private void IntersectionReParseAllButton_Click(object sender, EventArgs e)
{
// tool
IntersectionPulloutTool ipt = new IntersectionPulloutTool(this.arn, rd, ed, false);
// save old
ArbiterIntersection[] ais = new ArbiterIntersection[this.arn.ArbiterIntersections.Count];
this.arn.ArbiterIntersections.Values.CopyTo(ais, 0);
// remove all old
/*for(int i =0; i < ais.Length; i++)
{
ArbiterIntersection ai = ais[i];
this.rd.displayObjects.Remove(ai);
ai.RoadNetwork.DisplayObjects.Remove(ai);
ai.RoadNetwork.ArbiterIntersections.Remove(ai.IntersectionId);
foreach (ITraversableWaypoint aw in ai.AllExits.Values)
ai.RoadNetwork.IntersectionLookup.Remove(aw.AreaSubtypeWaypointId);
}*/
// refinalize
for (int j = 0; j < ais.Length; j++)
{
ArbiterIntersection ai = ais[j];
ipt.FinalizeIntersection(ai.IntersectionPolygon.Inflate(3.0), ai);
}
}
public IntersectionStartupState(ArbiterIntersection ai)
{
this.Intersection = ai;
}
/// <summary>
/// Startup the vehicle from a certain position, pass the next state back,
/// and initialize the lane agent if possible
/// </summary>
/// <param name="vehicleState"></param>
/// <returns></returns>
public IState Startup(VehicleState vehicleState, CarMode carMode)
{
// check car mode
if (carMode == CarMode.Run)
{
// check areas
ArbiterLane al = CoreCommon.RoadNetwork.ClosestLane(vehicleState.Front);
ArbiterZone az = CoreCommon.RoadNetwork.InZone(vehicleState.Front);
ArbiterIntersection ain = CoreCommon.RoadNetwork.InIntersection(vehicleState.Front);
ArbiterInterconnect ai = CoreCommon.RoadNetwork.ClosestInterconnect(vehicleState.Front, vehicleState.Heading);
if (az != null)
{
// special zone startup
return(new ZoneStartupState(az));
}
if (ain != null)
{
if (al != null)
{
// check lane stuff
PointOnPath lanePoint = al.PartitionPath.GetClosest(vehicleState.Front);
// get distance from front of car
double dist = lanePoint.pt.DistanceTo(vehicleState.Front);
// check dist to lane
if (dist < al.Width + 1.0)
{
// check orientation relative to lane
Coordinates laneVector = al.GetClosestPartition(vehicleState.Front).Vector().Normalize();
// get our heading
Coordinates ourHeading = vehicleState.Heading.Normalize();
// forwards or backwards
bool forwards = true;
// check dist to each other
if (laneVector.DistanceTo(ourHeading) > Math.Sqrt(2.0))
{
// not going forwards
forwards = false;
}
// stay in lane if forwards
if (forwards)
{
ArbiterOutput.Output("Starting up in lane: " + al.ToString());
return(new StayInLaneState(al, new Probability(0.7, 0.3), true, CoreCommon.CorePlanningState));
}
else
{
// Opposing lane
return(new OpposingLanesState(al, true, CoreCommon.CorePlanningState, vehicleState));
}
}
}
// startup intersection state
return(new IntersectionStartupState(ain));
}
if (al != null)
{
// get a startup chute
ArbiterLanePartition startupChute = this.GetStartupChute(vehicleState);
// check if in a startup chute
if (startupChute != null && !startupChute.IsInside(vehicleState.Front))
{
ArbiterOutput.Output("Starting up in chute: " + startupChute.ToString());
return(new StartupOffChuteState(startupChute));
}
// not in a startup chute
else
{
PointOnPath lanePoint = al.PartitionPath.GetClosest(vehicleState.Front);
