/// <summary>
/// Get turn signals for turn
/// </summary>
/// <param name="sl"></param>
/// <param name="position"></param>
/// <returns></returns>
public static List<BehaviorDecorator> GetSupraTurnDecorators(SupraLane sl, Coordinates position)
{
// dist to lookahead
double dist = 30.0 + sl.Interconnect.InterconnectPath.PathLength;
double distBetween = sl.DistanceBetween(position, sl.Interconnect.FinalGeneric.Position);
if(distBetween >= 0 && distBetween <= dist)
{
if (sl.Interconnect.TurnDirection == ArbiterTurnDirection.Left)
return TurnDecorators.LeftTurnDecorator;
else if (sl.Interconnect.TurnDirection == ArbiterTurnDirection.Right)
return TurnDecorators.RightTurnDecorator;
}
return TurnDecorators.NoDecorators;
}
/// <summary>
/// Plans the next maneuver
/// </summary>
/// <param name="roads"></param>
/// <param name="mission"></param>
/// <param name="vehicleState"></param>
/// <param name="CoreCommon.CorePlanningState"></param>
/// <param name="observedVehicles"></param>
/// <param name="observedObstacles"></param>
/// <param name="coreState"></param>
/// <param name="carMode"></param>
/// <returns></returns>
public Maneuver Plan(VehicleState vehicleState, double vehicleSpeed,
SceneEstimatorTrackedClusterCollection observedVehicles, SceneEstimatorUntrackedClusterCollection observedObstacles,
CarMode carMode, INavigableNode goal)
{
// set blockages
List<ITacticalBlockage> blockages = this.blockageHandler.DetermineBlockages(CoreCommon.CorePlanningState);
#region Travel State
if (CoreCommon.CorePlanningState is TravelState)
{
#region Stay in Lane State
if (CoreCommon.CorePlanningState is StayInLaneState)
{
// get lane state
StayInLaneState sils = (StayInLaneState)CoreCommon.CorePlanningState;
#region Blockages
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is LaneBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// check not from a dynamicly moving vehicle
if (blockages[0].BlockageReport.BlockageType != BlockageType.Dynamic)
{
// go to a blockage handling tactical
return new Maneuver(new HoldBrakeBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
ArbiterOutput.Output("Lane blockage reported for moving vehicle, ignoring");
}
#endregion
// update the total time ignorable have been seen
sils.UpdateIgnoreList();
// nav plan to find poi
RoadPlan rp = navigation.PlanNavigableArea(sils.Lane, vehicleState.Position, goal, sils.WaypointsToIgnore);
// check for unreachable route
if (rp.BestPlan.laneWaypointOfInterest.BestRoute != null &&
rp.BestPlan.laneWaypointOfInterest.BestRoute.Count == 0 &&
rp.BestPlan.laneWaypointOfInterest.RouteTime >= Double.MaxValue - 1.0)
{
ArbiterOutput.Output("Removed Unreachable Checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString());
CoreCommon.Mission.MissionCheckpoints.Dequeue();
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else if (rp.BestPlan.laneWaypointOfInterest.TimeCostToPoint >= Double.MaxValue - 1.0)
{
ArbiterOutput.Output("Best Lane Waypoint of Interest is END OF LANE WITH NO INTERCONNECTS, LEADING NOWHERE");
ArbiterOutput.Output("Removed Unreachable Checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString());
CoreCommon.Mission.MissionCheckpoints.Dequeue();
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#region Check Supra Lane Availability
// if the poi is at the end of this lane, is not stop, leads to another lane, and has no overlapping lanes
// or if the poi's best exit is an exit in this lane, is not a stop, has no overlapping lanes and leads to another lane
// create supralane
// check if navigation is corrent in saying we want to continue on the current lane and we're far enough along the lane, 30m for now
if(rp.BestPlan.Lane.Equals(sils.Lane.LaneId))
{
// get navigation poi
DownstreamPointOfInterest dpoi = rp.BestPlan.laneWaypointOfInterest;
// check that the poi is not stop and is not the current checkpoint
if(!dpoi.PointOfInterest.IsStop && !(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(dpoi.PointOfInterest.WaypointId)))
{
// get the best exit or the poi
ArbiterInterconnect ai = dpoi.BestExit;
// check if exit goes into a lane and not a uturn
if(ai != null && ai.FinalGeneric is ArbiterWaypoint && ai.TurnDirection != ArbiterTurnDirection.UTurn)
{
// final lane or navigation poi interconnect
ArbiterLane al = ((ArbiterWaypoint)ai.FinalGeneric).Lane;
// check not same lane
if (!al.Equals(sils.Lane))
{
// check if enough room to start
bool enoughRoom = !sils.Lane.Equals(al) || sils.Lane.LanePath(sils.Lane.WaypointList[0].Position, vehicleState.Front).PathLength > 30;
if (enoughRoom)
{
// try to get intersection associated with the exit
ArbiterIntersection aInter = CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(dpoi.PointOfInterest.WaypointId) ?
