else
icaw = waies.desired;
}
else
icaw = waies.desired;
}
else
{
icaw = ip.BestOption;
waies.desired = icaw.ToInterconnect;
}
#endregion
#region Turn Feasibility Reasoning
// check uturn
if (waies.desired.TurnDirection == ArbiterTurnDirection.UTurn)
waies.turnTestState = TurnTestState.Completed;
// check already determined feasible
if (waies.turnTestState == TurnTestState.Unknown ||
waies.turnTestState == TurnTestState.Failed)
{
#region Determine Behavior to Accomplish Turn
// get default turn behavior
TurnBehavior testTurnBehavior = this.DefaultTurnBehavior(icaw);
// set saudi decorator
if (waies.saudi != SAUDILevel.None)
testTurnBehavior.Decorators.Add(new ShutUpAndDoItDecorator(waies.saudi));
// set to ignore all vehicles
testTurnBehavior.VehiclesToIgnore = new List<int>(new int[]{-1});
#endregion
#region Check Turn Feasible
// check if we have completed
CompletionReport turnCompletionReport;
bool completedTest = CoreCommon.Communications.TestExecute(testTurnBehavior, out turnCompletionReport);//CoreCommon.Communications.AsynchronousTestHasCompleted(testTurnBehavior, out turnCompletionReport, true);
// if we have completed the test
if(completedTest || ((TrajectoryBlockedReport)turnCompletionReport).BlockageType != BlockageType.Dynamic)
{
#region Can Complete
// check success
if (turnCompletionReport.Result == CompletionResult.Success)
{
// set completion state of the turn
waies.turnTestState = TurnTestState.Completed;
}
#endregion
#region No Saudi Level, Found Initial Blockage
// otherwise we cannot do the turn, check if saudi is still none
else if(waies.saudi == SAUDILevel.None)
{
// notify
ArbiterOutput.Output("Increased Saudi Level of Turn to L1");
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Failed;
}
#endregion
#region Already at L1 Saudi
else if(waies.saudi == SAUDILevel.L1)
{
// notify
ArbiterOutput.Output("Turn with Saudi L1 Level failed");
// get an intersection plan without this interconnect
IntersectionPlan testPlan = CoreCommon.Navigation.PlanIntersectionWithoutInterconnect(
waies.exitWaypoint,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId],
waies.desired);
// check that the plan exists
if (!testPlan.BestOption.ToInterconnect.Equals(waies.desired) &&
testPlan.BestRouteTime < double.MaxValue - 1.0)
{
// get the desired interconnect
ArbiterInterconnect reset = testPlan.BestOption.ToInterconnect;
#region Check that the reset interconnect is feasible
// test the reset interconnect
TurnBehavior testResetTurnBehavior = this.DefaultTurnBehavior(reset);
// set to ignore all vehicles
testResetTurnBehavior.VehiclesToIgnore = new List<int>(new int[] { -1 });
// check if we have completed
CompletionReport turnResetCompletionReport;
bool completedResetTest = CoreCommon.Communications.TestExecute(testResetTurnBehavior, out turnResetCompletionReport);
// check to see if this is feasible
if (completedResetTest && turnResetCompletionReport is SuccessCompletionReport && reset.Blockage.ProbabilityExists < 0.95)
{
// notify
ArbiterOutput.Output("Found clear interconnect: " + reset.ToString() + " adding blockage to current interconnect: " + waies.desired.ToString());
// set the interconnect as being blocked
CoreCommon.Navigation.AddInterconnectBlockage(waies.desired);
// reset all
waies.desired = reset;
waies.turnTestState = TurnTestState.Completed;
waies.saudi = SAUDILevel.None;
waies.useTurnBounds = true;
IntersectionMonitor.ResetDesired(reset);
}
#endregion
#region No Lane Bounds
// otherwise try without lane bounds
else
{
// notify
ArbiterOutput.Output("Had to fallout to using no turn bounds");
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Completed;
waies.useTurnBounds = false;
}
#endregion
}
#region No Lane Bounds
// otherwise try without lane bounds
else
{
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Unknown;
waies.useTurnBounds = false;
}
#endregion
}
#endregion
// want to reset ourselves
return new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
}
#endregion
#region Entry Monitor Blocked
// checks the entry monitor vehicle for failure
if (IntersectionMonitor != null && IntersectionMonitor.EntryAreaMonitor != null &&
IntersectionMonitor.EntryAreaMonitor.Vehicle != null && IntersectionMonitor.EntryAreaMonitor.Failed)
{
ArbiterOutput.Output("Entry area blocked");
// get an intersection plan without this interconnect
