/// <summary>
/// Determines proper speed commands given we want to stop at a certain waypoint
/// </summary>
/// <param name="waypoint"></param>
/// <param name="lane"></param>
/// <param name="position"></param>
/// <param name="enCovariance"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public void StoppingParams(Coordinates coordinate, IFQMPlanable lane, Coordinates position, double[] enCovariance,
out double stopSpeed, out double stopDistance)
{
// get dist to waypoint
stopDistance = lane.DistanceBetween(position, coordinate);
// subtract distance based upon type to help calculate speed
double stopSpeedDistance = stopDistance - CoreCommon.OperationalStopDistance;
// check if we are positive distance away
if (stopSpeedDistance >= 0)
{
// segment max speed
double segmentMaxSpeed = lane.CurrentMaximumSpeed(position);
// get speed using constant acceleration
stopSpeed = SpeedTools.GenerateSpeed(stopSpeedDistance, CoreCommon.OperationalStopSpeed, segmentMaxSpeed);
}
else
{
// inside stop dist
stopSpeed = (stopDistance / CoreCommon.OperationalStopDistance) * CoreCommon.OperationalStopSpeed;
stopSpeed = stopSpeed < 0 ? 0.0 : stopSpeed;
}
}
/// <summary>
/// Updates the current vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
public void Update(IFQMPlanable lane, VehicleState state)
{
// get the forward path
LinePath p = lane.LanePath();
// get our position
Coordinates f = state.Front;
// get all vehicles associated with those components
List <VehicleAgent> vas = new List <VehicleAgent>();
foreach (IVehicleArea iva in lane.AreaComponents)
{
if (TacticalDirector.VehicleAreas.ContainsKey(iva))
{
vas.AddRange(TacticalDirector.VehicleAreas[iva]);
}
}
// get the closest forward of us
double minDistance = Double.MaxValue;
VehicleAgent closest = null;
// set the vehicles to ignore
this.VehiclesToIgnore = new List <int>();
// get clsoest
foreach (VehicleAgent va in vas)
{
// get position of front
Coordinates frontPos = va.ClosestPosition;
// check relatively inside
if (lane.RelativelyInside(frontPos))
{
// distance to vehicle
double frontDist = lane.DistanceBetween(f, frontPos);
// check forward of us
if (frontDist > 0)
{
// add to ignorable
this.VehiclesToIgnore.Add(va.VehicleId);
// check for closest
if (frontDist < minDistance)
{
minDistance = frontDist;
closest = va;
}
}
}
}
this.CurrentVehicle = closest;
this.currentDistance = minDistance;
}
/// <summary>
/// Distance from coord to vehicle along lane
/// </summary>
/// <param name="lane"></param>
/// <param name="c"></param>
/// <returns></returns>
public double DistanceToVehicle(IFQMPlanable lane, Coordinates c)
{
if (CurrentVehicle != null)
{
return(lane.DistanceBetween(c, CurrentVehicle.ClosestPosition));
}
else
{
return(Double.MaxValue);
}
}
/// <summary>
/// Next point at which to stop
/// </summary>
/// <param name="lane"></param>
/// <param name="position"></param>
/// <param name="stopPoint"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public void NextLaneStop(IFQMPlanable lane, Coordinates position, double[] enCovariance, List <ArbiterWaypoint> ignorable,
out ArbiterWaypoint stopPoint, out double stopSpeed, out double stopDistance, out StopType stopType)
{
// get the stop
List <WaypointType> wts = new List <WaypointType>();
wts.Add(WaypointType.Stop);
wts.Add(WaypointType.End);
stopPoint = lane.GetNext(position, wts, ignorable);
// set stop type
stopType = stopPoint.IsStop ? StopType.StopLine : StopType.EndOfLane;
// parameterize
this.StoppingParams(stopPoint, lane, position, enCovariance, out stopSpeed, out stopDistance);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="leftLateral"></param>
/// <param name="rightLateral"></param>
public ForwardReasoning(ILateralReasoning leftLateral, ILateralReasoning rightLateral, IFQMPlanable lane)
{
this.Lane = lane;
this.leftLateralReasoning = leftLateral;
this.rightLateralReasoning = rightLateral;
this.ForwardMonitor = new ForwardQuadrantMonitor();
this.blockageTimer = new Stopwatch();
if (lane is ArbiterLane)
{
this.RearMonitor = new RearQuadrantMonitor((ArbiterLane)lane, SideObstacleSide.Driver);
}
else
{
this.RearMonitor = new RearQuadrantMonitor(((SupraLane)lane).Initial, SideObstacleSide.Driver);
}
}
/// <summary>
/// Determines the point at which we need to stop in the current lane
/// </summary>
/// <param name="lanePoint"></param>
/// <param name="position"></param>
/// <param name="stopRequired"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public void NextNavigationalStop(IFQMPlanable lane, ArbiterWaypoint lanePoint, Coordinates position, double[] enCovariance, List <ArbiterWaypoint> ignorable,
out double stopSpeed, out double stopDistance, out StopType stopType, out ArbiterWaypoint stopWaypoint)
{
// variables for default next stop line or end of lane
this.NextLaneStop(lane, position, enCovariance, ignorable, out stopWaypoint, out stopSpeed, out stopDistance, out stopType);
if (lanePoint != null)
{
// check if the point downstream is the last checkpoint
if (CoreCommon.Mission.MissionCheckpoints.Count == 1 && lanePoint.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
ArbiterWaypoint cpStop = lanePoint;
double cpStopSpeed;
double cpStopDistance;
StopType cpStopType = StopType.LastGoal;
this.StoppingParams(cpStop, lane, position, enCovariance, out cpStopSpeed, out cpStopDistance);
if (cpStopDistance <= stopDistance)
{
stopSpeed = cpStopSpeed;
stopDistance = cpStopDistance;
stopType = cpStopType;
stopWaypoint = cpStop;
}
}
// check if point is not the checkpoint and is an exit
else if (lanePoint.IsExit && !lanePoint.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
ArbiterWaypoint exitStop = lanePoint;
double exitStopSpeed;
double exitStopDistance;
StopType exitStopType = lanePoint.IsStop ? StopType.StopLine : StopType.Exit;
this.StoppingParams(exitStop, lane, position, enCovariance, out exitStopSpeed, out exitStopDistance);
if (exitStopDistance <= stopDistance)
{
stopSpeed = exitStopSpeed;
stopDistance = exitStopDistance;
stopType = exitStopType;
stopWaypoint = exitStop;
}
}
}
}
/// <summary>
/// Get the vehicle direction along a lane
/// </summary>
/// <param name="lane"></param>
/// <returns></returns>
public VehicleDirectionAlongPath VehicleDirectionAlong(IFQMPlanable lane)
{
if (this.IsStopped || !this.StateMonitor.Observed.headingValid)
{
return(VehicleDirectionAlongPath.Forwards);
}
// get point on the lane path
LinePath.PointOnPath pop = lane.LanePath().GetClosestPoint(this.ClosestPosition);
// get heading of the lane path there
Coordinates pathVector = lane.LanePath().GetSegment(pop.Index).UnitVector;
// get vehicle heading
Coordinates unit = new Coordinates(1, 0);
Coordinates headingVector = unit.Rotate(this.StateMonitor.Observed.absoluteHeading);
// rotate vehicle heading
Coordinates relativeVehicle = headingVector.Rotate(-pathVector.ArcTan);
// get path heading
double relativeVehicleDegrees = relativeVehicle.ToDegrees() >= 180.0 ? Math.Abs(relativeVehicle.ToDegrees() - 360.0) : Math.Abs(relativeVehicle.ToDegrees());
if (relativeVehicleDegrees < 70)
{
return(VehicleDirectionAlongPath.Forwards);
}
else if (relativeVehicleDegrees > 70 && relativeVehicleDegrees < 110)
{
return(VehicleDirectionAlongPath.Perpendicular);
}
else
{
return(VehicleDirectionAlongPath.Reverse);
}
}
/// <summary>
/// Behavior given we stay in the current lane
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <param name="downstreamPoint"></param>
/// <returns></returns>
public TravelingParameters Primary(IFQMPlanable lane, VehicleState state, RoadPlan roadPlan,
List <ITacticalBlockage> blockages, List <ArbiterWaypoint> ignorable, bool log)
{
// possible parameterizations
List <TravelingParameters> tps = new List <TravelingParameters>();
#region Lane Major Parameterizations with Current Lane Goal Params, If Best Goal Exists in Current Lane
// check if the best goal is in the current lane
ArbiterWaypoint lanePoint = null;
if (lane.AreaComponents.Contains(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Lane))
{
lanePoint = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest;
}
// get the next thing we need to stop at no matter what and parameters for stopping at it
ArbiterWaypoint laneNavStop;
double laneNavStopSpeed;
double laneNavStopDistance;
StopType laneNavStopType;
this.NextNavigationalStop(lane, lanePoint, state.Front, state.ENCovariance, ignorable,
out laneNavStopSpeed, out laneNavStopDistance, out laneNavStopType, out laneNavStop);
// create parameterization of the stop
TravelingParameters laneNavParams = this.NavStopParameterization(lane, roadPlan, laneNavStopSpeed, laneNavStopDistance, laneNavStop, laneNavStopType, state);
this.navigationParameters = laneNavParams;
this.laneParameters = laneNavParams;
tps.Add(laneNavParams);
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FQMBehavior = laneNavParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FQMBehaviorInfo = laneNavParams.Behavior.ShortBehaviorInformation();
CoreCommon.CurrentInformation.FQMSpeedCommand = laneNavParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FQMDistance = laneNavParams.DistanceToGo.ToString("F6");
CoreCommon.CurrentInformation.FQMSpeed = laneNavParams.RecommendedSpeed.ToString("F6");
CoreCommon.CurrentInformation.FQMState = laneNavParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FQMStateInfo = laneNavParams.NextState.StateInformation();
CoreCommon.CurrentInformation.FQMStopType = laneNavStopType.ToString();
CoreCommon.CurrentInformation.FQMWaypoint = laneNavStop.ToString();
CoreCommon.CurrentInformation.FQMSegmentSpeedLimit = lane.CurrentMaximumSpeed(state.Position).ToString("F1");
}
#endregion
#endregion
#region Forward Vehicle Parameterization
// forward vehicle update
this.ForwardVehicle.Update(lane, state);
// clear current params
this.followingParameters = null;
// check not in a sparse area
bool sparseArea = lane is ArbiterLane ?
