/// <summary>
/// Gets time cost between two waypoints in the same lane
/// </summary>
/// <param name="initial"></param>
/// <param name="final"></param>
/// <returns></returns>
private double TimeCostInLane(ArbiterWaypoint initial, ArbiterWaypoint final)
{
ArbiterWaypoint current = initial;
double cost = 0.0;
while (current != null)
{
if (current.Equals(final))
{
return(cost);
}
else
{
if (current.NextPartition == null)
{
return(cost);
}
cost += current.NextPartition.TimeCost();
if (current.NextPartition != null)
{
current = current.NextPartition.Final;
}
else
{
current = null;
}
}
}
return(Double.MaxValue);
}
/// <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
}