IntersectionPlan testPlan = CoreCommon.Navigation.PlanIntersectionWithoutInterconnect(
waies.exitWaypoint,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId],
waies.desired,
true);
// check that the plan exists
if (!testPlan.BestOption.ToInterconnect.Equals(waies.desired) &&
testPlan.BestRouteTime < double.MaxValue - 1.0)
{
// get the desired interconnect
ArbiterInterconnect reset = testPlan.BestOption.ToInterconnect;
#region Check that the reset interconnect is feasible
// test the reset interconnect
TurnBehavior testResetTurnBehavior = this.DefaultTurnBehavior(reset);
// set to ignore all vehicles
testResetTurnBehavior.VehiclesToIgnore = new List<int>(new int[] { -1 });
// check if we have completed
CompletionReport turnResetCompletionReport;
bool completedResetTest = CoreCommon.Communications.TestExecute(testResetTurnBehavior, out turnResetCompletionReport);
// check to see if this is feasible
if (reset.TurnDirection == ArbiterTurnDirection.UTurn || (completedResetTest && turnResetCompletionReport is SuccessCompletionReport && reset.Blockage.ProbabilityExists < 0.95))
{
// notify
ArbiterOutput.Output("Found clear interconnect: " + reset.ToString() + " adding blockage to all possible turns into final");
// set all the interconnects to the final as being blocked
if (((ITraversableWaypoint)waies.desired.FinalGeneric).IsEntry)
{
foreach (ArbiterInterconnect toBlock in ((ITraversableWaypoint)waies.desired.FinalGeneric).Entries)
CoreCommon.Navigation.AddInterconnectBlockage(toBlock);
}
// check if exists previous partition to block
if (waies.desired.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finWaypoint = (ArbiterWaypoint)waies.desired.FinalGeneric;
if (finWaypoint.PreviousPartition != null)
CoreCommon.Navigation.AddBlockage(finWaypoint.PreviousPartition, finWaypoint.Position, false);
}
// reset all
waies.desired = reset;
waies.turnTestState = TurnTestState.Completed;
waies.saudi = SAUDILevel.None;
waies.useTurnBounds = true;
IntersectionMonitor.ResetDesired(reset);
// want to reset ourselves
return new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
}
else
{
ArbiterOutput.Output("Entry area blocked, but no otehr valid route found");
}
}
#endregion
// check if can traverse
if (IntersectionTactical.IntersectionMonitor == null || IntersectionTactical.IntersectionMonitor.CanTraverse(icaw, vehicleState))
{
#region If can traverse the intersection
// quick check not interconnect
if (!(icaw is ArbiterInterconnect))
icaw = icaw.ToInterconnect;
// get interconnect
ArbiterInterconnect ai = (ArbiterInterconnect)icaw;
// clear all old completion reports
CoreCommon.Communications.ClearCompletionReports();
// check if uturn
if (ai.InitialGeneric is ArbiterWaypoint && ai.FinalGeneric is ArbiterWaypoint && ai.TurnDirection == ArbiterTurnDirection.UTurn)
{
// go into turn
List<ArbiterLane> involvedLanes = new List<ArbiterLane>();
involvedLanes.Add(((ArbiterWaypoint)ai.InitialGeneric).Lane);
involvedLanes.Add(((ArbiterWaypoint)ai.FinalGeneric).Lane);
uTurnState nextState = new uTurnState(((ArbiterWaypoint)ai.FinalGeneric).Lane,
IntersectionToolkit.uTurnBounds(vehicleState, involvedLanes));
nextState.Interconnect = ai;
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp);
}
else
{
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finalWaypoint = (ArbiterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.TurnInfo(finalWaypoint, out finalPath, out leftLL, out rightLL);
// go into turn
IState nextState = new TurnState(ai, ai.TurnDirection, finalWaypoint.Lane, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5), waies.saudi, waies.useTurnBounds);
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp);
}
else
{
// final perimeter waypoint
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.ZoneTurnInfo(ai, apw, out finalPath, out leftLL, out rightLL);
// go into turn
IState nextState = new TurnState(ai, ai.TurnDirection, null, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5), waies.saudi, waies.useTurnBounds);
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp);
}
}
#endregion
}
// otherwise need to wait
else
{
IState next = waies;
return new Maneuver(new HoldBrakeBehavior(), next, next.DefaultStateDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Stopping At Exit
else if (planningState is StoppingAtExitState)
{
// cast to exit stopping
StoppingAtExitState saes = (StoppingAtExitState)planningState;