((ArbiterLane)lane).GetClosestPartition(state.Front).Type == PartitionType.Sparse :
((SupraLane)lane).ClosestComponent(state.Front) == SLComponentType.Initial && ((SupraLane)lane).Initial.GetClosestPartition(state.Front).Type == PartitionType.Sparse;
// exists forward vehicle
if (!sparseArea && this.ForwardVehicle.ShouldUseForwardTracker)
{
// get forward vehicle params, set lane decorators
TravelingParameters vehicleParams = this.ForwardVehicle.Follow(lane, state, ignorable);
vehicleParams.Behavior.Decorators.AddRange(this.laneParameters.Decorators);
this.FollowingParameters = vehicleParams;
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FVTBehavior = vehicleParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FVTSpeed = this.ForwardVehicle.FollowingParameters.RecommendedSpeed.ToString("F3");
CoreCommon.CurrentInformation.FVTSpeedCommand = vehicleParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FVTDistance = vehicleParams.DistanceToGo.ToString("F2");
CoreCommon.CurrentInformation.FVTState = vehicleParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FVTStateInfo = vehicleParams.NextState.StateInformation();
// set xSeparation
CoreCommon.CurrentInformation.FVTXSeparation = this.ForwardVehicle.ForwardControl.xSeparation.ToString("F0");
}
#endregion
// check if we're stopped behind fv, allow wait timer if true, stop wait timer if not behind fv
bool forwardVehicleStopped = this.ForwardVehicle.CurrentVehicle.IsStopped;
bool forwardSeparationGood = this.ForwardVehicle.ForwardControl.xSeparation < TahoeParams.VL * 2.5;
bool wereStopped = CoreCommon.Communications.GetVehicleSpeed().Value < 0.1;
bool forwardDistanceToGo = vehicleParams.DistanceToGo < 3.5;
if (forwardVehicleStopped && forwardSeparationGood && wereStopped && forwardDistanceToGo)
{
this.ForwardVehicle.StoppedBehindForwardVehicle = true;
}
else
{
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Stop();
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Reset();
}
// add vehicle param
tps.Add(vehicleParams);
}
else
{
// no forward vehicle
this.followingParameters = null;
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
}
#endregion
#region Sparse Waypoint Parameterization
// check for sparse waypoints downstream
bool sparseDownstream;
bool sparseNow;
double sparseDistance;
lane.SparseDetermination(state.Front, out sparseDownstream, out sparseNow, out sparseDistance);
// check if sparse areas downstream
if (sparseDownstream)
{
// set the distance to the sparse area
if (sparseNow)
{
sparseDistance = 0.0;
}
// get speed
double speed = SpeedTools.GenerateSpeed(sparseDistance, 2.24, lane.CurrentMaximumSpeed(state.Front));
// maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new ScalarSpeedCommand(speed);
#region Parameterize Given Speed Command
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), this.laneParameters.Decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List <int>());
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, this.laneParameters.Decorators, state.Timestamp);
}
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = this.laneParameters.Decorators;
tp.DistanceToGo = Double.MaxValue;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
tps.Add(tp);
#endregion
}
#endregion
// sort params by most urgent
tps.Sort();
// set current params
this.currentParameters = tps[0];
// get behavior to check add vehicles to ignore
if (this.currentParameters.Behavior is StayInLaneBehavior)
{
((StayInLaneBehavior)this.currentParameters.Behavior).IgnorableObstacles = this.ForwardVehicle.VehiclesToIgnore;
}
// out of navigation, blockages, and vehicle following determine the actual primary parameters for this lane
return(tps[0]);
}
/// <summary>
/// Makes new parameterization for nav
/// </summary>
/// <param name="lane"></param>
/// <param name="lanePlan"></param>
/// <param name="speed"></param>
/// <param name="distance"></param>
/// <param name="stopType"></param>
/// <returns></returns>
public TravelingParameters NavStopParameterization(IFQMPlanable lane, RoadPlan roadPlan, double speed, double distance,
ArbiterWaypoint stopWaypoint, StopType stopType, VehicleState state)
{
// get min dist
double distanceCutOff = stopType == StopType.StopLine ? CoreCommon.OperationslStopLineSearchDistance : CoreCommon.OperationalStopDistance;
#region Get Decorators
// turn direction default
ArbiterTurnDirection atd = ArbiterTurnDirection.Straight;
List<BehaviorDecorator> decorators = TurnDecorators.NoDecorators;
// check if need decorators
if (lane is ArbiterLane &&
stopWaypoint.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest) &&
roadPlan.BestPlan.laneWaypointOfInterest.IsExit &&
distance < 40.0)
{
if (roadPlan.BestPlan.laneWaypointOfInterest.BestExit == null)
ArbiterOutput.Output("NAV BUG: lanePlan.laneWaypointOfInterest.BestExit: FQM NavStopParameterization");
else
{
switch (roadPlan.BestPlan.laneWaypointOfInterest.BestExit.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
else if (lane is SupraLane)
{
SupraLane sl = (SupraLane)lane;
double distToInterconnect = sl.DistanceBetween(state.Front, sl.Interconnect.InitialGeneric.Position);
if ((distToInterconnect > 0 && distToInterconnect < 40.0) || sl.ClosestComponent(state.Front) == SLComponentType.Interconnect)
{
switch (sl.Interconnect.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
#endregion
#region Get Maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new StopAtDistSpeedCommand(distance);
#region Distance Cutoff
// check if distance is less than cutoff
if (distance < distanceCutOff && stopType != StopType.EndOfLane)
{
// default behavior
Behavior b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtDistSpeedCommand(distance), new List<int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
// stopping so not using speed param
usingSpeed = false;
// exit is next
if (stopType == StopType.Exit)
{
// exit means stopping at a good exit in our current lane
IState nextState = new StoppingAtExitState(stopWaypoint.Lane, stopWaypoint, atd, true, roadPlan.BestPlan.laneWaypointOfInterest.BestExit, state.Timestamp, state.Front);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
// stop line is left
else if (stopType == StopType.StopLine)
{
// determine if hte stop line is the best exit
bool isNavExit = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Equals(stopWaypoint);
// get turn direction
atd = isNavExit ? atd : ArbiterTurnDirection.Straight;
// predetermine interconnect if best exit
ArbiterInterconnect desired = null;
if (isNavExit)
desired = roadPlan.BestPlan.laneWaypointOfInterest.BestExit;
else if (stopWaypoint.NextPartition != null && state.Front.DistanceTo(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position) > 25)
desired = stopWaypoint.NextPartition.ToInterconnect;
// set decorators
decorators = isNavExit ? decorators : TurnDecorators.NoDecorators;
// stop at the stop
IState nextState = new StoppingAtStopState(stopWaypoint.Lane, stopWaypoint, atd, isNavExit, desired);
b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtLineSpeedCommand(), new List<int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
m = new Maneuver(b, nextState, decorators, state.Timestamp);
sc = new StopAtLineSpeedCommand();
}
else if(stopType == StopType.LastGoal)
{
// stop at the last goal
IState nextState = new StayInLaneState(stopWaypoint.Lane, CoreCommon.CorePlanningState);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// set speed
sc = new ScalarSpeedCommand(speed);
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List<int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List<int>());
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, decorators, state.Timestamp);
}
}
#endregion
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = distance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List<int>();
// return navigation params
return tp;
#endregion
}
/// <summary>
/// Figure out standard control to follow
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public ForwardVehicleTrackingControl GetControl(IFQMPlanable lane, VehicleState state, List<ArbiterWaypoint> ignorable)
{
// check exists a vehicle to track
if (this.CurrentVehicle != null)
{
// get the maximum velocity of the segment we're closest to
double segV = lane.CurrentMaximumSpeed(state.Front);
double segMaxV = segV;
// flag if the forward vehicles is in a stop waypoint type safety zone
bool safetyZone = false;
ArbiterWaypoint nextStop = lane.GetNext(state.Front, WaypointType.Stop, ignorable);
double distance = nextStop != null ? lane.DistanceBetween(state.Front, nextStop.Position) : Double.MaxValue;
// check if no stop exists or distance > 30
if (nextStop == null || distance > 30 || distance < 0)
{
// there is no next stop or the forward vehcile is not in a safety zone
safetyZone = false;
}
// otherwise the tracked vehicle is in a safety zone
else
{
// set the forward vehicle as being in a safety zone
safetyZone = true;
}
// minimum distance
double xAbsMin;
// if we're in a safety zone
if (safetyZone)
{
// set minimum to 1 times the tahoe's vehicle length
xAbsMin = TahoeParams.VL * 1.5;
}
// otherwise we're not in a safety zone
else
{
// set minimum to 2 times the tahoe's vehicle length
xAbsMin = TahoeParams.VL * 2.0;
}
// retrieve the tracked vehicle's scalar absolute speed
double vTarget = CurrentVehicle.StateMonitor.Observed.isStopped ? 0.0 : this.CurrentVehicle.Speed;
// check if vehicle is moving away from us
VehicleDirectionAlongPath vdap = CurrentVehicle.VehicleDirectionAlong(lane);
// if moving perpendic, set speed to 0.0
if (vdap == VehicleDirectionAlongPath.Perpendicular)
vTarget = 0.0;
#region Forward
// can use normal tracker if vehicle not oncoming
if (true)//vdap != VehicleDirectionAlongPath.Reverse)
{
// get the good distance behind the target, is xAbsMin if vehicle velocity is small enough
double xGood = xAbsMin + (1.5 * (TahoeParams.VL / 4.4704) * vTarget);
// get our current separation
double xSeparation = this.currentDistance;
// determine the envelope to reason about the vehicle, that is, to slow from vMax to vehicle speed
double xEnvelope = (Math.Pow(vTarget, 2.0) - Math.Pow(segMaxV, 2.0)) / (2.0 * -0.5);
// the distance to the good
double xDistanceToGood;
// determine the velocity to follow the vehicle ahead
double vFollowing;
