/// <summary>
/// Constructor
/// </summary>
/// <param name="turnFinal"></param>
public ZoneAreaEntryMonitor(ArbiterPerimeterWaypoint turnFinal, ArbiterInterconnect ai, bool isOurs,
IntersectionMonitor globalMonitor, IntersectionInvolved involved)
{
this.finalWaypoint = turnFinal;
this.entryPolygon = this.GenerateEntryMonitorPolygon(ai);
this.failedTimer = new Stopwatch();
this.isOurs = isOurs;
this.globalMonitor = globalMonitor;
this.involved = involved;
}
public void SetTurnDirection(ArbiterInterconnect ai)
{
#region Turn Direction
if (ai.InitialGeneric is ArbiterWaypoint && ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint initWp = (ArbiterWaypoint)ai.InitialGeneric;
ArbiterWaypoint finWp = (ArbiterWaypoint)ai.FinalGeneric;
// check not uturn
if (!initWp.Lane.Way.Segment.Equals(finWp.Lane.Way.Segment) || initWp.Lane.Way.Equals(finWp.Lane.Way))
{
Coordinates iVec = initWp.PreviousPartition != null?initWp.PreviousPartition.Vector().Normalize(1.0) : initWp.NextPartition.Vector().Normalize(1.0);
double iRot = -iVec.ArcTan;
Coordinates fVec = finWp.NextPartition != null?finWp.NextPartition.Vector().Normalize(1.0) : finWp.PreviousPartition.Vector().Normalize(1.0);
fVec = fVec.Rotate(iRot);
double fDeg = fVec.ToDegrees();
double arcTan = Math.Atan2(fVec.Y, fVec.X) * 180.0 / Math.PI;
if (arcTan > 45.0)
{
ai.TurnDirection = ArbiterTurnDirection.Left;
}
else if (arcTan < -45.0)
{
ai.TurnDirection = ArbiterTurnDirection.Right;
}
else
{
ai.TurnDirection = ArbiterTurnDirection.Straight;
}
}
else
{
Coordinates iVec = initWp.PreviousPartition != null?initWp.PreviousPartition.Vector().Normalize(1.0) : initWp.NextPartition.Vector().Normalize(1.0);
double iRot = -iVec.ArcTan;
Coordinates fVec = finWp.NextPartition != null?finWp.NextPartition.Vector().Normalize(1.0) : finWp.PreviousPartition.Vector().Normalize(1.0);
fVec = fVec.Rotate(iRot);
double fDeg = fVec.ToDegrees();
double arcTan = Math.Atan2(fVec.Y, fVec.X) * 180.0 / Math.PI;
if (arcTan > 45.0 && arcTan < 135.0)
{
ai.TurnDirection = ArbiterTurnDirection.Left;
}
else if (arcTan < -45.0 && arcTan > -135.0)
{
ai.TurnDirection = ArbiterTurnDirection.Right;
}
else if (Math.Abs(arcTan) < 45.0)
{
ai.TurnDirection = ArbiterTurnDirection.Straight;
}
else
{
ai.TurnDirection = ArbiterTurnDirection.UTurn;
}
}
}
else
{
Coordinates iVec = new Coordinates();
double iRot = 0.0;
Coordinates fVec = new Coordinates();
double fDeg = 0.0;
if (ai.InitialGeneric is ArbiterWaypoint)
{
ArbiterWaypoint initWp = (ArbiterWaypoint)ai.InitialGeneric;
iVec = initWp.PreviousPartition != null?initWp.PreviousPartition.Vector().Normalize(1.0) : initWp.NextPartition.Vector().Normalize(1.0);
iRot = -iVec.ArcTan;
}
else if (ai.InitialGeneric is ArbiterPerimeterWaypoint)
{
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)ai.InitialGeneric;
Coordinates centerPoly = apw.Perimeter.PerimeterPolygon.CalculateBoundingCircle().center;
iVec = apw.Position - centerPoly;