saes.currentPosition = vehicleState.Front;
// get intersection plan
IntersectionPlan ip = (IntersectionPlan)navigationalPlan;
// if has an intersection
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(saes.waypoint.AreaSubtypeWaypointId))
{
// create new intersection monitor
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
saes.waypoint,
CoreCommon.RoadNetwork.IntersectionLookup[saes.waypoint.AreaSubtypeWaypointId],
vehicleState,
ip.BestOption);
// update it
IntersectionTactical.IntersectionMonitor.Update(vehicleState);
}
else
IntersectionTactical.IntersectionMonitor = null;
// otherwise update the stop parameters
saes.currentPosition = vehicleState.Front;
Behavior b = saes.Resume(vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value);
return new Maneuver(b, saes, saes.DefaultStateDecorators, vehicleState.Timestamp);
}
#endregion
#region In uTurn
else if (planningState is uTurnState)
{
// get state
uTurnState uts = (uTurnState)planningState;
// check if in other lane
if (CoreCommon.Communications.HasCompleted((new UTurnBehavior(null, null, null, null)).GetType()))
{
// quick check
if (uts.Interconnect != null && uts.Interconnect.FinalGeneric is ArbiterWaypoint)
{
// get the closest partition to the new lane
ArbiterLanePartition alpClose = uts.TargetLane.GetClosestPartition(vehicleState.Front);
// waypoints
ArbiterWaypoint partitionInitial = alpClose.Initial;
ArbiterWaypoint uturnEnd = (ArbiterWaypoint)uts.Interconnect.FinalGeneric;
// check initial past end
if (partitionInitial.WaypointId.Number > uturnEnd.WaypointId.Number)
{
// get waypoints inclusive
List<ArbiterWaypoint> inclusive = uts.TargetLane.WaypointsInclusive(uturnEnd, partitionInitial);
bool found = false;
// loop through
foreach (ArbiterWaypoint aw in inclusive)
{
if (!found && aw.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
// notiofy
ArbiterOutput.Output("removed checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString() + " as passed over in uturn");
// remove
CoreCommon.Mission.MissionCheckpoints.Dequeue();
// set found
found = true;
}
}
}
// default check
else if (uts.Interconnect.FinalGeneric.Equals(CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId]))
{
// notiofy
ArbiterOutput.Output("removed checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString() + " as end of uturn");
// remove
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
}
// check if the uturn is for a blockage
else if (uts.Interconnect == null)
{
// get final lane
ArbiterLane targetLane = uts.TargetLane;
// check has opposing
if (targetLane.Way.Segment.Lanes.Count > 1)
{
// check the final checkpoint is in our lane
if (CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.AreaSubtypeId.Equals(targetLane.LaneId))
{
// check that the final checkpoint is within the uturn polygon
if (uts.Polygon != null &&
uts.Polygon.IsInside(CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId].Position))
{
// remove the checkpoint
ArbiterOutput.Output("Found checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.ToString() + " inside blockage uturn area, dequeuing");
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
}
}
}
// stay in target lane
IState nextState = new StayInLaneState(uts.TargetLane, new Probability(0.8, 0.2), true, CoreCommon.CorePlanningState);
Behavior b = new StayInLaneBehavior(uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0), new List<int>(), uts.TargetLane.LanePath(), uts.TargetLane.Width, uts.TargetLane.NumberOfLanesLeft(vehicleState.Front, true), uts.TargetLane.NumberOfLanesRight(vehicleState.Front, true));
return new Maneuver(b, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// otherwise continue uturn
else
{
// get polygon
Polygon p = uts.Polygon;
// add polygon to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(p, ArbiterInformationDisplayObjectType.uTurnPolygon));
// check the type of uturn
if (!uts.singleLaneUturn)
{
// get ending path
LinePath endingPath = uts.TargetLane.LanePath();
// next state is current
IState nextState = uts;
// behavior
Behavior b = new UTurnBehavior(p, endingPath, uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0));
// maneuver
return new Maneuver(b, nextState, null, vehicleState.Timestamp);
}
else
{
// get ending path
LinePath endingPath = uts.TargetLane.LanePath().Clone();