// check if we are basically stopped in the right place behind another vehicle
if (vTarget < 1 && Math.Abs(xSeparation - xGood) < 1)
{
// stop
vFollowing = 0;
// good distance
xDistanceToGood = 0;
}
// check if we are within the minimum distance
else if (xSeparation <= xAbsMin)
{
// stop
vFollowing = 0;
// good distance
xDistanceToGood = 0;
}
// determine if our separation is less than the good distance but not inside minimum
else if (xAbsMin < xSeparation && xSeparation < xGood)
{
// get the distance we are from xMin
double xAlong = xSeparation - xAbsMin;
// get the total distance from xGood to xMin
double xGoodToMin = xGood - xAbsMin;
// slow to 0 by min
vFollowing = (((xGoodToMin - xAlong) / xGoodToMin) * (-vTarget)) + vTarget;
// good distance
xDistanceToGood = 0;
}
// our separation is greater than the good distance
else
{
// good distance
xDistanceToGood = xSeparation - xGood;
// get differences in max and target velocities
vFollowing = SpeedTools.GenerateSpeed(xDistanceToGood, vTarget, segMaxV);
}
// return
return new ForwardVehicleTrackingControl(true, safetyZone, vFollowing, xSeparation,
xDistanceToGood, vTarget, xAbsMin, xGood,false);
}
#endregion
#region Oncoming
/*
else
{
// determine the distance for the other vehicle to stop
double xTargetEnvelope = -Math.Pow(vTarget, 2.0) / (2.0 * -0.5);
// determine the distance for our vehicle to stop
double xOurEnvelope = -Math.Pow(CoreCommon.Communications.GetVehicleSpeed().Value, 2.0) / (2.0 * -0.5);
// get the good distance behind the target, is xAbsMin if vehicle velocity is small enough
double xGood = xAbsMin + (1.5 * (TahoeParams.VL / 4.4704) * vTarget) + xOurEnvelope + xTargetEnvelope;
// get our current separation
double xSeparation = this.currentDistance;
// determine the envelope for us to slow to 0 by the good distance
double xEnvelope = -Math.Pow(segMaxV, 2.0) / (2.0 * -0.5);
// the distance to the good
double xDistanceToGood;
// determine the velocity to follow the vehicle ahead
double vFollowing;
// check if we are basically stopped in the right place behind another vehicle
if (vTarget < 1 && Math.Abs(xSeparation - xGood) < 1)
{
// stop
vFollowing = 0;
// good distance
xDistanceToGood = 0;
}
// check if we are within the minimum distance
else if (xSeparation <= xGood)
{
// stop
vFollowing = 0;
// good distance
xDistanceToGood = 0;
}
// our separation is greater than the good distance but within the envelope
else if (xGood <= xSeparation && xSeparation <= xEnvelope + xGood)
{
// get differences in max and target velocities
double vDifference = segMaxV;
// get the distance we are along the speed envolope from xGood
double xAlong = xEnvelope - (xSeparation - xGood);
// slow to vTarget by good
vFollowing = (((xEnvelope - xAlong) / xEnvelope) * (vDifference));
// good distance
xDistanceToGood = xSeparation - xGood;
}
// otherwise xSeparation > xEnvelope
else
{
// can go max speed
vFollowing = segMaxV;
// good distance
xDistanceToGood = xSeparation - xGood;
}
// return
return new ForwardVehicleTrackingControl(true, safetyZone, vFollowing, xSeparation,
xDistanceToGood, vTarget, xAbsMin, xGood, true);
}
*/
#endregion
}
else
{
// return
return new ForwardVehicleTrackingControl(false, false, Double.MaxValue, Double.MaxValue, Double.MaxValue, Double.MaxValue, 0.0, Double.MaxValue, false);
}
}
/// <summary>
/// Parameters to follow the forward vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters Follow(IFQMPlanable lane, VehicleState state, List<ArbiterWaypoint> ignorable)
{
// travelling parameters
TravelingParameters tp = new TravelingParameters();
// get control parameters
ForwardVehicleTrackingControl fvtc = GetControl(lane, state, ignorable);
this.ForwardControl = fvtc;
// initialize the parameters
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.Decorators = new List<BehaviorDecorator>();
// ignore the forward vehicles
tp.VehiclesToIgnore = this.VehiclesToIgnore;
#region Following Control
#region Immediate Stop
// need to stop immediately
if (fvtc.vFollowing == 0.0)
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(0.0);
tp.SpeedCommand = sc;
tp.UsingSpeed = true;
if (lane is ArbiterLane)
{
// standard path following behavior
ArbiterLane al = ((ArbiterLane)lane);
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Stopping at Distance
// stop at distance
else if (fvtc.vFollowing < 0.7 &&
CoreCommon.Communications.GetVehicleSpeed().Value <= 2.24 &&
fvtc.xSeparation > fvtc.xAbsMin)
{
// speed command
SpeedCommand sc = new StopAtDistSpeedCommand(fvtc.xDistanceToGood);
tp.SpeedCommand = sc;
tp.UsingSpeed = false;
if (lane is ArbiterLane)
{
ArbiterLane al = (ArbiterLane)lane;
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Normal Following
// else normal
else
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(fvtc.vFollowing);
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.UsingSpeed = true;
tp.SpeedCommand = sc;
if (lane is ArbiterLane)
{
ArbiterLane al = ((ArbiterLane)lane);
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#endregion
#region Check for Oncoming Vehicles
// check if need to add current lane oncoming vehicle decorator
if (false && this.CurrentVehicle.PassedDelayedBirth && fvtc.forwardOncoming && fvtc.xSeparation > TahoeParams.VL && fvtc.xSeparation < 30)
{
// check valid lane area
if (lane is ArbiterLane || ((SupraLane)lane).ClosestComponent(this.CurrentVehicle.ClosestPosition) == SLComponentType.Initial)
{
// get distance to and speed of the forward vehicle
double fvDistance = fvtc.xSeparation;
double fvSpeed = fvtc.vTarget;
// create the 5mph behavior
ScalarSpeedCommand updated = new ScalarSpeedCommand(2.24);
// set that we are using speed
tp.UsingSpeed = true;
tp.RecommendedSpeed = updated.Speed;
tp.DistanceToGo = fvtc.xSeparation;
// create the decorator
OncomingVehicleDecorator ovd = new OncomingVehicleDecorator(updated, fvDistance, fvSpeed);
// add the decorator
tp.Behavior.Decorators.Add(ovd);
tp.Decorators.Add(ovd);
}
}
#endregion
// set current
this.followingParameters = tp;
// return parameterization
return tp;
}
/// <summary>
/// Secondary maneuver when current lane is the desired lane
/// </summary>
/// <param name="arbiterLane"></param>
/// <param name="vehicleState"></param>
/// <param name="roadPlan"></param>
/// <param name="blockages"></param>
/// <param name="ignorable"></param>
/// <returns></returns>
public Maneuver? AdvancedSecondary(IFQMPlanable arbiterLane, VehicleState vehicleState, RoadPlan roadPlan,
List<ITacticalBlockage> blockages, List<ArbiterWaypoint> ignorable, TypeOfTasks bestTask)
{
// check if we might be able to pass here
bool validArea = arbiterLane is ArbiterLane || (((SupraLane)arbiterLane).ClosestComponent(vehicleState.Front) == SLComponentType.Initial);
// check normal valid area
if (validArea)
{
// get lane we are in
ArbiterLane ourForwardLane = arbiterLane is ArbiterLane ? (ArbiterLane)arbiterLane : ((SupraLane)arbiterLane).Initial;
// check sl
if (arbiterLane is SupraLane)
{
Dictionary<ArbiterLaneId, LanePlan> tmpPlans = new Dictionary<ArbiterLaneId,LanePlan>();
tmpPlans.Add(ourForwardLane.LaneId, roadPlan.LanePlans[ourForwardLane.LaneId]);
RoadPlan tmp = new RoadPlan(tmpPlans);
roadPlan = tmp;
}
// return the advanced plan
ArbiterWaypoint goalWp = arbiterLane is SupraLane ? (ArbiterWaypoint)((SupraLane)arbiterLane).Interconnect.InitialGeneric : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest;
return this.AdvancedSecondaryNextCheck(ourForwardLane, goalWp, vehicleState, roadPlan, blockages, ignorable, bestTask);
}
// fall through
return null;
}
/// <summary>
/// Updates the current vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
public void Update(IFQMPlanable lane, VehicleState state)
{
// get the forward path
LinePath p = lane.LanePath();
// get our position
Coordinates f = state.Front;
// get all vehicles associated with those components
List<VehicleAgent> vas = new List<VehicleAgent>();
foreach (IVehicleArea iva in lane.AreaComponents)
{
if (TacticalDirector.VehicleAreas.ContainsKey(iva))
vas.AddRange(TacticalDirector.VehicleAreas[iva]);
}
// get the closest forward of us
double minDistance = Double.MaxValue;
VehicleAgent closest = null;
// set the vehicles to ignore
this.VehiclesToIgnore = new List<int>();
// get clsoest
foreach (VehicleAgent va in vas)
{
// get position of front
Coordinates frontPos = va.ClosestPosition;
// check relatively inside
if (lane.RelativelyInside(frontPos))
{
// distance to vehicle
double frontDist = lane.DistanceBetween(f, frontPos);
// check forward of us
if (frontDist > 0)
{
// add to ignorable
this.VehiclesToIgnore.Add(va.VehicleId);
// check for closest
if (frontDist < minDistance)
{
minDistance = frontDist;
closest = va;
}
}
}
}
this.CurrentVehicle = closest;
this.currentDistance = minDistance;
}
/// <summary>
/// Makes use of parameterizations made from the initial forward maneuver plan
/// </summary>
/// <param name="arbiterLane"></param>
/// <param name="vehicleState"></param>
/// <param name="roadPlan"></param>
/// <param name="blockages"></param>
/// <param name="ignorable"></param>
/// <returns></returns>
public Maneuver? SecondaryManeuver(IFQMPlanable arbiterLane, VehicleState vehicleState, RoadPlan roadPlan,
List<ITacticalBlockage> blockages, List<ArbiterWaypoint> ignorable, TypeOfTasks bestTask)
{
// check if we might be able to pass here
bool validArea = arbiterLane is ArbiterLane || (((SupraLane)arbiterLane).ClosestComponent(vehicleState.Front) == SLComponentType.Initial);
ArbiterLane ourForwardLane = arbiterLane is ArbiterLane ? (ArbiterLane)arbiterLane : ((SupraLane)arbiterLane).Initial;
// check if the forward vehicle exists and we're in a valid area
if (this.ForwardMonitor.ForwardVehicle.ShouldUseForwardTracker && validArea)
{
// check if we should pass the vehicle ahead
LaneChangeInformation lci;
bool sp = this.ForwardMonitor.ForwardVehicle.ShouldPass(out lci);
// make sure we should do something before processing extras
if(sp)
{
// available parameterizations for the lane change
List<LaneChangeParameters> changeParams = new List<LaneChangeParameters>();
// get lane
ArbiterLane al = arbiterLane is ArbiterLane ? (ArbiterLane)arbiterLane : ((SupraLane)arbiterLane).Initial;
// get the location we need to return by
Coordinates absoluteUpperBound = arbiterLane is ArbiterLane ?