CoreCommon.RoadNetwork.IntersectionLookup[dpoi.PointOfInterest.WaypointId] : null;
// check no intersection or no overlapping lanes
if (aInter == null || !aInter.PriorityLanes.ContainsKey(ai) || aInter.PriorityLanes[ai].Count == 0)
{
// create the supra lane
SupraLane sl = new SupraLane(sils.Lane, ai, al);
// switch to the supra lane state
StayInSupraLaneState sisls = new StayInSupraLaneState(sl, CoreCommon.CorePlanningState);
sisls.UpdateState(vehicleState.Front);
// set
return new Maneuver(new NullBehavior(), sisls, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
}
}
}
}
#endregion
// plan final tactical maneuver
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, rp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
#endregion
#region Stay in Supra Lane State
else if (CoreCommon.CorePlanningState is StayInSupraLaneState)
{
// state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
#region Blockages
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is LaneBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// check not from a dynamicly moving vehicle
if (blockages[0].BlockageReport.BlockageType != BlockageType.Dynamic)
{
// go to a blockage handling tactical
return new Maneuver(new HoldBrakeBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
ArbiterOutput.Output("Lane blockage reported for moving vehicle, ignoring");
}
#endregion
// check if we are in the final lane
if (sisls.Lane.ClosestComponent(vehicleState.Position) == SLComponentType.Final)
{
// go to stay in lane
return new Maneuver(new NullBehavior(), new StayInLaneState(sisls.Lane.Final, sisls), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// update ignorable
sisls.UpdateIgnoreList();
// nav plan to find points
RoadPlan rp = navigation.PlanNavigableArea(sisls.Lane, vehicleState.Position, goal, sisls.WaypointsToIgnore);
// check for unreachable route
if (rp.BestPlan.laneWaypointOfInterest.BestRoute != null &&
rp.BestPlan.laneWaypointOfInterest.BestRoute.Count == 0 &&
rp.BestPlan.laneWaypointOfInterest.RouteTime >= Double.MaxValue - 1.0)
{
ArbiterOutput.Output("Removed Unreachable Checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString());
CoreCommon.Mission.MissionCheckpoints.Dequeue();
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, rp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// update current state
sisls.UpdateState(vehicleState.Front);
// return final maneuver
return final;
}
#endregion
#region Stopping At Stop State
else if (CoreCommon.CorePlanningState is StoppingAtStopState)
{
// get state
StoppingAtStopState sass = (StoppingAtStopState)CoreCommon.CorePlanningState;
// check to see if we're stopped
// check if in other lane
if (CoreCommon.Communications.HasCompleted((new StayInLaneBehavior(null, null, null)).GetType()))
{
// update intersection monitor
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(sass.waypoint.AreaSubtypeWaypointId))
{
// nav plan
IntersectionPlan ip = navigation.PlanIntersection(sass.waypoint, goal);
// update intersection monitor
this.tactical.Update(observedVehicles, vehicleState);
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
sass.waypoint,
CoreCommon.RoadNetwork.IntersectionLookup[sass.waypoint.AreaSubtypeWaypointId],
vehicleState, ip.BestOption);
}
else
{
IntersectionTactical.IntersectionMonitor = null;
}
// check if we've hit goal if stop is cp
if (sass.waypoint.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
ArbiterOutput.Output("Stopped at current goal: " + CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.ToString() + ", Removing");
CoreCommon.Mission.MissionCheckpoints.Dequeue();
if (CoreCommon.Mission.MissionCheckpoints.Count == 0)
{
return new Maneuver(new HoldBrakeBehavior(), new NoGoalsLeftState(), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
// move to the intersection
IState next = new WaitingAtIntersectionExitState(sass.waypoint, sass.turnDirection, new IntersectionDescription(), sass.desiredExit);
Behavior b = new HoldBrakeBehavior();
return new Maneuver(b, next, sass.DefaultStateDecorators, vehicleState.Timestamp);
}
else
{
// otherwise update the stop parameters
Behavior b = sass.Resume(vehicleState, vehicleSpeed);
return new Maneuver(b, CoreCommon.CorePlanningState, sass.DefaultStateDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Change Lanes State