endingPath = endingPath.ShiftLateral(-2.0);//uts.TargetLane.Width);
// add polygon to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(endingPath, ArbiterInformationDisplayObjectType.leftBound));
// next state is current
IState nextState = uts;
// behavior
Behavior b = new UTurnBehavior(p, endingPath, uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0));
// maneuver
return new Maneuver(b, nextState, null, vehicleState.Timestamp);
}
}
}
#endregion
#region In Turn
else if (planningState is TurnState)
{
// get state
TurnState ts = (TurnState)planningState;
// add bounds to observable
if (ts.LeftBound != null && ts.RightBound != null)
{
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(ts.LeftBound, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(ts.RightBound, ArbiterInformationDisplayObjectType.rightBound));
}
// create current turn reasoning
if(this.TurnReasoning == null)
this.TurnReasoning = new TurnReasoning(ts.Interconnect,
IntersectionTactical.IntersectionMonitor != null ? IntersectionTactical.IntersectionMonitor.EntryAreaMonitor : null);
// get primary maneuver
Maneuver primary = this.TurnReasoning.PrimaryManeuver(vehicleState, blockages, ts);
// get secondary maneuver
Maneuver? secondary = this.TurnReasoning.SecondaryManeuver(vehicleState, (IntersectionPlan)navigationalPlan);
// return the manevuer
return secondary.HasValue ? secondary.Value : primary;
}
#endregion
#region Itnersection Startup
else if (planningState is IntersectionStartupState)
{
// state and plan
IntersectionStartupState iss = (IntersectionStartupState)planningState;
IntersectionStartupPlan isp = (IntersectionStartupPlan)navigationalPlan;
// initial path
LinePath vehiclePath = new LinePath(new Coordinates[] { vehicleState.Rear, vehicleState.Front });
List<ITraversableWaypoint> feasibleEntries = new List<ITraversableWaypoint>();
// vehicle polygon forward of us
Polygon vehicleForward = vehicleState.ForwardPolygon;
// best waypoint
ITraversableWaypoint best = null;
double bestCost = Double.MaxValue;
// given feasible choose best, no feasible choose random
if (feasibleEntries.Count == 0)
{
foreach (ITraversableWaypoint itw in iss.Intersection.AllEntries.Values)
{
if (vehicleForward.IsInside(itw.Position))
{
feasibleEntries.Add(itw);
}
}
if (feasibleEntries.Count == 0)
{
foreach (ITraversableWaypoint itw in iss.Intersection.AllEntries.Values)
{
feasibleEntries.Add(itw);
}
}
}
// get best
foreach (ITraversableWaypoint itw in feasibleEntries)
{
if (isp.NodeTimeCosts.ContainsKey(itw))
{
KeyValuePair<ITraversableWaypoint, double> lookup = new KeyValuePair<ITraversableWaypoint, double>(itw, isp.NodeTimeCosts[itw]);
if (best == null || lookup.Value < bestCost)
{
best = lookup.Key;
bestCost = lookup.Value;
}
}
}
// get something going to this waypoint
ArbiterInterconnect interconnect = null;
if(best.IsEntry)
{
ArbiterInterconnect closest = null;
double closestDistance = double.MaxValue;
foreach (ArbiterInterconnect ai in best.Entries)
{
double dist = ai.InterconnectPath.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front);
if (closest == null || dist < closestDistance)
{
closest = ai;
closestDistance = dist;
}
}
interconnect = closest;
}
else if(best is ArbiterWaypoint && ((ArbiterWaypoint)best).PreviousPartition != null)
{
interconnect = ((ArbiterWaypoint)best).PreviousPartition.ToInterconnect;
}
// get state
if (best is ArbiterWaypoint)
{
// go to this turn state
LinePath finalPath;
LineList leftBound;
LineList rightBound;
IntersectionToolkit.TurnInfo((ArbiterWaypoint)best, out finalPath, out leftBound, out rightBound);
return new Maneuver(new HoldBrakeBehavior(), new TurnState(interconnect, interconnect.TurnDirection, ((ArbiterWaypoint)best).Lane,
finalPath, leftBound, rightBound, new ScalarSpeedCommand(2.0)), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
// go to this turn state
LinePath finalPath;
LineList leftBound;
LineList rightBound;
IntersectionToolkit.ZoneTurnInfo(interconnect, (ArbiterPerimeterWaypoint)best, out finalPath, out leftBound, out rightBound);
return new Maneuver(new HoldBrakeBehavior(), new TurnState(interconnect, interconnect.TurnDirection, null,
finalPath, leftBound, rightBound, new ScalarSpeedCommand(2.0)), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Unknown
else
{
throw new Exception("Unknown planning state in intersection tactical plan: " + planningState.ToString());
}
#endregion
}