roadPlan.LanePlans[al.LaneId].laneWaypointOfInterest.PointOfInterest.Position :
((SupraLane)arbiterLane).Interconnect.InitialGeneric.Position;
#region Failed Forward
// if failed, parameterize ourselved if we're following them
if (lci.Reason == LaneChangeReason.FailedForwardVehicle && this.ForwardMonitor.CurrentParameters.Type == TravellingType.Vehicle)
{
// notify
ArbiterOutput.Output("Failed Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.VehicleId.ToString());
// get traveling params from FQM to make sure we stopped for vehicle, behind vehicle
double v = CoreCommon.Communications.GetVehicleSpeed().Value;
TravelingParameters fqmParams = this.ForwardMonitor.CurrentParameters;
double d = this.ForwardMonitor.ForwardVehicle.DistanceToVehicle(arbiterLane, vehicleState.Front);
Coordinates departUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d - 3.0).Location;
// check stopped behing failed forward
try
{
if (fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle)
{
// check for checkpoint within 4VL of front of failed vehicle
ArbiterCheckpoint acCurrecnt = CoreCommon.Mission.MissionCheckpoints.Peek();
if (acCurrecnt.WaypointId.AreaSubtypeId.Equals(al.LaneId))
{
// check distance
ArbiterWaypoint awCheckpoint = (ArbiterWaypoint)CoreCommon.RoadNetwork.ArbiterWaypoints[acCurrecnt.WaypointId];
double cpDistacne = Lane.DistanceBetween(vehicleState.Front, awCheckpoint.Position);
if (cpDistacne < d || cpDistacne - d < TahoeParams.VL * 4.5)
{
ArbiterOutput.Output("Removing checkpoint: " + acCurrecnt.WaypointId.ToString() + " as failed vehicle over it");
CoreCommon.Mission.MissionCheckpoints.Dequeue();
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
}
}catch (Exception) { }
#region Right Lateral Reasoning Forwards
// check right lateral reasoning for existence, if so parametrize
if (rightLateralReasoning.Exists && fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle)
{
// get lane
ArbiterLane lane = al;
// determine failed vehicle lane change distance params
Coordinates defaultReturnLowerBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 2.0)).Location;
Coordinates minimumReturnComplete = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 3.0)).Location;
Coordinates defaultReturnUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 5.0)).Location;
// get params for lane change
LaneChangeParameters? lcp = this.LaneChangeParameterization(
new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, null),
lane, lane.LaneOnRight, false, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
departUpperBound, defaultReturnLowerBound, minimumReturnComplete, defaultReturnUpperBound, blockages, ignorable,
vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value);
// check if exists to generate full param
if (lcp.HasValue)
{
// get param
LaneChangeParameters tp = lcp.Value;
// notify
ArbiterOutput.WriteToLog("Failed Forward: Right Lateral Reasoning Forwards: Available: " + tp.Available.ToString() + ", Feasable: " + tp.Feasible.ToString());
// get behavior
ChangeLaneBehavior clb = new ChangeLaneBehavior(
al.LaneId, al.LaneOnRight.LaneId, false, al.DistanceBetween(vehicleState.Front, departUpperBound),
new ScalarSpeedCommand(tp.Parameters.RecommendedSpeed), tp.Parameters.VehiclesToIgnore,
al.LanePath(), al.LaneOnRight.LanePath(), al.Width, al.LaneOnRight.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true));
tp.Behavior = clb;
tp.Decorators = TurnDecorators.RightTurnDecorator;
// next state
ChangeLanesState cls = new ChangeLanesState(tp);
tp.NextState = cls;
// add parameterization to possible
changeParams.Add(tp);
}
}
#endregion
#region Left Lateral Reasoning
// check left lateral reasoning
if(leftLateralReasoning.Exists)
{
#region Left Lateral Opposing
// check opposing
ArbiterLane closestOpposingLane = this.GetClosestOpposing(ourForwardLane, vehicleState);
if(closestOpposingLane != null && (leftLateralReasoning.IsOpposing || !closestOpposingLane.Equals(leftLateralReasoning.LateralLane)))
{
// check room of initial
bool enoughRoom =
(arbiterLane is ArbiterLane && (!roadPlan.BestPlan.laneWaypointOfInterest.IsExit || ((ArbiterLane)arbiterLane).DistanceBetween(vehicleState.Front, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position) > TahoeParams.VL * 5.0)) ||
(arbiterLane is SupraLane && ((SupraLane)arbiterLane).DistanceBetween(vehicleState.Front, ((SupraLane)arbiterLane).Interconnect.InitialGeneric.Position) > TahoeParams.VL * 5.0);
// check opposing enough room
bool oppEnough = closestOpposingLane.DistanceBetween(closestOpposingLane.LanePath().StartPoint.Location, vehicleState.Front) > TahoeParams.VL * 5.0;
// check if enough room
if (enoughRoom && oppEnough)
{
// check if we're stopped and the current trav params were for a vehicle and we're close to the vehicle
bool stoppedBehindFV = fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle;
// check that we're stopped behind forward vehicle before attempting to change lanes
if (stoppedBehindFV)
{
#region Check Segment Blockage
// check need to make uturn (hack)
bool waitForUTurnCooldown;
BlockageTactical bt = CoreCommon.BlockageDirector;
StayInLaneBehavior tmpBlockBehavior = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(2.0), new List<int>(), al.LanePath(), al.Width, 0, 0);
ITacticalBlockage itbTmp = new LaneBlockage(new TrajectoryBlockedReport(CompletionResult.Stopped, TahoeParams.VL, BlockageType.Static, -1, false, tmpBlockBehavior.GetType()));
Maneuver tmpBlockManeuver = bt.LaneRecoveryManeuver(al, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value, roadPlan,
new BlockageRecoveryState(tmpBlockBehavior,
new StayInLaneState(al, CoreCommon.CorePlanningState), new StayInLaneState(al, CoreCommon.CorePlanningState), BlockageRecoveryDEFCON.REVERSE,
new EncounteredBlockageState(itbTmp, CoreCommon.CorePlanningState, BlockageRecoveryDEFCON.REVERSE, SAUDILevel.None), BlockageRecoverySTATUS.ENCOUNTERED), true, out waitForUTurnCooldown);
if (!waitForUTurnCooldown && tmpBlockManeuver.PrimaryBehavior is UTurnBehavior)
return tmpBlockManeuver;
else if (waitForUTurnCooldown)
return null;
#endregion
// distance to forward vehicle too small
double distToForwards = al.DistanceBetween(vehicleState.Front, this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition);
double distToReverse = Math.Max(1.0, 8.0 - distToForwards);
if (distToForwards < 8.0)
{
// notify
ArbiterOutput.WriteToLog("Secondary: NOT Properly Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + " distance: " + distToForwards.ToString("f2"));
this.RearMonitor = new RearQuadrantMonitor(al, SideObstacleSide.Driver);
this.RearMonitor.Update(vehicleState);
if (this.RearMonitor.CurrentVehicle != null)
{
double distToRearVehicle = al.DistanceBetween(this.RearMonitor.CurrentVehicle.ClosestPosition, vehicleState.Position) - TahoeParams.RL;
double distNeedClear = distToReverse + 2.0;
if (distToRearVehicle < distNeedClear)
{
// notify
ArbiterOutput.Output("Secondary: Rear: Not enough room to clear in rear: " + distToRearVehicle.ToString("f2") + " < " + distNeedClear.ToString("f2"));
return null;
}
}
double distToLaneStart = al.DistanceBetween(al.LanePath().StartPoint.Location, vehicleState.Position) - TahoeParams.RL;
if (distToReverse > distToLaneStart)
{
// notify
ArbiterOutput.Output("Secondary: Rear: Not enough room in lane to reverse in rear: " + distToLaneStart.ToString("f2") + " < " + distToReverse.ToString("f2"));
return null;
}
else
{
// notify
ArbiterOutput.Output("Secondary: Reversing to pass Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + " reversing distance: " + distToReverse.ToString("f2"));
StopAtDistSpeedCommand sadsc = new StopAtDistSpeedCommand(distToReverse, true);
StayInLaneBehavior silb = new StayInLaneBehavior(al.LaneId, sadsc, new List<int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true));
return new Maneuver(silb, CoreCommon.CorePlanningState, TurnDecorators.HazardDecorator, vehicleState.Timestamp);
}
}
else
{
// notify
ArbiterOutput.WriteToLog("Secondary: Left Lateral Opposing: Properly Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString());
// determine failed vehicle lane change distance params
Coordinates defaultReturnLowerBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 2.0)).Location;
Coordinates minimumReturnComplete = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 3.5)).Location;
Coordinates defaultReturnUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 5.0)).Location;
// check if enough room
if (al.DistanceBetween(vehicleState.Front, defaultReturnUpperBound) >= d + TahoeParams.VL * 4.5)
{
// get hte closest oppoing
ArbiterLane closestOpposing = this.GetClosestOpposing(al, vehicleState);
// check exists
if (closestOpposing != null)
{
// set/check secondary
if (this.secondaryLeftLateralReasoning == null || !this.secondaryLeftLateralReasoning.LateralLane.Equals(closestOpposing))
this.secondaryLeftLateralReasoning = new OpposingLateralReasoning(closestOpposing, SideObstacleSide.Driver);
// check the state of hte lanes next to us
if (this.leftLateralReasoning.LateralLane.Equals(closestOpposing) && this.leftLateralReasoning.ExistsExactlyHere(vehicleState))
{
#region Plan
// need to make sure that we wait for 3 seconds with the blinker on (resetting with pause)
if (this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds > 3000)
{
// notify
ArbiterOutput.Output("Scondary: Left Lateral Opposing: Wait Timer DONE");