// get distance from front of car
double dist = lanePoint.pt.DistanceTo(vehicleState.Front);
// check orientation relative to lane
Coordinates laneVector = al.GetClosestPartition(vehicleState.Front).Vector().Normalize();
// get our heading
Coordinates ourHeading = vehicleState.Heading.Normalize();
// forwards or backwards
bool forwards = true;
// check dist to each other
if (laneVector.DistanceTo(ourHeading) > Math.Sqrt(2.0))
{
// not going forwards
forwards = false;
}
// stay in lane if forwards
if (forwards)
{
ArbiterOutput.Output("Starting up in lane: " + al.ToString());
return(new StayInLaneState(al, new Probability(0.7, 0.3), true, CoreCommon.CorePlanningState));
}
else
{
// opposing
return(new OpposingLanesState(al, true, CoreCommon.CorePlanningState, vehicleState));
}
}
}
// fell out
ArbiterOutput.Output("Cannot find area to startup in");
return(CoreCommon.CorePlanningState);
}
else
{
return(CoreCommon.CorePlanningState);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="ourExit"></param>
public IntersectionMonitor(ITraversableWaypoint ourExit, ArbiterIntersection ai, VehicleState ourState, IConnectAreaWaypoints desired)
{
// set intersection
this.Intersection = ai;
// create monitors
this.AllMonitors = new List <IIntersectionQueueable>();
this.PriorityMonitors = new List <IIntersectionQueueable>();
this.IntersectionPriorityQueue = new List <IIntersectionQueueable>();
this.InsideIntersectionVehicles = new List <IntersectionVehicleMonitor>();
this.NonStopPriorityAreas = new List <IDominantMonitor>();
this.PreviouslyWaiting = new List <IDominantMonitor>();
this.AllMonitors = new List <IIntersectionQueueable>();
this.cooldownTimer = new Stopwatch();
#region Stopped Exits
// get ours
IIntersectionQueueable ourMonitor = null;
// get stopped exits
foreach (ArbiterStoppedExit ase in ai.StoppedExits)
{
// add a monitor
SubmissiveEntryMonitor sem = new SubmissiveEntryMonitor(this, ase.Waypoint, ase.Waypoint.Equals(ourExit));
// add to monitors
PriorityMonitors.Add(sem);
// check not our
if (!sem.IsOurs)
{
// initial update
sem.Update(ourState);
// check if add first
if (!sem.Clear(ourState))
{
IntersectionPriorityQueue.Add(sem);
}
}
else
{
// set ours
ourMonitor = sem;
this.OurMonitor = ourMonitor;
}
}
// check if our monitor exists
if (ourMonitor != null)
{
// add ours
this.IntersectionPriorityQueue.Add(ourMonitor);
}
#endregion
#region Priority Areas Over Interconnect
// check contains priority lane for this
if (ai.PriorityLanes.ContainsKey(desired.ToInterconnect))
{
// loop through all other priority monitors over this interconnect
foreach (IntersectionInvolved ii in ai.PriorityLanes[desired.ToInterconnect])
{
// check area type if lane
if (ii.Area is ArbiterLane)
{
// add lane to non stop priority areas
this.NonStopPriorityAreas.Add(new DominantLaneEntryMonitor(this, ii));
}
// otherwise is zone
else if (ii.Area is ArbiterZone)
{
// add lane to non stop priority areas
this.NonStopPriorityAreas.Add(
new DominantZoneEntryMonitor((ArbiterPerimeterWaypoint)ii.Exit, ((ArbiterInterconnect)desired), false, this, ii));
}
else
{
throw new ArgumentException("unknown intersection involved area", "ii");
}
}
}
// otherwise be like, wtf?