else if (CoreCommon.CorePlanningState is ChangeLanesState)
{
// get state
ChangeLanesState cls = (ChangeLanesState)CoreCommon.CorePlanningState;
#region Blockages
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is LaneChangeBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// check not from a dynamicly moving vehicle
if (blockages[0].BlockageReport.BlockageType != BlockageType.Dynamic)
{
// go to a blockage handling tactical
return new Maneuver(new NullBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
ArbiterOutput.Output("Lane Change blockage reported for moving vehicle, ignoring");
}
#endregion
// get a good lane
ArbiterLane goodLane = null;
if(!cls.Parameters.InitialOncoming)
goodLane = cls.Parameters.Initial;
else if(!cls.Parameters.TargetOncoming)
goodLane = cls.Parameters.Target;
else
throw new Exception("not going from or to good lane");
// nav plan to find poi
#warning make goal better if there is none come to stop
RoadPlan rp = navigation.PlanNavigableArea(goodLane, vehicleState.Front,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId], new List<ArbiterWaypoint>());
// check current behavior type
bool done = CoreCommon.Communications.HasCompleted((new ChangeLaneBehavior(null, null, false, 0, null, null)).GetType());
if (done)
{
if (cls.Parameters.TargetOncoming)
return new Maneuver(
new StayInLaneBehavior(cls.Parameters.Target.LaneId,
new ScalarSpeedCommand(cls.Parameters.Parameters.RecommendedSpeed),
cls.Parameters.Parameters.VehiclesToIgnore,
cls.Parameters.Target.ReversePath,
cls.Parameters.Target.Width,
cls.Parameters.Target.NumberOfLanesRight(vehicleState.Front, !cls.Parameters.InitialOncoming),
cls.Parameters.Target.NumberOfLanesLeft(vehicleState.Front, !cls.Parameters.InitialOncoming)),
new OpposingLanesState(cls.Parameters.Target, true, cls, vehicleState), TurnDecorators.NoDecorators, vehicleState.Timestamp);
else
return new Maneuver(
new StayInLaneBehavior(cls.Parameters.Target.LaneId,
new ScalarSpeedCommand(cls.Parameters.Parameters.RecommendedSpeed),
cls.Parameters.Parameters.VehiclesToIgnore,
cls.Parameters.Target.LanePath(),
cls.Parameters.Target.Width,
cls.Parameters.Target.NumberOfLanesLeft(vehicleState.Front, !cls.Parameters.InitialOncoming),
cls.Parameters.Target.NumberOfLanesRight(vehicleState.Front, !cls.Parameters.InitialOncoming)),
new StayInLaneState(cls.Parameters.Target, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
return tactical.Plan(cls, rp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
}
}
#endregion
#region Opposing Lanes State
else if (CoreCommon.CorePlanningState is OpposingLanesState)
{
// get state
OpposingLanesState ols = (OpposingLanesState)CoreCommon.CorePlanningState;
ols.SetClosestGood(vehicleState);
#region Blockages
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is OpposingLaneBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// check not from a dynamicly moving vehicle
if (blockages[0].BlockageReport.BlockageType != BlockageType.Dynamic)
{
// go to a blockage handling tactical
return new Maneuver(new HoldBrakeBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
ArbiterOutput.Output("Opposing Lane blockage reported for moving vehicle, ignoring");
}
#endregion
// check closest good null
if (ols.ClosestGoodLane != null)
{
// nav plan to find poi
RoadPlan rp = navigation.PlanNavigableArea(ols.ClosestGoodLane, vehicleState.Position, goal, new List<ArbiterWaypoint>());
// plan final tactical maneuver
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, rp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
// otherwise need to make a uturn
else
{
ArbiterOutput.Output("in opposing lane with no closest good, making a uturn");
ArbiterLanePartition alp = ols.OpposingLane.GetClosestPartition(vehicleState.Front);
Coordinates c1 = vehicleState.Front + alp.Vector().Normalize(8.0);
Coordinates c2 = vehicleState.Front - alp.Vector().Normalize(8.0);
LinePath lpTmp = new LinePath(new Coordinates[] { c1, c2 });
List<Coordinates> pCoords = new List<Coordinates>();
pCoords.AddRange(lpTmp.ShiftLateral(ols.OpposingLane.Width)); //* 1.5));
pCoords.AddRange(lpTmp.ShiftLateral(-ols.OpposingLane.Width));// / 2.0));
Polygon uturnPoly = Polygon.GrahamScan(pCoords);