// get parameterization
LaneChangeParameters? tp = this.LaneChangeParameterization(
new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, this.ForwardMonitor.ForwardVehicle.CurrentVehicle),
al,
leftLateralReasoning.LateralLane,
true,
roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
departUpperBound,
defaultReturnLowerBound,
minimumReturnComplete,
defaultReturnUpperBound,
blockages,
ignorable,
vehicleState,
CoreCommon.Communications.GetVehicleSpeed().Value);
// check if available and feasible
if (tp.HasValue && tp.Value.Available && tp.Value.Feasible)
{
// notify
ArbiterOutput.Output("Scondary: Left Lateral Opposing: AVAILABLE & FEASIBLE");
LaneChangeParameters lcp = tp.Value;
lcp.Behavior = this.ForwardMonitor.CurrentParameters.Behavior;
lcp.Decorators = TurnDecorators.LeftTurnDecorator;
lcp.Behavior.Decorators = lcp.Decorators;
// next state
ChangeLanesState cls = new ChangeLanesState(tp.Value);
lcp.NextState = cls;
// add parameterization to possible
changeParams.Add(lcp);
}
// check if not available now but still feasible
else if (tp.HasValue && !tp.Value.Available && tp.Value.Feasible)
{
// notify
ArbiterOutput.Output("Scondary: Left Lateral Opposing: NOT Available, Still FEASIBLE, WAITING");
// wait and blink maneuver
TravelingParameters tp2 = this.ForwardMonitor.CurrentParameters;
tp2.Decorators = TurnDecorators.LeftTurnDecorator;
tp2.Behavior.Decorators = tp2.Decorators;
// create parameterization
LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, al.LaneOnLeft,
true, true, tp2.Behavior, 0.0, CoreCommon.CorePlanningState, tp2.Decorators, tp2, new Coordinates(),
new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle);
// add parameterization to possible
changeParams.Add(lcp);
}
}
// otherwise timer not running or not been long enough
else
{
// check if timer running
if (!this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.IsRunning)
this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Start();
double waited = (double)(this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds / 1000.0);
ArbiterOutput.Output("Waited for failed forwards: " + waited.ToString("F2") + " seconds");
// wait and blink maneuver
TravelingParameters tp = this.ForwardMonitor.CurrentParameters;
tp.Decorators = TurnDecorators.LeftTurnDecorator;
tp.Behavior.Decorators = tp.Decorators;
// create parameterization
LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, al.LaneOnLeft,
true, true, tp.Behavior, 0.0, CoreCommon.CorePlanningState, tp.Decorators, tp, new Coordinates(),
new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle);
// add parameterization to possible
changeParams.Add(lcp);
}
#endregion
}
else if (!this.leftLateralReasoning.LateralLane.Equals(closestOpposing) && !this.leftLateralReasoning.ExistsRelativelyHere(vehicleState))
{
// set and notify
ArbiterOutput.Output("superceeded left lateral reasoning with override for non adjacent left lateral reasoning");
ILateralReasoning tmpReasoning = this.leftLateralReasoning;
this.leftLateralReasoning = this.secondaryLeftLateralReasoning;
try
{
#region Plan
// need to make sure that we wait for 3 seconds with the blinker on (resetting with pause)
if (this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds > 3000)
{
// notify
ArbiterOutput.Output("Scondary: Left Lateral Opposing: Wait Timer DONE");
// get parameterization
LaneChangeParameters? tp = this.LaneChangeParameterization(
new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, this.ForwardMonitor.ForwardVehicle.CurrentVehicle),
al,
leftLateralReasoning.LateralLane,
true,
roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
departUpperBound,
defaultReturnLowerBound,
minimumReturnComplete,
defaultReturnUpperBound,
blockages,
ignorable,
vehicleState,
CoreCommon.Communications.GetVehicleSpeed().Value);
// check if available and feasible
if (tp.HasValue && tp.Value.Available && tp.Value.Feasible)
{
// notify
ArbiterOutput.Output("Scondary: Left Lateral Opposing: AVAILABLE & FEASIBLE");
LaneChangeParameters lcp = tp.Value;
lcp.Behavior = this.ForwardMonitor.CurrentParameters.Behavior;
lcp.Decorators = TurnDecorators.LeftTurnDecorator;
lcp.Behavior.Decorators = TurnDecorators.LeftTurnDecorator;
// next state
ChangeLanesState cls = new ChangeLanesState(tp.Value);
lcp.NextState = cls;
// add parameterization to possible
changeParams.Add(lcp);
}
// check if not available now but still feasible
else if (tp.HasValue && !tp.Value.Available && tp.Value.Feasible)
{
// notify
ArbiterOutput.Output("Scondary: Left Lateral Opposing: NOT Available, Still FEASIBLE, WAITING");
// wait and blink maneuver
TravelingParameters tp2 = this.ForwardMonitor.CurrentParameters;
tp2.Decorators = TurnDecorators.LeftTurnDecorator;
tp2.Behavior.Decorators = tp2.Decorators;
// create parameterization
LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, this.leftLateralReasoning.LateralLane,
true, true, tp2.Behavior, 0.0, CoreCommon.CorePlanningState, tp2.Decorators, tp2, new Coordinates(),
new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle);
// add parameterization to possible
changeParams.Add(lcp);
}
}
// otherwise timer not running or not been long enough
else
{
// check if timer running
if (!this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.IsRunning)
this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Start();
double waited = (double)(this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds / 1000.0);
ArbiterOutput.Output("Waited for failed forwards: " + waited.ToString("F2") + " seconds");
// wait and blink maneuver
TravelingParameters tp = this.ForwardMonitor.CurrentParameters;
tp.Decorators = TurnDecorators.LeftTurnDecorator;
tp.Behavior.Decorators = tp.Decorators;
// create parameterization
LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, this.leftLateralReasoning.LateralLane,
true, true, tp.Behavior, 0.0, CoreCommon.CorePlanningState, tp.Decorators, tp, new Coordinates(),
new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle);
// add parameterization to possible
changeParams.Add(lcp);
}
#endregion
}
catch (Exception ex)
{
ArbiterOutput.Output("Core intelligence thread caught exception in forward reasoning secondary maneuver when non-standard adjacent left: " + ex.ToString());
}
// restore
this.leftLateralReasoning = tmpReasoning;
}
}
else
{
// do nuttin
ArbiterOutput.Output("no opposing adjacent");
}
}
else
{
// notify
ArbiterOutput.Output("Secondary: LeftLatOpp: Stopped Behind FV: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + ", but not enough room to pass");
}
}
}
else
{
this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Stop();
this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Reset();
// notify
ArbiterOutput.Output("Secondary: Left Lateral Opposing: NOT Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString());
}
}
else
{
ArbiterOutput.Output("Secondary Opposing: enough room to pass opposing: initial: " + enoughRoom.ToString() + ", opposing: " + oppEnough.ToString());
}
}
#endregion
#region Left Lateral Forwards
// otherwise parameterize
else if(fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle)
{
// get lane
ArbiterLane lane = al;
// determine failed vehicle lane change distance params
Coordinates defaultReturnLowerBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 2.0)).Location;
Coordinates minimumReturnComplete = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 3.0)).Location;
Coordinates defaultReturnUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 5.0)).Location;
// get params for lane change
LaneChangeParameters? lcp = this.LaneChangeParameterization(
new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, null),
lane, lane.LaneOnLeft, false, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
departUpperBound, defaultReturnLowerBound, minimumReturnComplete, defaultReturnUpperBound,
blockages, ignorable, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value);
// check if exists to generate full param
if (lcp.HasValue)
{
// set param
LaneChangeParameters tp = lcp.Value;
// notify
ArbiterOutput.Output("Secondary Failed Forward Reasoning Forwards: Available: " + tp.Available.ToString() + ", Feasible: " + tp.Feasible.ToString());
// get behavior
ChangeLaneBehavior clb = new ChangeLaneBehavior(
al.LaneId, al.LaneOnLeft.LaneId, true, al.DistanceBetween(vehicleState.Front, departUpperBound),
new ScalarSpeedCommand(tp.Parameters.RecommendedSpeed), tp.Parameters.VehiclesToIgnore,
al.LanePath(), al.LaneOnLeft.LanePath(), al.Width, al.LaneOnLeft.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true));
tp.Behavior = clb;
tp.Decorators = TurnDecorators.LeftTurnDecorator;
// next state
ChangeLanesState cls = new ChangeLanesState(tp);
tp.NextState = cls;
// add parameterization to possible
changeParams.Add(tp);
}
}
#endregion
}
#endregion
}
#endregion
#region Slow Forward
// if pass, determine if should pass in terms or vehicles adjacent and in front then call lane change function for maneuver
else if (lci.Reason == LaneChangeReason.SlowForwardVehicle)
{
// if left exists and is not opposing, parameterize
if (leftLateralReasoning.Exists && !leftLateralReasoning.IsOpposing)
{
throw new Exception("slow forward vehicle pass not implemented yet");
}
// if right exists and is not opposing, parameterize
if (rightLateralReasoning.Exists && !rightLateralReasoning.IsOpposing)