iVec = iVec.Normalize(1.0);
iRot = -iVec.ArcTan;
}
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finWp = (ArbiterWaypoint)ai.FinalGeneric;
fVec = finWp.NextPartition != null?finWp.NextPartition.Vector().Normalize(1.0) : finWp.PreviousPartition.Vector().Normalize(1.0);
fVec = fVec.Rotate(iRot);
fDeg = fVec.ToDegrees();
}
else if (ai.FinalGeneric is ArbiterPerimeterWaypoint)
{
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)ai.FinalGeneric;
Coordinates centerPoly = apw.Perimeter.PerimeterPolygon.CalculateBoundingCircle().center;
fVec = centerPoly - apw.Position;
fVec = fVec.Normalize(1.0);
fVec = fVec.Rotate(iRot);
fDeg = fVec.ToDegrees();
}
double arcTan = Math.Atan2(fVec.Y, fVec.X) * 180.0 / Math.PI;
if (arcTan > 45.0)
{
ai.TurnDirection = ArbiterTurnDirection.Left;
}
else if (arcTan < -45.0)
{
ai.TurnDirection = ArbiterTurnDirection.Right;
}
else
{
ai.TurnDirection = ArbiterTurnDirection.Straight;
}
}
#endregion
}
/// <summary>
/// Turn information
/// </summary>
/// <param name="entry"></param>
/// <param name="finalPath"></param>
/// <param name="leftBound"></param>
/// <param name="rightBound"></param>
public static void ZoneTurnInfo(ArbiterInterconnect ai, ArbiterPerimeterWaypoint entry, out LinePath finalPath, out LineList leftBound, out LineList rightBound)
{
//Coordinates centerVec = entry.Perimeter.PerimeterPolygon.CalculateBoundingCircle().center - entry.Position;
Coordinates centerVec = ai.InterconnectPath[1] - ai.InterconnectPath[0];
centerVec = centerVec.Normalize(TahoeParams.VL);
finalPath = new LinePath(new Coordinates[] { entry.Position, entry.Position + centerVec });
leftBound = finalPath.ShiftLateral(TahoeParams.T * 2.0);
rightBound = finalPath.ShiftLateral(-TahoeParams.T * 2.0);
}
/// <summary>
/// Generates the arbiter zones form the internal xy zones for the input road network
/// </summary>
/// <param name="arn"></param>
/// <returns></returns>
/// <remarks>TODO: add zone cost map, adjacency of parking spots, figure out width</remarks>
public ArbiterRoadNetwork GenerateZones(ArbiterRoadNetwork arn)
{
Dictionary <ArbiterZoneId, ArbiterZone> zones = new Dictionary <ArbiterZoneId, ArbiterZone>();
List <IArbiterWaypoint> waypoints = new List <IArbiterWaypoint>();
foreach (SimpleZone sz in xyZones)
{
ArbiterZoneId azi = new ArbiterZoneId(int.Parse(sz.ZoneID));
#region Generate Perimeter
// old perim
ZonePerimeter zp = sz.Perimeter;
// perim id
ArbiterPerimeterId api = new ArbiterPerimeterId(GenerationTools.GetId(zp.PerimeterID)[1], azi);
#region Perimeter Waypoints
List <ArbiterPerimeterWaypoint> perimeterWaypoints = new List <ArbiterPerimeterWaypoint>();
foreach (PerimeterPoint pp in zp.PerimeterPoints)
{
// id
ArbiterPerimeterWaypointId apwi = new ArbiterPerimeterWaypointId(
GenerationTools.GetId(pp.ID)[2], api);
// point
ArbiterPerimeterWaypoint apw = new ArbiterPerimeterWaypoint(apwi, pp.position);
// add
perimeterWaypoints.Add(apw);
waypoints.Add(apw);