uTurnState uts = new uTurnState(ols.OpposingLane, uturnPoly, true);
uts.Interconnect = alp.ToInterconnect;
// plan final tactical maneuver
Maneuver final = new Maneuver(new NullBehavior(), uts, TurnDecorators.LeftTurnDecorator, vehicleState.Timestamp);
// return final maneuver
return final;
}
}
#endregion
#region Starting up off of chute state
else if (CoreCommon.CorePlanningState is StartupOffChuteState)
{
// cast the type
StartupOffChuteState socs = (StartupOffChuteState)CoreCommon.CorePlanningState;
// check if in lane part of chute
if (CoreCommon.Communications.HasCompleted((new TurnBehavior(null, null, null, null, null, null)).GetType()))
{
// go to lane state
return new Maneuver(new NullBehavior(), new StayInLaneState(socs.Final.Lane, new Probability(0.8, 0.2), true, socs), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// otherwise continue
else
{
// simple maneuver generation
TurnBehavior tb = (TurnBehavior)socs.Resume(vehicleState, 1.4);
// add bounds to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(tb.LeftBound, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(tb.RightBound, ArbiterInformationDisplayObjectType.rightBound));
// final maneuver
return new Maneuver(tb, socs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Unknown
else
{
// non-handled state
throw new ArgumentException("Unknown state", "CoreCommon.CorePlanningState");
}
#endregion
}
#endregion
#region Intersection State
else if (CoreCommon.CorePlanningState is IntersectionState)
{
#region Waiting at Intersection Exit State
if (CoreCommon.CorePlanningState is WaitingAtIntersectionExitState)
{
// get state
WaitingAtIntersectionExitState waies = (WaitingAtIntersectionExitState)CoreCommon.CorePlanningState;
// nav plan
IntersectionPlan ip = navigation.PlanIntersection(waies.exitWaypoint, goal);
// plan
Maneuver final = tactical.Plan(waies, ip, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
#endregion
#region Stopping At Exit State
else if (CoreCommon.CorePlanningState is StoppingAtExitState)
{
// get state
StoppingAtExitState saes = (StoppingAtExitState)CoreCommon.CorePlanningState;
// check to see if we're stopped
if (CoreCommon.Communications.HasCompleted((new StayInLaneBehavior(null, null, null)).GetType()))
{
// check if we've hit goal if stop is cp
if (saes.waypoint.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
ArbiterOutput.Output("Stopped at current goal: " + CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.ToString() + ", Removing");
CoreCommon.Mission.MissionCheckpoints.Dequeue();
if (CoreCommon.Mission.MissionCheckpoints.Count == 0)
{
return new Maneuver(new HoldBrakeBehavior(), new NoGoalsLeftState(), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
// move to the intersection
IState next = new WaitingAtIntersectionExitState(saes.waypoint, saes.turnDirection, new IntersectionDescription(), saes.desiredExit);
Behavior b = new HoldBrakeBehavior();
return new Maneuver(b, next, saes.DefaultStateDecorators, vehicleState.Timestamp);
}
else
{
// nav plan
IntersectionPlan ip = navigation.PlanIntersection(saes.waypoint, goal);
// update the intersection monitor
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(saes.waypoint.AreaSubtypeWaypointId))
{
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
saes.waypoint,
CoreCommon.RoadNetwork.IntersectionLookup[saes.waypoint.AreaSubtypeWaypointId],
vehicleState, ip.BestOption);
}
else
IntersectionTactical.IntersectionMonitor = null;
// plan final tactical maneuver
Maneuver final = tactical.Plan(saes, ip, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
}
#endregion
#region Turn State
else if (CoreCommon.CorePlanningState is TurnState)
{
// get state
TurnState ts = (TurnState)CoreCommon.CorePlanningState;
// check if in other lane
if (CoreCommon.Communications.HasCompleted((new TurnBehavior(null, null, null, null, null, null)).GetType()))
{
if (ts.Interconnect.FinalGeneric is ArbiterWaypoint)
{
// get final wp, and if next cp, remove
ArbiterWaypoint final = (ArbiterWaypoint)ts.Interconnect.FinalGeneric;
if (CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(final.AreaSubtypeWaypointId))
CoreCommon.Mission.MissionCheckpoints.Dequeue();
// stay in target lane