{
throw new Exception("slow forward vehicle pass not implemented yet");
}
}
#endregion
#region Parameterize
// check params to see if any are good and available
if(changeParams != null && changeParams.Count > 0)
{
// sort the parameterizations
changeParams.Sort();
// get first
LaneChangeParameters final = changeParams[0];
// notify
ArbiterOutput.Output("Secondary Reasoning Final: Available: " + final.Available.ToString() + ", Feasible: " + final.Feasible.ToString());
// make sure ok
if (final.Available && final.Feasible)
{
// return best param
return new Maneuver(changeParams[0].Behavior, changeParams[0].NextState, changeParams[0].Decorators, vehicleState.Timestamp);
}
}
#endregion
}
}
// fallout is null
return null;
}
/// <summary>
/// Behavior given we stay in the current lane
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <param name="downstreamPoint"></param>
/// <returns></returns>
public TravelingParameters Primary(IFQMPlanable lane, VehicleState state, RoadPlan roadPlan,
List<ITacticalBlockage> blockages, List<ArbiterWaypoint> ignorable, bool log)
{
// possible parameterizations
List<TravelingParameters> tps = new List<TravelingParameters>();
#region Lane Major Parameterizations with Current Lane Goal Params, If Best Goal Exists in Current Lane
// check if the best goal is in the current lane
ArbiterWaypoint lanePoint = null;
if (lane.AreaComponents.Contains(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Lane))
lanePoint = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest;
// get the next thing we need to stop at no matter what and parameters for stopping at it
ArbiterWaypoint laneNavStop;
double laneNavStopSpeed;
double laneNavStopDistance;
StopType laneNavStopType;
this.NextNavigationalStop(lane, lanePoint, state.Front, state.ENCovariance, ignorable,
out laneNavStopSpeed, out laneNavStopDistance, out laneNavStopType, out laneNavStop);
// create parameterization of the stop
TravelingParameters laneNavParams = this.NavStopParameterization(lane, roadPlan, laneNavStopSpeed, laneNavStopDistance, laneNavStop, laneNavStopType, state);
this.navigationParameters = laneNavParams;
this.laneParameters = laneNavParams;
tps.Add(laneNavParams);
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FQMBehavior = laneNavParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FQMBehaviorInfo = laneNavParams.Behavior.ShortBehaviorInformation();
CoreCommon.CurrentInformation.FQMSpeedCommand = laneNavParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FQMDistance = laneNavParams.DistanceToGo.ToString("F6");
CoreCommon.CurrentInformation.FQMSpeed = laneNavParams.RecommendedSpeed.ToString("F6");
CoreCommon.CurrentInformation.FQMState = laneNavParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FQMStateInfo = laneNavParams.NextState.StateInformation();
CoreCommon.CurrentInformation.FQMStopType = laneNavStopType.ToString();
CoreCommon.CurrentInformation.FQMWaypoint = laneNavStop.ToString();
CoreCommon.CurrentInformation.FQMSegmentSpeedLimit = lane.CurrentMaximumSpeed(state.Position).ToString("F1");
}
#endregion
#endregion
#region Forward Vehicle Parameterization
// forward vehicle update
this.ForwardVehicle.Update(lane, state);
// clear current params
this.followingParameters = null;
// check not in a sparse area
bool sparseArea = lane is ArbiterLane ?
((ArbiterLane)lane).GetClosestPartition(state.Front).Type == PartitionType.Sparse :
((SupraLane)lane).ClosestComponent(state.Front) == SLComponentType.Initial && ((SupraLane)lane).Initial.GetClosestPartition(state.Front).Type == PartitionType.Sparse;
// exists forward vehicle
if (!sparseArea && this.ForwardVehicle.ShouldUseForwardTracker)
{
// get forward vehicle params, set lane decorators
TravelingParameters vehicleParams = this.ForwardVehicle.Follow(lane, state, ignorable);
vehicleParams.Behavior.Decorators.AddRange(this.laneParameters.Decorators);
this.FollowingParameters = vehicleParams;
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FVTBehavior = vehicleParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FVTSpeed = this.ForwardVehicle.FollowingParameters.RecommendedSpeed.ToString("F3");
CoreCommon.CurrentInformation.FVTSpeedCommand = vehicleParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FVTDistance = vehicleParams.DistanceToGo.ToString("F2");
CoreCommon.CurrentInformation.FVTState = vehicleParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FVTStateInfo = vehicleParams.NextState.StateInformation();
// set xSeparation
CoreCommon.CurrentInformation.FVTXSeparation = this.ForwardVehicle.ForwardControl.xSeparation.ToString("F0");
}
#endregion
// check if we're stopped behind fv, allow wait timer if true, stop wait timer if not behind fv
bool forwardVehicleStopped = this.ForwardVehicle.CurrentVehicle.IsStopped;
bool forwardSeparationGood = this.ForwardVehicle.ForwardControl.xSeparation < TahoeParams.VL * 2.5;
bool wereStopped = CoreCommon.Communications.GetVehicleSpeed().Value < 0.1;
bool forwardDistanceToGo = vehicleParams.DistanceToGo < 3.5;
if (forwardVehicleStopped && forwardSeparationGood && wereStopped && forwardDistanceToGo)
this.ForwardVehicle.StoppedBehindForwardVehicle = true;
else
{
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Stop();
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Reset();
}
// add vehicle param
tps.Add(vehicleParams);
}
else
{
// no forward vehicle
this.followingParameters = null;
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
}
#endregion
#region Sparse Waypoint Parameterization
// check for sparse waypoints downstream
bool sparseDownstream;
bool sparseNow;
double sparseDistance;
lane.SparseDetermination(state.Front, out sparseDownstream, out sparseNow, out sparseDistance);
// check if sparse areas downstream
if (sparseDownstream)
{
// set the distance to the sparse area
if (sparseNow)
sparseDistance = 0.0;
// get speed
double speed = SpeedTools.GenerateSpeed(sparseDistance, 2.24, lane.CurrentMaximumSpeed(state.Front));
// maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new ScalarSpeedCommand(speed);
#region Parameterize Given Speed Command
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List<int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), this.laneParameters.Decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List<int>());
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, this.laneParameters.Decorators, state.Timestamp);
}
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = this.laneParameters.Decorators;
tp.DistanceToGo = Double.MaxValue;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List<int>();
// return navigation params
tps.Add(tp);
#endregion
}
#endregion
// sort params by most urgent
tps.Sort();
// set current params
this.currentParameters = tps[0];
// get behavior to check add vehicles to ignore
if (this.currentParameters.Behavior is StayInLaneBehavior)
((StayInLaneBehavior)this.currentParameters.Behavior).IgnorableObstacles = this.ForwardVehicle.VehiclesToIgnore;
// out of navigation, blockages, and vehicle following determine the actual primary parameters for this lane
return tps[0];
}
/// <summary>
/// Figure out standard control to follow
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public ForwardVehicleTrackingControl GetControl(IFQMPlanable lane, VehicleState state, List <ArbiterWaypoint> ignorable)
{
// check exists a vehicle to track
if (this.CurrentVehicle != null)
{
// get the maximum velocity of the segment we're closest to
double segV = lane.CurrentMaximumSpeed(state.Front);
double segMaxV = segV;
// flag if the forward vehicles is in a stop waypoint type safety zone
bool safetyZone = false;
ArbiterWaypoint nextStop = lane.GetNext(state.Front, WaypointType.Stop, ignorable);
double distance = nextStop != null?lane.DistanceBetween(state.Front, nextStop.Position) : Double.MaxValue;
// check if no stop exists or distance > 30
if (nextStop == null || distance > 30 || distance < 0)
{
// there is no next stop or the forward vehcile is not in a safety zone
safetyZone = false;
}
// otherwise the tracked vehicle is in a safety zone
else
{
// set the forward vehicle as being in a safety zone
safetyZone = true;
}
// minimum distance
double xAbsMin;
// if we're in a safety zone
if (safetyZone)
{
// set minimum to 1 times the tahoe's vehicle length
xAbsMin = TahoeParams.VL * 1.5;
}
// otherwise we're not in a safety zone
else
{
// set minimum to 2 times the tahoe's vehicle length
xAbsMin = TahoeParams.VL * 2.0;
}
// retrieve the tracked vehicle's scalar absolute speed
double vTarget = CurrentVehicle.StateMonitor.Observed.isStopped ? 0.0 : this.CurrentVehicle.Speed;
// check if vehicle is moving away from us
VehicleDirectionAlongPath vdap = CurrentVehicle.VehicleDirectionAlong(lane);
// if moving perpendic, set speed to 0.0
if (vdap == VehicleDirectionAlongPath.Perpendicular)
{
vTarget = 0.0;
}
#region Forward
// can use normal tracker if vehicle not oncoming
if (true) //vdap != VehicleDirectionAlongPath.Reverse)
{
// get the good distance behind the target, is xAbsMin if vehicle velocity is small enough
double xGood = xAbsMin + (1.5 * (TahoeParams.VL / 4.4704) * vTarget);
// get our current separation
double xSeparation = this.currentDistance;
// determine the envelope to reason about the vehicle, that is, to slow from vMax to vehicle speed