arn.DisplayObjects.Add(apw);
arn.LegacyWaypointLookup.Add(pp.ID, apw);
}
#endregion
// generate perimeter
ArbiterPerimeter ap = new ArbiterPerimeter(api, perimeterWaypoints);
arn.DisplayObjects.Add(ap);
// set per in points
foreach (ArbiterPerimeterWaypoint apw in perimeterWaypoints)
{
apw.Perimeter = ap;
}
#region Set Defined Links
// set links among perimeter nodes
for (int i = 1; i <= ap.PerimeterPoints.Count; i++)
{
ArbiterPerimeterWaypointId apwi = new ArbiterPerimeterWaypointId(i, ap.PerimeterId);
ArbiterPerimeterWaypoint apw = ap.PerimeterPoints[apwi];
if (i < ap.PerimeterPoints.Count)
{
ArbiterPerimeterWaypointId apwiNext = new ArbiterPerimeterWaypointId(i + 1, ap.PerimeterId);
apw.NextPerimeterPoint = ap.PerimeterPoints[apwiNext];
}
else
{
ArbiterPerimeterWaypointId apwiNext = new ArbiterPerimeterWaypointId(1, ap.PerimeterId);
apw.NextPerimeterPoint = ap.PerimeterPoints[apwiNext];
}
}
#endregion
#endregion
#region Generate Parking Spots
List <ArbiterParkingSpot> parkingSpots = new List <ArbiterParkingSpot>();
#region Parking Spots
foreach (ParkingSpot ps in sz.ParkingSpots)
{
// spot id
int apsiNum = GenerationTools.GetId(ps.SpotID)[1];
ArbiterParkingSpotId apsi = new ArbiterParkingSpotId(apsiNum, azi);
// spot width
double spotWidth;
// check if spot width not set
if (ps.SpotWidth == null || ps.SpotWidth == "" || ps.SpotWidth == "0")
{
spotWidth = 3.0;
}
else
{
// convert feet to meters
spotWidth = double.Parse(ps.SpotWidth) * 0.3048;
}
// spot
ArbiterParkingSpot aps = new ArbiterParkingSpot(spotWidth, apsi);
arn.DisplayObjects.Add(aps);
// waypoints
List <ArbiterParkingSpotWaypoint> parkingSpotWaypoints = new List <ArbiterParkingSpotWaypoint>();
#region Parking Spot Waypoints
#region Waypoint 1
// id
int apwi1Number = GenerationTools.GetId(ps.Waypoint1.ID)[2];
ArbiterParkingSpotWaypointId apwi1 = new ArbiterParkingSpotWaypointId(apwi1Number, apsi);
// generate waypoint 1
ArbiterParkingSpotWaypoint apw1 = new ArbiterParkingSpotWaypoint(
ps.Waypoint1.Position, apwi1, aps);
// set
parkingSpotWaypoints.Add(apw1);
waypoints.Add(apw1);
arn.DisplayObjects.Add(apw1);
arn.LegacyWaypointLookup.Add(ps.Waypoint1.ID, apw1);
apw1.ParkingSpot = aps;
// checkpoint or not?
if (ps.CheckpointWaypointID == ps.Waypoint1.ID)
{
apw1.IsCheckpoint = true;
apw1.CheckpointId = int.Parse(ps.CheckpointID);
aps.Checkpoint = apw1;
arn.Checkpoints.Add(apw1.CheckpointId, apw1);
}
else
{
aps.NormalWaypoint = apw1;
}
#endregion
#region Waypoint 2
// id
int apwi2Number = GenerationTools.GetId(ps.Waypoint2.ID)[2];
ArbiterParkingSpotWaypointId apwi2 = new ArbiterParkingSpotWaypointId(apwi2Number, apsi);
// generate waypoint 2
ArbiterParkingSpotWaypoint apw2 = new ArbiterParkingSpotWaypoint(
ps.Waypoint2.Position, apwi2, aps);
// set
parkingSpotWaypoints.Add(apw2);
waypoints.Add(apw2);
arn.DisplayObjects.Add(apw2);
arn.LegacyWaypointLookup.Add(ps.Waypoint2.ID, apw2);
apw2.ParkingSpot = aps;
// checkpoint or not?