IState nextState = new StayInLaneState(ts.TargetLane, new Probability(0.8, 0.2), true, CoreCommon.CorePlanningState);
Behavior b = new NullBehavior();
return new Maneuver(b, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else if (ts.Interconnect.FinalGeneric is ArbiterPerimeterWaypoint)
{
// stay in target lane
IState nextState = new ZoneTravelingState(((ArbiterPerimeterWaypoint)ts.Interconnect.FinalGeneric).Perimeter.Zone, (INavigableNode)ts.Interconnect.FinalGeneric);
Behavior b = new NullBehavior();
return new Maneuver(b, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
throw new Exception("unhandled unterconnect final wp type");
}
// get interconnect
if (ts.Interconnect.FinalGeneric is ArbiterWaypoint)
{
// nav plan
IntersectionPlan ip = navigation.PlanIntersection((ITraversableWaypoint)ts.Interconnect.InitialGeneric, goal);
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, ip, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
// else to zone
else if (ts.Interconnect.FinalGeneric is ArbiterPerimeterWaypoint)
{
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, null, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
else
{
throw new Exception("method not imp");
}
}
#endregion
#region uTurn State
else if (CoreCommon.CorePlanningState is uTurnState)
{
// get state
uTurnState uts = (uTurnState)CoreCommon.CorePlanningState;
// plan over the target segment, ignoring the initial waypoint of the target lane
ArbiterWaypoint initial = uts.TargetLane.GetClosestPartition(vehicleState.Position).Initial;
List<ArbiterWaypoint> iws = RoadToolkit.WaypointsClose(initial.Lane.Way, vehicleState.Front, initial);
RoadPlan rp = navigation.PlanRoads(uts.TargetLane, vehicleState.Front, goal, iws);
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, rp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
#endregion
#region Intersection Startup State
else if (CoreCommon.CorePlanningState is IntersectionStartupState)
{
// get startup state
IntersectionStartupState iss = (IntersectionStartupState)CoreCommon.CorePlanningState;
// get intersection
ArbiterIntersection ai = iss.Intersection;
// get plan
IEnumerable<ITraversableWaypoint> entries = ai.AllEntries.Values;
IntersectionStartupPlan isp = navigation.PlanIntersectionStartup(entries, goal);
// plan tac
Maneuver final = tactical.Plan(iss, isp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return
return final;
}
#endregion
#region Unknown
else
{
// non-handled state
throw new ArgumentException("Unknown state", "CoreCommon.CorePlanningState");
}
#endregion
}
#endregion
#region Zone State
else if (CoreCommon.CorePlanningState is ZoneState)
{
#region Zone Travelling State
if (CoreCommon.CorePlanningState is ZoneTravelingState)
{
// set state
ZoneTravelingState zts = (ZoneTravelingState)CoreCommon.CorePlanningState;
// check to see if we're stopped
if (CoreCommon.Communications.HasCompleted((new ZoneTravelingBehavior(null, null, new Polygon[0], null, null, null, null)).GetType()))
{
// plan over state and zone
ZonePlan zp = this.navigation.PlanZone(zts.Zone, zts.Start, CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId]);
if (zp.ZoneGoal is ArbiterParkingSpotWaypoint)
{
// move to parking state
ParkingState ps = new ParkingState(zp.Zone, ((ArbiterParkingSpotWaypoint)zp.ZoneGoal).ParkingSpot);
return new Maneuver(new HoldBrakeBehavior(), ps, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else if(zp.ZoneGoal is ArbiterPerimeterWaypoint)
{
// get plan
IntersectionPlan ip = navigation.GetIntersectionExitPlan((ITraversableWaypoint)zp.ZoneGoal, goal);
// move to exit
WaitingAtIntersectionExitState waies = new WaitingAtIntersectionExitState((ITraversableWaypoint)zp.ZoneGoal, ip.BestOption.ToInterconnect.TurnDirection, new IntersectionDescription(), ip.BestOption.ToInterconnect);
return new Maneuver(new HoldBrakeBehavior(), waies, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
else
{
// plan over state and zone
ZonePlan zp = this.navigation.PlanZone(zts.Zone, zts.Start, CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId]);
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, zp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
}
#endregion
#region Parking State
else if (CoreCommon.CorePlanningState is ParkingState)
{
// set state
