/// <summary>
/// Resets current report
/// </summary>
public void Reset()
{
// prevent overwrites
lock (timeoutTimer)
{
this.recentReport = null;
this.timeoutTimer.Stop();
this.timeoutTimer.Reset();
}
}
/// <summary>
/// sets the current blockage report
/// </summary>
/// <param name="tbr"></param>
public void OnBlockageReport(TrajectoryBlockedReport tbr)
{
// set the report
this.recentReport = tbr;
// output
ArbiterOutput.Output("Blockage report: Behavior: " + tbr.BehaviorType.ToString() + ", Type: " + tbr.BlockageType.ToString() + ", Dist: " + tbr.DistanceToBlockage.ToString("f2") + ", Result: " + tbr.Result.ToString() + ", Reverse Rec: " + tbr.ReverseRecommended.ToString() + ", Saudi: " + tbr.SAUDILevel.ToString() + ", Track: " + tbr.TrackID.ToString() + "\n");
// lock the timer
lock (timeoutTimer)
{
this.timeoutTimer.Stop();
this.timeoutTimer.Reset();
this.timeoutTimer.Start();
}
}
/// <summary>
/// Updates the blockage component
/// </summary>
public List <ITacticalBlockage> DetermineBlockages(IState currentState)
{
// check for a timeout or cooldown
if (timeoutTimer.ElapsedMilliseconds / 1000.0 > 0.5 ||
(cooldownTimer.IsRunning && cooldownTimer.ElapsedMilliseconds < cooldownMaxValue))
{
// reset all if recent blockage timed out
this.Reset();
}
// check cooldown timer expired
else if (cooldownTimer.IsRunning && cooldownTimer.ElapsedMilliseconds > cooldownMaxValue)
{
cooldownTimer.Stop();
cooldownTimer.Reset();
cooldownMaxValue = 0.0;
}
// set the report to use for this
TrajectoryBlockedReport tbr = this.recentReport;
// check if we still have a blockage report
if (tbr != null)
{
// check type of state is stay in lane or stay in supra lane
if (currentState is StayInLaneState || currentState is StayInSupraLaneState)
{
// check type of completion report matches current state
if (tbr.BehaviorType == (new StayInLaneBehavior(null, null, null)).GetType() ||
tbr.BehaviorType == (new SupraLaneBehavior(null, null, 0, 0, 0, null, null, 0, 0, 0, null, null, null)).GetType())
{
// create the lane blockage
LaneBlockage lb = new LaneBlockage(tbr);
CoreCommon.CurrentInformation.Blockage = lb.ToString();
// return the blockage
return(new List <ITacticalBlockage>(new ITacticalBlockage[] { lb }));
}
}
// check if we're in a turn state
else if (currentState is TurnState)
{
// check type of completion report matches current state
if (tbr.BehaviorType == (new TurnBehavior(null, null, null, null, null, null)).GetType())
{
// create a new turn blockage
TurnBlockage tb = new TurnBlockage(tbr);
CoreCommon.CurrentInformation.Blockage = tb.ToString();
// return the blockage
return(new List <ITacticalBlockage>(new ITacticalBlockage[] { tb }));
}
}
// check if we're changing lanes
else if (currentState is ChangeLanesState)
{
// check type of completion report matches current state
if (tbr.BehaviorType == (new ChangeLaneBehavior(null, null, false, 0.0, null, null)).GetType())
{
// create a new turn blockage
LaneChangeBlockage lcb = new LaneChangeBlockage(tbr);
CoreCommon.CurrentInformation.Blockage = lcb.ToString();
// return the blockage
return(new List <ITacticalBlockage>(new ITacticalBlockage[] { lcb }));
}
}
// check if we are recovering from a blockage
else if (currentState is BlockageRecoveryState)
{
// check type
if (((BlockageRecoveryState)currentState).RecoveryBehavior != null &&
tbr.BehaviorType == ((BlockageRecoveryState)currentState).RecoveryBehavior.GetType())
{
// create a new blockage recovery blockage
BlockageRecoveryBlockage brb = new BlockageRecoveryBlockage(tbr);
CoreCommon.CurrentInformation.Blockage = brb.ToString();
((BlockageRecoveryState)currentState).RecoveryStatus = BlockageRecoverySTATUS.BLOCKED;
// return the blockage
return(new List <ITacticalBlockage>(new ITacticalBlockage[] { brb }));
}
}
// check if we are in an opposing lane
else if (currentState is OpposingLanesState)
{
// create a new blockage recovery blockage
OpposingLaneBlockage olb = new OpposingLaneBlockage(tbr);
CoreCommon.CurrentInformation.Blockage = olb.ToString();
// return the blockage
return(new List <ITacticalBlockage>(new ITacticalBlockage[] { olb }));
}
}
// fall out returns empty list of blockages
return(new List <ITacticalBlockage>());
}
/// <summary>
/// Constructor
/// </summary>
public BlockageHandler()
{
this.recentReport = null;
this.timeoutTimer = new Stopwatch();
cooldownTimer = new Stopwatch();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="blockageReport"></param>
public OpposingLaneBlockage(TrajectoryBlockedReport blockageReport)
{
this.blockageReport = blockageReport;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="blockageReport"></param>
public BlockageRecoveryBlockage(TrajectoryBlockedReport blockageReport)
{
this.blockageReport = blockageReport;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="blockageReport"></param>
public TurnBlockage(TrajectoryBlockedReport blockageReport)
{
this.blockageReport = blockageReport;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="blockageReport"></param>
public LaneChangeBlockage(TrajectoryBlockedReport blockageReport)
{
this.blockageReport = blockageReport;
}