if (ps.CheckpointWaypointID == ps.Waypoint2.ID)
{
apw2.IsCheckpoint = true;
apw2.CheckpointId = int.Parse(ps.CheckpointID);
aps.Checkpoint = apw2;
arn.Checkpoints.Add(apw2.CheckpointId, apw2);
}
else
{
aps.NormalWaypoint = apw2;
}
#endregion
#endregion
// set waypoints
aps.SetWaypoints(parkingSpotWaypoints);
// add
parkingSpots.Add(aps);
}
#endregion
#endregion
#region Create Zone
// create zone
ArbiterZone az = new ArbiterZone(azi, ap, parkingSpots, arn);
// zone
az.SpeedLimits = new ArbiterSpeedLimit();
az.SpeedLimits.MaximumSpeed = 2.24;
az.SpeedLimits.MinimumSpeed = 2.24;
// add to final dictionary
zones.Add(az.ZoneId, az);
arn.DisplayObjects.Add(az);
#endregion
}
// set zones
arn.ArbiterZones = zones;
// add waypoints
foreach (IArbiterWaypoint iaw in waypoints)
{
// set waypoint
arn.ArbiterWaypoints.Add(iaw.AreaSubtypeWaypointId, iaw);
}
// return
return(arn);
}
/// <summary>
/// Generates the arbiter zones form the internal xy zones for the input road network
/// </summary>
/// <param name="arn"></param>
/// <returns></returns>
/// <remarks>TODO: add zone cost map, adjacency of parking spots, figure out width</remarks>
public ArbiterRoadNetwork GenerateZones(ArbiterRoadNetwork arn)
{
Dictionary<ArbiterZoneId, ArbiterZone> zones = new Dictionary<ArbiterZoneId,ArbiterZone>();
List<IArbiterWaypoint> waypoints = new List<IArbiterWaypoint>();
foreach (SimpleZone sz in xyZones)
{
ArbiterZoneId azi = new ArbiterZoneId(int.Parse(sz.ZoneID));
#region Generate Perimeter
// old perim
ZonePerimeter zp = sz.Perimeter;
// perim id
ArbiterPerimeterId api = new ArbiterPerimeterId(GenerationTools.GetId(zp.PerimeterID)[1], azi);
#region Perimeter Waypoints
List<ArbiterPerimeterWaypoint> perimeterWaypoints = new List<ArbiterPerimeterWaypoint>();
foreach (PerimeterPoint pp in zp.PerimeterPoints)
{
// id
ArbiterPerimeterWaypointId apwi = new ArbiterPerimeterWaypointId(
GenerationTools.GetId(pp.ID)[2], api);
// point
ArbiterPerimeterWaypoint apw = new ArbiterPerimeterWaypoint(apwi, pp.position);
// add
perimeterWaypoints.Add(apw);
waypoints.Add(apw);
arn.DisplayObjects.Add(apw);
arn.LegacyWaypointLookup.Add(pp.ID, apw);
}
#endregion
// generate perimeter
ArbiterPerimeter ap = new ArbiterPerimeter(api, perimeterWaypoints);
arn.DisplayObjects.Add(ap);
// set per in points
foreach (ArbiterPerimeterWaypoint apw in perimeterWaypoints)
{
apw.Perimeter = ap;
}
#region Set Defined Links
// set links among perimeter nodes
for (int i = 1; i <= ap.PerimeterPoints.Count; i++)
{
ArbiterPerimeterWaypointId apwi = new ArbiterPerimeterWaypointId(i, ap.PerimeterId);
ArbiterPerimeterWaypoint apw = ap.PerimeterPoints[apwi];
if (i < ap.PerimeterPoints.Count)
{
ArbiterPerimeterWaypointId apwiNext = new ArbiterPerimeterWaypointId(i+1, ap.PerimeterId);
apw.NextPerimeterPoint = ap.PerimeterPoints[apwiNext];
}
else
{
ArbiterPerimeterWaypointId apwiNext = new ArbiterPerimeterWaypointId(1, ap.PerimeterId);