ParkingState ps = (ParkingState)CoreCommon.CorePlanningState;
// check to see if we're stopped
if (CoreCommon.Communications.HasCompleted((new ZoneParkingBehavior(null, null, new Polygon[0], null, null, null, null, null, 0.0)).GetType()))
{
if (ps.ParkingSpot.Checkpoint.CheckpointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber))
{
ArbiterOutput.Output("Reached Goal, cp: " + ps.ParkingSpot.Checkpoint.CheckpointId.ToString());
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
// pull out of the space
PullingOutState pos = new PullingOutState(ps.Zone, ps.ParkingSpot);
return new Maneuver(new HoldBrakeBehavior(), pos, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, null, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
}
#endregion
#region Pulling Out State
else if (CoreCommon.CorePlanningState is PullingOutState)
{
// set state
PullingOutState pos = (PullingOutState)CoreCommon.CorePlanningState;
// plan over state and zone
ZonePlan zp = this.navigation.PlanZone(pos.Zone, pos.ParkingSpot.Checkpoint, goal);
// check to see if we're stopped
if (CoreCommon.Communications.HasCompleted((new ZoneParkingPullOutBehavior(null, null, new Polygon[0], null, null, null, null, null, null, null, null)).GetType()))
{
// maneuver to next place to go
return new Maneuver(new HoldBrakeBehavior(), new ZoneTravelingState(pos.Zone, pos.ParkingSpot.Checkpoint), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
// plan
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, zp, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
}
#endregion
#region Zone Startup State
else if (CoreCommon.CorePlanningState is ZoneStartupState)
{
// feed through the plan from the zone tactical
Maneuver final = tactical.Plan(CoreCommon.CorePlanningState, null, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return final maneuver
return final;
}
#endregion
#region Zone Orientation
else if (CoreCommon.CorePlanningState is ZoneOrientationState)
{
ZoneOrientationState zos = (ZoneOrientationState)CoreCommon.CorePlanningState;
// add bounds to observable
LinePath lp = new LinePath(new Coordinates[] { zos.final.Start.Position, zos.final.End.Position });
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lp.ShiftLateral(TahoeParams.T), ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lp.ShiftLateral(-TahoeParams.T), ArbiterInformationDisplayObjectType.rightBound));
// check to see if we're stopped
//if (CoreCommon.Communications.HasCompleted((new UTurnBehavior(null, null, null, null)).GetType()))
//{
// maneuver to next place to go
return new Maneuver(new HoldBrakeBehavior(), new ZoneTravelingState(zos.Zone, zos.final.End), TurnDecorators.NoDecorators, vehicleState.Timestamp);
//}
// not stopped doing hte maneuver
//else
// return new Maneuver(zos.Resume(vehicleState, 1.4), zos, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
#region Unknown
else
{
// non-handled state
throw new ArgumentException("Unknown state", "CoreCommon.CorePlanningState");
}
#endregion
}
#endregion
#region Other State
else if (CoreCommon.CorePlanningState is OtherState)
{
#region Start Up State
if (CoreCommon.CorePlanningState is StartUpState)
{
// get state
StartUpState sus = (StartUpState)CoreCommon.CorePlanningState;
// make a new startup agent
StartupReasoning sr = new StartupReasoning(this.laneAgent);
// get final state
IState nextState = sr.Startup(vehicleState, carMode);
// return no op ad zero all decorators
Behavior nextBehavior = sus.Resume(vehicleState, vehicleSpeed);
// return maneuver
return new Maneuver(nextBehavior, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
#endregion
#region Paused State
else if (CoreCommon.CorePlanningState is PausedState)
{
// if switch back to run
if (carMode == CarMode.Run)
{
// get state
PausedState ps = (PausedState)CoreCommon.CorePlanningState;
// get what we were previously doing
IState previousState = ps.PreviousState();
// check if can resume
if (previousState != null && previousState.CanResume())
{
// resume state is next
return new Maneuver(new HoldBrakeBehavior(), new ResumeState(previousState), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// otherwise go to startup
else
{
// next state is startup
IState nextState = new StartUpState();
// return no op