double xEnvelope = (Math.Pow(vTarget, 2.0) - Math.Pow(segMaxV, 2.0)) / (2.0 * -0.5);
// the distance to the good
double xDistanceToGood;
// determine the velocity to follow the vehicle ahead
double vFollowing;
// check if we are basically stopped in the right place behind another vehicle
if (vTarget < 1 && Math.Abs(xSeparation - xGood) < 1)
{
// stop
vFollowing = 0;
// good distance
xDistanceToGood = 0;
}
// check if we are within the minimum distance
else if (xSeparation <= xAbsMin)
{
// stop
vFollowing = 0;
// good distance
xDistanceToGood = 0;
}
// determine if our separation is less than the good distance but not inside minimum
else if (xAbsMin < xSeparation && xSeparation < xGood)
{
// get the distance we are from xMin
double xAlong = xSeparation - xAbsMin;
// get the total distance from xGood to xMin
double xGoodToMin = xGood - xAbsMin;
// slow to 0 by min
vFollowing = (((xGoodToMin - xAlong) / xGoodToMin) * (-vTarget)) + vTarget;
// good distance
xDistanceToGood = 0;
}
// our separation is greater than the good distance
else
{
// good distance
xDistanceToGood = xSeparation - xGood;
// get differences in max and target velocities
vFollowing = SpeedTools.GenerateSpeed(xDistanceToGood, vTarget, segMaxV);
}
// return
return(new ForwardVehicleTrackingControl(true, safetyZone, vFollowing, xSeparation,
xDistanceToGood, vTarget, xAbsMin, xGood, false));
}
#endregion
#region Oncoming
/*
* else
* {
* // determine the distance for the other vehicle to stop
* double xTargetEnvelope = -Math.Pow(vTarget, 2.0) / (2.0 * -0.5);
*
* // determine the distance for our vehicle to stop
* double xOurEnvelope = -Math.Pow(CoreCommon.Communications.GetVehicleSpeed().Value, 2.0) / (2.0 * -0.5);
*
* // get the good distance behind the target, is xAbsMin if vehicle velocity is small enough
* double xGood = xAbsMin + (1.5 * (TahoeParams.VL / 4.4704) * vTarget) + xOurEnvelope + xTargetEnvelope;
*
* // get our current separation
* double xSeparation = this.currentDistance;
*
* // determine the envelope for us to slow to 0 by the good distance
* double xEnvelope = -Math.Pow(segMaxV, 2.0) / (2.0 * -0.5);
*
* // the distance to the good
* double xDistanceToGood;
*
* // determine the velocity to follow the vehicle ahead
* double vFollowing;
*
* // check if we are basically stopped in the right place behind another vehicle
* if (vTarget < 1 && Math.Abs(xSeparation - xGood) < 1)
* {
* // stop
* vFollowing = 0;
*
* // good distance
* xDistanceToGood = 0;
* }
* // check if we are within the minimum distance
* else if (xSeparation <= xGood)
* {
* // stop
* vFollowing = 0;
*
* // good distance
* xDistanceToGood = 0;
* }
* // our separation is greater than the good distance but within the envelope
* else if (xGood <= xSeparation && xSeparation <= xEnvelope + xGood)
* {
* // get differences in max and target velocities
* double vDifference = segMaxV;
*
* // get the distance we are along the speed envolope from xGood
* double xAlong = xEnvelope - (xSeparation - xGood);
*
* // slow to vTarget by good
* vFollowing = (((xEnvelope - xAlong) / xEnvelope) * (vDifference));
*
* // good distance
* xDistanceToGood = xSeparation - xGood;
* }
* // otherwise xSeparation > xEnvelope
* else
* {
* // can go max speed
* vFollowing = segMaxV;
*
* // good distance
* xDistanceToGood = xSeparation - xGood;
* }
*
* // return
* return new ForwardVehicleTrackingControl(true, safetyZone, vFollowing, xSeparation,
* xDistanceToGood, vTarget, xAbsMin, xGood, true);
* }
*
*/
#endregion
}
else
{
// return
return(new ForwardVehicleTrackingControl(false, false, Double.MaxValue, Double.MaxValue, Double.MaxValue, Double.MaxValue, 0.0, Double.MaxValue, false));
}
}
/// <summary>
/// Distance from coord to vehicle along lane
/// </summary>
/// <param name="lane"></param>
/// <param name="c"></param>
/// <returns></returns>
public double DistanceToVehicle(IFQMPlanable lane, Coordinates c)
{
if (CurrentVehicle != null)
return lane.DistanceBetween(c, CurrentVehicle.ClosestPosition);
else
return Double.MaxValue;
}
/// <summary>
/// Get the vehicle direction along a lane
/// </summary>
/// <param name="lane"></param>
/// <returns></returns>
public VehicleDirectionAlongPath VehicleDirectionAlong(IFQMPlanable lane)
{
if (this.IsStopped || !this.StateMonitor.Observed.headingValid)
return VehicleDirectionAlongPath.Forwards;
// get point on the lane path
LinePath.PointOnPath pop = lane.LanePath().GetClosestPoint(this.ClosestPosition);
// get heading of the lane path there
Coordinates pathVector = lane.LanePath().GetSegment(pop.Index).UnitVector;
// get vehicle heading
Coordinates unit = new Coordinates(1, 0);
Coordinates headingVector = unit.Rotate(this.StateMonitor.Observed.absoluteHeading);
// rotate vehicle heading
Coordinates relativeVehicle = headingVector.Rotate(-pathVector.ArcTan);
// get path heading
double relativeVehicleDegrees = relativeVehicle.ToDegrees() >= 180.0 ? Math.Abs(relativeVehicle.ToDegrees() - 360.0) : Math.Abs(relativeVehicle.ToDegrees());
if (relativeVehicleDegrees < 70)
return VehicleDirectionAlongPath.Forwards;
else if (relativeVehicleDegrees > 70 && relativeVehicleDegrees < 110)
return VehicleDirectionAlongPath.Perpendicular;
else
return VehicleDirectionAlongPath.Reverse;
}
/// <summary>
/// Determines proper speed commands given we want to stop at a certain waypoint
/// </summary>
/// <param name="waypoint"></param>
/// <param name="lane"></param>
/// <param name="position"></param>
/// <param name="enCovariance"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public double RequiredSpeed(ArbiterWaypoint waypoint, double speedAtWaypoint, double currentMax, IFQMPlanable lane, Coordinates position)
{
// get dist to waypoint
double stopSpeedDistance = lane.DistanceBetween(position, waypoint.Position);
// segment max speed
double segmentMaxSpeed = currentMax;
// distance to stop from max v given desired acceleration
double stopEnvelopeLength = (Math.Pow(speedAtWaypoint, 2) - Math.Pow(currentMax, 2)) / (2.0 * -0.5);
// check if we are within profile
if (stopSpeedDistance > 0 && stopSpeedDistance < stopEnvelopeLength)
{
// get speed along profile
double requiredSpeed = speedAtWaypoint + ((stopSpeedDistance / stopEnvelopeLength) * (segmentMaxSpeed - speedAtWaypoint));
return(requiredSpeed);
}
else
{
return(segmentMaxSpeed);
}
}
/// <summary>
/// Determines proper speed commands given we want to stop at a certain waypoint
/// </summary>
/// <param name="waypoint"></param>
/// <param name="lane"></param>
/// <param name="position"></param>
/// <param name="enCovariance"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public double RequiredSpeed(ArbiterWaypoint waypoint, double speedAtWaypoint, double currentMax, IFQMPlanable lane, Coordinates position)
{
// get dist to waypoint
double stopSpeedDistance = lane.DistanceBetween(position, waypoint.Position);
// segment max speed
double segmentMaxSpeed = currentMax;
// distance to stop from max v given desired acceleration
double stopEnvelopeLength = (Math.Pow(speedAtWaypoint, 2) - Math.Pow(currentMax, 2)) / (2.0 * -0.5);
// check if we are within profile
if (stopSpeedDistance > 0 && stopSpeedDistance < stopEnvelopeLength)
{
// get speed along profile
double requiredSpeed = speedAtWaypoint + ((stopSpeedDistance / stopEnvelopeLength) * (segmentMaxSpeed - speedAtWaypoint));
return requiredSpeed;
}
else
{
return segmentMaxSpeed;
}
}
/// <summary>
/// Next point at which to stop
/// </summary>
/// <param name="lane"></param>
/// <param name="position"></param>
/// <param name="stopPoint"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public void NextLaneStop(IFQMPlanable lane, Coordinates position, double[] enCovariance, List<ArbiterWaypoint> ignorable,
out ArbiterWaypoint stopPoint, out double stopSpeed, out double stopDistance, out StopType stopType)
{
// get the stop
List<WaypointType> wts = new List<WaypointType>();
wts.Add(WaypointType.Stop);
wts.Add(WaypointType.End);
stopPoint = lane.GetNext(position, wts, ignorable);
// set stop type
stopType = stopPoint.IsStop ? StopType.StopLine : StopType.EndOfLane;
// parameterize
this.StoppingParams(stopPoint, lane, position, enCovariance, out stopSpeed, out stopDistance);
}
/// <summary>
/// Parameters to follow the forward vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters Follow(IFQMPlanable lane, VehicleState state, List <ArbiterWaypoint> ignorable)
{
// travelling parameters
TravelingParameters tp = new TravelingParameters();
// get control parameters
ForwardVehicleTrackingControl fvtc = GetControl(lane, state, ignorable);
this.ForwardControl = fvtc;
// initialize the parameters
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.Decorators = new List <BehaviorDecorator>();
// ignore the forward vehicles
tp.VehiclesToIgnore = this.VehiclesToIgnore;
#region Following Control
#region Immediate Stop
// need to stop immediately
if (fvtc.vFollowing == 0.0)
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(0.0);
tp.SpeedCommand = sc;
tp.UsingSpeed = true;
if (lane is ArbiterLane)
{
// standard path following behavior
ArbiterLane al = ((ArbiterLane)lane);
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Stopping at Distance
// stop at distance
else if (fvtc.vFollowing < 0.7 &&
CoreCommon.Communications.GetVehicleSpeed().Value <= 2.24 &&
fvtc.xSeparation > fvtc.xAbsMin)
{
// speed command
SpeedCommand sc = new StopAtDistSpeedCommand(fvtc.xDistanceToGood);