apw.NextPerimeterPoint = ap.PerimeterPoints[apwiNext];
}
}
#endregion
#endregion
#region Generate Parking Spots
List<ArbiterParkingSpot> parkingSpots = new List<ArbiterParkingSpot>();
#region Parking Spots
foreach (ParkingSpot ps in sz.ParkingSpots)
{
// spot id
int apsiNum = GenerationTools.GetId(ps.SpotID)[1];
ArbiterParkingSpotId apsi = new ArbiterParkingSpotId(apsiNum, azi);
// spot width
double spotWidth;
// check if spot width not set
if(ps.SpotWidth == null || ps.SpotWidth == "" || ps.SpotWidth == "0")
{
spotWidth = 3.0;
}
else
{
// convert feet to meters
spotWidth = double.Parse(ps.SpotWidth) * 0.3048;
}
// spot
ArbiterParkingSpot aps = new ArbiterParkingSpot(spotWidth, apsi);
arn.DisplayObjects.Add(aps);
// waypoints
List<ArbiterParkingSpotWaypoint> parkingSpotWaypoints = new List<ArbiterParkingSpotWaypoint>();
#region Parking Spot Waypoints
#region Waypoint 1
// id
int apwi1Number = GenerationTools.GetId(ps.Waypoint1.ID)[2];
ArbiterParkingSpotWaypointId apwi1 = new ArbiterParkingSpotWaypointId(apwi1Number, apsi);
// generate waypoint 1
ArbiterParkingSpotWaypoint apw1 = new ArbiterParkingSpotWaypoint(
ps.Waypoint1.Position, apwi1, aps);
// set
parkingSpotWaypoints.Add(apw1);
waypoints.Add(apw1);
arn.DisplayObjects.Add(apw1);
arn.LegacyWaypointLookup.Add(ps.Waypoint1.ID, apw1);
apw1.ParkingSpot = aps;
// checkpoint or not?
if (ps.CheckpointWaypointID == ps.Waypoint1.ID)
{
apw1.IsCheckpoint = true;
apw1.CheckpointId = int.Parse(ps.CheckpointID);
aps.Checkpoint = apw1;
arn.Checkpoints.Add(apw1.CheckpointId, apw1);
}
else
{
aps.NormalWaypoint = apw1;
}
#endregion
#region Waypoint 2
// id
int apwi2Number = GenerationTools.GetId(ps.Waypoint2.ID)[2];
ArbiterParkingSpotWaypointId apwi2 = new ArbiterParkingSpotWaypointId(apwi2Number, apsi);
// generate waypoint 2
ArbiterParkingSpotWaypoint apw2 = new ArbiterParkingSpotWaypoint(
ps.Waypoint2.Position, apwi2, aps);
// set
parkingSpotWaypoints.Add(apw2);
waypoints.Add(apw2);
arn.DisplayObjects.Add(apw2);
arn.LegacyWaypointLookup.Add(ps.Waypoint2.ID, apw2);
apw2.ParkingSpot = aps;
// checkpoint or not?
if (ps.CheckpointWaypointID == ps.Waypoint2.ID)
{
apw2.IsCheckpoint = true;
apw2.CheckpointId = int.Parse(ps.CheckpointID);
aps.Checkpoint = apw2;
arn.Checkpoints.Add(apw2.CheckpointId, apw2);
}
else
{
aps.NormalWaypoint = apw2;
}
#endregion
#endregion
// set waypoints
aps.SetWaypoints(parkingSpotWaypoints);
// add
parkingSpots.Add(aps);
}
#endregion
#endregion
#region Create Zone
// create zone
ArbiterZone az = new ArbiterZone(azi, ap, parkingSpots, arn);
// zone
az.SpeedLimits = new ArbiterSpeedLimit();
az.SpeedLimits.MaximumSpeed = 2.24;
az.SpeedLimits.MinimumSpeed = 2.24;
// add to final dictionary
zones.Add(az.ZoneId, az);
arn.DisplayObjects.Add(az);
#endregion
}
// set zones
arn.ArbiterZones = zones;
// add waypoints
foreach (IArbiterWaypoint iaw in waypoints)
{
// set waypoint
arn.ArbiterWaypoints.Add(iaw.AreaSubtypeWaypointId, iaw);
}
// return
return arn;
}