Behavior nextBehavior = new HoldBrakeBehavior();
// return maneuver
return new Maneuver(nextBehavior, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
// otherwise stay stopped
else
{
// stay stopped and paused
return new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Human State
else if (CoreCommon.CorePlanningState is HumanState)
{
// change to startup
if (carMode == CarMode.Run)
{
// next is startup
IState next = new StartUpState();
// next behavior just stay iin place for now
Behavior behavior = new HoldBrakeBehavior();
// return startup maneuver
return new Maneuver(behavior, next, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// in human mode still
else
{
// want to remove old behavior stuff
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Resume State
else if (CoreCommon.CorePlanningState is ResumeState)
{
// get state
ResumeState rs = (ResumeState)CoreCommon.CorePlanningState;
// make sure can resume (this is simple action)
if (rs.StateToResume != null && rs.StateToResume.CanResume())
{
// return old behavior
Behavior nextBehavior = rs.Resume(vehicleState, vehicleSpeed);
// return maneuver
return new Maneuver(nextBehavior, rs.StateToResume, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// otherwise just startup
else
{
// startup
return new Maneuver(new HoldBrakeBehavior(), new StartUpState(), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region No Goals Left State
else if (CoreCommon.CorePlanningState is NoGoalsLeftState)
{
// check if goals available
if (CoreCommon.Mission.MissionCheckpoints.Count > 0)
{
// startup
return new Maneuver(new HoldBrakeBehavior(), new StartUpState(), TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
// stay paused
return new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region eStopped State
else if (CoreCommon.CorePlanningState is eStoppedState)
{
// change to startup
if (carMode == CarMode.Run)
{
// next is startup
IState next = new StartUpState();
// next behavior just stay iin place for now
Behavior behavior = new HoldBrakeBehavior();
// return startup maneuver
return new Maneuver(behavior, next, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
// in human mode still
else
{
// want to remove old behavior stuff
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Unknown
else
{
// non-handled state
throw new ArgumentException("Unknown OtherState type", "CoreCommon.CorePlanningState");
}
#endregion
}
#endregion
#region Blockage State
else if (CoreCommon.CorePlanningState is BlockageState)
{
#region Blockage State
// something is blocked, in the encountered state we want to filter to base components of state
if (CoreCommon.CorePlanningState is EncounteredBlockageState)
{
// cast blockage state
EncounteredBlockageState bs = (EncounteredBlockageState)CoreCommon.CorePlanningState;
// plan through the blockage state with no road plan as just a quick filter
Maneuver final = tactical.Plan(bs, null, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return the final maneuver
return final;
}
#endregion
#region Blockage Recovery State
// recover from blockages
else if (CoreCommon.CorePlanningState is BlockageRecoveryState)
{
// get the blockage recovery state
BlockageRecoveryState brs = (BlockageRecoveryState)CoreCommon.CorePlanningState;
#region Check Various Statuses of Completion
// check successful completion report of behavior
if (brs.RecoveryBehavior != null && CoreCommon.Communications.HasCompleted(brs.RecoveryBehavior.GetType()))
{
// set updated status
ArbiterOutput.Output("Successfully received completion of behavior: " + brs.RecoveryBehavior.ToShortString() + ", " + brs.RecoveryBehavior.ShortBehaviorInformation());
brs.RecoveryStatus = BlockageRecoverySTATUS.COMPLETED;
// move to the tactical plan
return this.tactical.Plan(brs, null, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
}
// check operational startup
else if (CoreCommon.Communications.HasCompleted((new OperationalStartupBehavior()).GetType()))
{
// check defcon types
if (brs.Defcon == BlockageRecoveryDEFCON.REVERSE)
{
// abort maneuver as operational has no state information
return new Maneuver(new NullBehavior(), brs.AbortState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Information
// set recovery information