tp.SpeedCommand = sc;
tp.UsingSpeed = false;
if (lane is ArbiterLane)
{
ArbiterLane al = (ArbiterLane)lane;
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Normal Following
// else normal
else
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(fvtc.vFollowing);
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.UsingSpeed = true;
tp.SpeedCommand = sc;
if (lane is ArbiterLane)
{
ArbiterLane al = ((ArbiterLane)lane);
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#endregion
#region Check for Oncoming Vehicles
// check if need to add current lane oncoming vehicle decorator
if (false && this.CurrentVehicle.PassedDelayedBirth && fvtc.forwardOncoming && fvtc.xSeparation > TahoeParams.VL && fvtc.xSeparation < 30)
{
// check valid lane area
if (lane is ArbiterLane || ((SupraLane)lane).ClosestComponent(this.CurrentVehicle.ClosestPosition) == SLComponentType.Initial)
{
// get distance to and speed of the forward vehicle
double fvDistance = fvtc.xSeparation;
double fvSpeed = fvtc.vTarget;
// create the 5mph behavior
ScalarSpeedCommand updated = new ScalarSpeedCommand(2.24);
// set that we are using speed
tp.UsingSpeed = true;
tp.RecommendedSpeed = updated.Speed;
tp.DistanceToGo = fvtc.xSeparation;
// create the decorator
OncomingVehicleDecorator ovd = new OncomingVehicleDecorator(updated, fvDistance, fvSpeed);
// add the decorator
tp.Behavior.Decorators.Add(ovd);
tp.Decorators.Add(ovd);
}
}
#endregion
// set current
this.followingParameters = tp;
// return parameterization
return(tp);
}
/// <summary>
/// Determines the point at which we need to stop in the current lane
/// </summary>
/// <param name="lanePoint"></param>
/// <param name="position"></param>
/// <param name="stopRequired"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public void NextNavigationalStop(IFQMPlanable lane, ArbiterWaypoint lanePoint, Coordinates position, double[] enCovariance, List<ArbiterWaypoint> ignorable,
out double stopSpeed, out double stopDistance, out StopType stopType, out ArbiterWaypoint stopWaypoint)
{
// variables for default next stop line or end of lane
this.NextLaneStop(lane, position, enCovariance, ignorable, out stopWaypoint, out stopSpeed, out stopDistance, out stopType);
if (lanePoint != null)
{
// check if the point downstream is the last checkpoint
if (CoreCommon.Mission.MissionCheckpoints.Count == 1 && lanePoint.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
ArbiterWaypoint cpStop = lanePoint;
double cpStopSpeed;
double cpStopDistance;
StopType cpStopType = StopType.LastGoal;
this.StoppingParams(cpStop, lane, position, enCovariance, out cpStopSpeed, out cpStopDistance);
if (cpStopDistance <= stopDistance)
{
stopSpeed = cpStopSpeed;
stopDistance = cpStopDistance;
stopType = cpStopType;
stopWaypoint = cpStop;
}
}
// check if point is not the checkpoint and is an exit
else if (lanePoint.IsExit && !lanePoint.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
ArbiterWaypoint exitStop = lanePoint;
double exitStopSpeed;
double exitStopDistance;
StopType exitStopType = lanePoint.IsStop ? StopType.StopLine : StopType.Exit;
this.StoppingParams(exitStop, lane, position, enCovariance, out exitStopSpeed, out exitStopDistance);
if (exitStopDistance <= stopDistance)
{
stopSpeed = exitStopSpeed;
stopDistance = exitStopDistance;
stopType = exitStopType;
stopWaypoint = exitStop;
}
}
}
}
/// <summary>
/// Makes new parameterization for nav
/// </summary>
/// <param name="lane"></param>
/// <param name="lanePlan"></param>
/// <param name="speed"></param>
/// <param name="distance"></param>
/// <param name="stopType"></param>
/// <returns></returns>
public TravelingParameters NavStopParameterization(IFQMPlanable lane, RoadPlan roadPlan, double speed, double distance,
ArbiterWaypoint stopWaypoint, StopType stopType, VehicleState state)
{
// get min dist
double distanceCutOff = stopType == StopType.StopLine ? CoreCommon.OperationslStopLineSearchDistance : CoreCommon.OperationalStopDistance;
#region Get Decorators
// turn direction default
ArbiterTurnDirection atd = ArbiterTurnDirection.Straight;
List <BehaviorDecorator> decorators = TurnDecorators.NoDecorators;
// check if need decorators
if (lane is ArbiterLane &&
stopWaypoint.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest) &&
roadPlan.BestPlan.laneWaypointOfInterest.IsExit &&
distance < 40.0)
{
if (roadPlan.BestPlan.laneWaypointOfInterest.BestExit == null)
{
ArbiterOutput.Output("NAV BUG: lanePlan.laneWaypointOfInterest.BestExit: FQM NavStopParameterization");
}
else
{
switch (roadPlan.BestPlan.laneWaypointOfInterest.BestExit.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
else if (lane is SupraLane)
{
SupraLane sl = (SupraLane)lane;
double distToInterconnect = sl.DistanceBetween(state.Front, sl.Interconnect.InitialGeneric.Position);
if ((distToInterconnect > 0 && distToInterconnect < 40.0) || sl.ClosestComponent(state.Front) == SLComponentType.Interconnect)
{
switch (sl.Interconnect.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
#endregion
#region Get Maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new StopAtDistSpeedCommand(distance);
#region Distance Cutoff
// check if distance is less than cutoff
if (distance < distanceCutOff && stopType != StopType.EndOfLane)
{
// default behavior
Behavior b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtDistSpeedCommand(distance), new List <int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
// stopping so not using speed param
usingSpeed = false;
// exit is next
if (stopType == StopType.Exit)
{
// exit means stopping at a good exit in our current lane
IState nextState = new StoppingAtExitState(stopWaypoint.Lane, stopWaypoint, atd, true, roadPlan.BestPlan.laneWaypointOfInterest.BestExit, state.Timestamp, state.Front);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
// stop line is left
else if (stopType == StopType.StopLine)
{
// determine if hte stop line is the best exit
bool isNavExit = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Equals(stopWaypoint);
// get turn direction
atd = isNavExit ? atd : ArbiterTurnDirection.Straight;
// predetermine interconnect if best exit
ArbiterInterconnect desired = null;
if (isNavExit)
{
desired = roadPlan.BestPlan.laneWaypointOfInterest.BestExit;
}
else if (stopWaypoint.NextPartition != null && state.Front.DistanceTo(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position) > 25)
{
desired = stopWaypoint.NextPartition.ToInterconnect;
}
// set decorators
decorators = isNavExit ? decorators : TurnDecorators.NoDecorators;
// stop at the stop
IState nextState = new StoppingAtStopState(stopWaypoint.Lane, stopWaypoint, atd, isNavExit, desired);
b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtLineSpeedCommand(), new List <int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
m = new Maneuver(b, nextState, decorators, state.Timestamp);
sc = new StopAtLineSpeedCommand();
}
else if (stopType == StopType.LastGoal)
{
// stop at the last goal
IState nextState = new StayInLaneState(stopWaypoint.Lane, CoreCommon.CorePlanningState);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// set speed
sc = new ScalarSpeedCommand(speed);
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List <int>());
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, decorators, state.Timestamp);
}
}
#endregion
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = distance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
return(tp);
#endregion
}
/// <summary>
/// Determines proper speed commands given we want to stop at a certain waypoint
/// </summary>
/// <param name="waypoint"></param>
/// <param name="lane"></param>
/// <param name="position"></param>
/// <param name="enCovariance"></param>
/// <param name="stopSpeed"></param>
/// <param name="stopDistance"></param>
public void StoppingParams(Coordinates coordinate, IFQMPlanable lane, Coordinates position, double[] enCovariance,
out double stopSpeed, out double stopDistance)
{
// get dist to waypoint
stopDistance = lane.DistanceBetween(position, coordinate);
// subtract distance based upon type to help calculate speed
double stopSpeedDistance = stopDistance - CoreCommon.OperationalStopDistance;
// check if we are positive distance away
if (stopSpeedDistance >= 0)
{
// segment max speed
double segmentMaxSpeed = lane.CurrentMaximumSpeed(position);
// get speed using constant acceleration
stopSpeed = SpeedTools.GenerateSpeed(stopSpeedDistance, CoreCommon.OperationalStopSpeed, segmentMaxSpeed);
}
else
{
// inside stop dist
stopSpeed = (stopDistance / CoreCommon.OperationalStopDistance) * CoreCommon.OperationalStopSpeed;
stopSpeed = stopSpeed < 0 ? 0.0 : stopSpeed;
}
}
/// <summary>
/// Plans the forward maneuver and secondary maneuver
/// </summary>
/// <param name="arbiterLane"></param>
/// <param name="vehicleState"></param>
/// <param name="p"></param>
/// <param name="blockage"></param>
/// <returns></returns>
public Maneuver ForwardManeuver(IFQMPlanable arbiterLane, VehicleState vehicleState, RoadPlan roadPlan,
List<ITacticalBlockage> blockages, List<ArbiterWaypoint> ignorable)
{
// get primary parameterization
TravelingParameters primary = this.ForwardMonitor.Primary(arbiterLane, vehicleState, roadPlan, blockages, ignorable, true);
// return primary for now
return new Maneuver(primary.Behavior, primary.NextState, primary.Decorators, vehicleState.Timestamp);
}