else
{
ArbiterOutput.Output("Exception: intersection: " + this.Intersection.ToString() + " priority lanes does not contain interconnect: " + desired.ToString() + " returning can go");
//ArbiterOutput.Output("Error in intersection monitor!!!!!!!!!@Q!!, desired interconnect: " + desired.ToInterconnect.ToString() + " not found in intersection: " + ai.ToString() + ", not setting any dominant monitors");
}
#endregion
#region Entry Area
if (desired.FinalGeneric is ArbiterWaypoint)
{
this.EntryAreaMonitor = new LaneEntryAreaMonitor((ArbiterWaypoint)desired.FinalGeneric);
}
else if (desired.FinalGeneric is ArbiterPerimeterWaypoint)
{
this.EntryAreaMonitor = new ZoneAreaEntryMonitor((ArbiterPerimeterWaypoint)desired.FinalGeneric, (ArbiterInterconnect)desired,
false, this, new IntersectionInvolved(ourExit, ((ArbiterPerimeterWaypoint)desired.FinalGeneric).Perimeter.Zone,
((ArbiterInterconnect)desired).TurnDirection));
}
else
{
throw new Exception("unhandled desired interconnect final type");
}
#endregion
#region Our Monitor
// check ours
if (ourExit is ArbiterWaypoint)
{
this.OurMonitor = new DominantLaneEntryMonitor(this,
new IntersectionInvolved(ourExit, ((ArbiterWaypoint)ourExit).Lane,
desired is ArbiterInterconnect ? ((ArbiterInterconnect)desired).TurnDirection : ArbiterTurnDirection.Straight));
}
else if (ourExit is ArbiterPerimeterWaypoint)
{
// add lane to non stop priority areas
this.OurMonitor =
new DominantZoneEntryMonitor((ArbiterPerimeterWaypoint)desired.InitialGeneric, ((ArbiterInterconnect)desired), true, this,
new IntersectionInvolved(ourExit, ((ArbiterPerimeterWaypoint)desired.InitialGeneric).Perimeter.Zone,
((ArbiterInterconnect)desired).TurnDirection));
}
#endregion
// add to all
this.AllMonitors.AddRange(this.PriorityMonitors);
foreach (IIntersectionQueueable iiq in this.NonStopPriorityAreas)
{
this.AllMonitors.Add(iiq);
}
this.AllMonitors.Add(this.EntryAreaMonitor);
// update all
this.Update(ourState);
// check if we need to populate previously waiting
if (this.OurMonitor is IDominantMonitor)
{
// cast our
IDominantMonitor ours = (IDominantMonitor)this.OurMonitor;
// loop through to determine those previously waiting
foreach (IDominantMonitor idm in this.NonStopPriorityAreas)
{
if (idm.Waypoint != null && !idm.Waypoint.IsStop && idm.WaitingTimerRunning)
{
this.PreviouslyWaiting.Add(idm);
}
}
}
}
/// <summary>
/// Check if we can go
/// </summary>
/// <param name="vs"></param>
private bool CanGo(VehicleState vs)
{
#region Moving Vehicles Inside Turn
// check if we can still go through this turn
if (TacticalDirector.VehicleAreas.ContainsKey(this.turn))
{
// get the subpath of the interconnect we care about
LinePath.PointOnPath frontPos = this.turn.InterconnectPath.GetClosestPoint(vs.Front);
LinePath aiSubpath = this.turn.InterconnectPath.SubPath(frontPos, this.turn.InterconnectPath.EndPoint);
if (aiSubpath.PathLength > 4.0)
{
aiSubpath = aiSubpath.SubPath(aiSubpath.StartPoint, aiSubpath.PathLength - 2.0);
// get vehicles
List <VehicleAgent> turnVehicles = TacticalDirector.VehicleAreas[this.turn];
// loop vehicles
foreach (VehicleAgent va in turnVehicles)
{
// check if inside turn
LinePath.PointOnPath vaPop = aiSubpath.GetClosestPoint(va.ClosestPosition);
if (!va.IsStopped && this.turn.TurnPolygon.IsInside(va.ClosestPosition) && !vaPop.Equals(aiSubpath.StartPoint) && !vaPop.Equals(aiSubpath.EndPoint))
{
ArbiterOutput.Output("Vehicle seen inside our turn: " + va.ToString() + ", stopping");
return(false);
}
}
}
}
#endregion
// test if this turn is part of an intersection
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(this.turn.InitialGeneric.AreaSubtypeWaypointId))
{
// intersection
ArbiterIntersection inter = CoreCommon.RoadNetwork.IntersectionLookup[this.turn.InitialGeneric.AreaSubtypeWaypointId];
// check if priority lanes exist for this interconnect
if (inter.PriorityLanes.ContainsKey(this.turn))
{
// get all the default priority lanes
List <IntersectionInvolved> priorities = inter.PriorityLanes[this.turn];
// get the subpath of the interconnect we care about
//LinePath.PointOnPath frontPos = this.turn.InterconnectPath.GetClosestPoint(vs.Front);