CoreCommon.CurrentInformation.FQMState = brs.EncounteredState.ShortDescription();
CoreCommon.CurrentInformation.FQMStateInfo = brs.EncounteredState.StateInformation();
CoreCommon.CurrentInformation.FQMBehavior = brs.RecoveryBehavior != null ? brs.RecoveryBehavior.ToShortString() : "NONE";
CoreCommon.CurrentInformation.FQMBehaviorInfo = brs.RecoveryBehavior != null ? brs.RecoveryBehavior.ShortBehaviorInformation() : "NONE";
CoreCommon.CurrentInformation.FQMSpeed = brs.RecoveryBehavior != null ? brs.RecoveryBehavior.SpeedCommandString() : "NONE";
#endregion
#region Blocked
if (brs.RecoveryStatus == BlockageRecoverySTATUS.BLOCKED)
{
if (brs.RecoveryBehavior is ChangeLaneBehavior)
{
brs.RecoveryStatus = BlockageRecoverySTATUS.ENCOUNTERED;
brs.Defcon = BlockageRecoveryDEFCON.CHANGELANES_FORWARD;
return new Maneuver(new HoldBrakeBehavior(), brs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
else
{
ArbiterOutput.Output("Recovery behavior blocked, reverting to abort state: " + brs.AbortState.ToString());
return new Maneuver(new HoldBrakeBehavior(), brs.AbortState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
#endregion
#region Navigational Plan
// set navigational plan
INavigationalPlan navPlan = null;
#region Encountered
// blockage
if (brs.RecoveryStatus == BlockageRecoverySTATUS.ENCOUNTERED)
{
// get state
if (brs.AbortState is StayInLaneState)
{
// lane state
StayInLaneState sils = (StayInLaneState)brs.AbortState;
navPlan = navigation.PlanNavigableArea(sils.Lane, vehicleState.Position, goal, sils.WaypointsToIgnore);
}
}
#endregion
#region Completion
// blockage
if (brs.RecoveryStatus == BlockageRecoverySTATUS.COMPLETED)
{
// get state
if (brs.CompletionState is StayInLaneState)
{
// lane state
StayInLaneState sils = (StayInLaneState)brs.CompletionState;
navPlan = navigation.PlanNavigableArea(sils.Lane, vehicleState.Position, goal, sils.WaypointsToIgnore);
}
}
#endregion
#endregion
// move to the tactical plan
Maneuver final = this.tactical.Plan(brs, navPlan, vehicleState, observedVehicles, observedObstacles, blockages, vehicleSpeed);
// return the final maneuver
return final;
}
#endregion
}
#endregion
#region Unknown
else
{
// non-handled state
throw new ArgumentException("Unknown state", "CoreCommon.CorePlanningState");
}
// for now, return null
return new Maneuver();
#endregion
}
/// <summary>
/// Sets the supra road plan
/// </summary>
/// <param name="rp"></param>
/// <param name="current"></param>
public void SetSupraRoadPlan(RoadPlan rp, SupraLane current)
{
this.navigationPlan = rp;
// left
List<LanePlan> left = new List<LanePlan>();
// straight
List<LanePlan> straight = new List<LanePlan>();
// right
List<LanePlan> right = new List<LanePlan>();
Dictionary<ArbiterLaneId, LanePlan> plans = rp.LanePlans;
// straight
if (plans.ContainsKey(current.Initial.LaneId))
{
straight.Add(plans[current.Initial.LaneId]);
}
if (plans.ContainsKey(current.Final.LaneId))
{
straight.Add(plans[current.Final.LaneId]);
}
// create tasks
tasks = new Dictionary<TypeOfTasks, List<LanePlan>>();
tasks.Add(TypeOfTasks.Left, left);
tasks.Add(TypeOfTasks.Straight, straight);
tasks.Add(TypeOfTasks.Right, right);
//s
/*Dictionary<ArbiterLaneId, LanePlan> plans = rp.LanePlans;
// left
List<LanePlan> left = new List<LanePlan>();
// straight
List<LanePlan> straight = new List<LanePlan>();
// right
List<LanePlan> right = new List<LanePlan>();
// tmp
ArbiterLane temp = current.Initial.LaneOnLeft;
// left
while (temp != null && (temp.Way.Equals(current.Initial.Way) || temp.Way.Equals(current.Final.Way)))
{
if (plans.ContainsKey(temp.LaneId))
{
left.Add(plans[temp.LaneId]);
}
temp = temp.LaneOnLeft;
}
// right
temp = current.Initial.LaneOnRight;
while (temp != null && (temp.Way.Equals(current.Initial.Way) || temp.Way.Equals(current.Final.Way)))
{
if (plans.ContainsKey(temp.LaneId))
{
right.Add(plans[temp.LaneId]);
}
temp = temp.LaneOnRight;
}
// straight
if (plans.ContainsKey(current.Initial.LaneId))
{
straight.Add(plans[current.Initial.LaneId]);
}
if (plans.ContainsKey(current.Final.LaneId))
{
straight.Add(plans[current.Final.LaneId]);
}
// create tasks
tasks = new Dictionary<TypeOfTasks, List<LanePlan>>();
tasks.Add(TypeOfTasks.Left, left);
tasks.Add(TypeOfTasks.Straight, straight);
tasks.Add(TypeOfTasks.Right, right);*/
}