LinePath aiSubpath = new LinePath(new List <Coordinates>(new Coordinates[] { vs.Front, this.turn.FinalGeneric.Position })); //this.turn.InterconnectPath.SubPath(frontPos, this.turn.InterconnectPath.EndPoint);
// check if path ended
if (aiSubpath.Count < 2)
{
return(true);
}
// determine all of the new priority lanes
List <IntersectionInvolved> updatedPriorities = new List <IntersectionInvolved>();
#region Determine new priority areas given position
// loop through old priorities
foreach (IntersectionInvolved ii in priorities)
{
// check ii lane
if (ii.Area is ArbiterLane)
{
#region Lane Intersects Turn Path w/ Point of No Return
// check if the waypoint is not the last waypoint in the lane
if (ii.Exit == null || ((ArbiterWaypoint)ii.Exit).NextPartition != null)
{
// check where line intersects path
Coordinates?intersect = this.LaneIntersectsPath(ii, aiSubpath, this.turn.FinalGeneric);
// check for an intersection
if (intersect.HasValue)
{
// distance to intersection
double distanceToIntersection = (intersect.Value.DistanceTo(vs.Front) + ((ArbiterLane)ii.Area).LanePath().GetClosestPoint(vs.Front).Location.DistanceTo(vs.Front)) / 2.0;
// determine if we can stop before or after the intersection
double distanceToStoppage = RoadToolkit.DistanceToStop(CoreCommon.Communications.GetVehicleSpeed().Value);
// check dist to intersection > distance to stoppage
if (distanceToIntersection > distanceToStoppage)
{
// add updated priority
updatedPriorities.Add(new IntersectionInvolved(new ArbiterWaypoint(intersect.Value, new ArbiterWaypointId(0, ((ArbiterLane)ii.Area).LaneId)),
ii.Area, ArbiterTurnDirection.Straight));
}
else
{
ArbiterOutput.Output("Passed point of No Return for Lane: " + ii.Area.ToString());
}
}
}
#endregion
// we know there is an exit and it is the last waypoint of the segment, fuxk!
else
{
#region Turns Intersect
// get point to look at if exists
ArbiterInterconnect interconnect;
Coordinates? intersect = this.TurnIntersects(aiSubpath, ii.Exit, out interconnect);
// check for the intersect
if (intersect.HasValue)
{
ArbiterLane al = (ArbiterLane)ii.Area;
LinePath lp = al.LanePath().SubPath(al.LanePath().StartPoint, al.LanePath().GetClosestPoint(ii.Exit.Position));
lp.Add(interconnect.InterconnectPath.EndPoint.Location);
// get our time to the intersection point
//double ourTime = Math.Min(4.0, Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.001 ? aiSubpath.PathLength / 1.0 : aiSubpath.PathLength / Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value));
// get our time to the intersection point
double ourSpeed = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value);
double stoppedTime = ourSpeed < 1.0 ? 1.5 : 0.0;
double extraTime = 1.5;
double interconnectTime = aiSubpath.PathLength / this.turn.MaximumDefaultSpeed;
double ourTime = Math.Min(6.5, stoppedTime + extraTime + interconnectTime);
// get closest vehicle in that lane to the intersection
List <VehicleAgent> toLook = new List <VehicleAgent>();
if (TacticalDirector.VehicleAreas.ContainsKey(ii.Area))
{
foreach (VehicleAgent tmpVa in TacticalDirector.VehicleAreas[ii.Area])
{
double upstreamDist = al.DistanceBetween(tmpVa.ClosestPosition, ii.Exit.Position);
if (upstreamDist > 0 && tmpVa.PassedDelayedBirth)
{
toLook.Add(tmpVa);
}
}
}
if (TacticalDirector.VehicleAreas.ContainsKey(interconnect))
{
toLook.AddRange(TacticalDirector.VehicleAreas[interconnect]);
}
// check length of stuff to look at
if (toLook.Count > 0)
{
foreach (VehicleAgent va in toLook)
{
// distance along path to location of intersect
double distToIntersect = lp.DistanceBetween(lp.GetClosestPoint(va.ClosestPosition), lp.GetClosestPoint(aiSubpath.GetClosestPoint(va.ClosestPosition).Location));
double speed = va.Speed == 0.0 ? 0.01 : va.Speed;
double vaTime = distToIntersect / Math.Abs(speed);
if (vaTime > 0 && vaTime < ourTime)
{
ArbiterOutput.Output("va: " + va.ToString() + " CollisionTimer: " + vaTime.ToString("f2") + " < TimeUs: " + ourTime.ToString("F2") + ", NOGO");
return(false);
}
}
}
}
#endregion
}
}
}
#endregion
#region Updated Priority Intersection Code
// loop through updated priorities
bool updatedPrioritiesClear = true;
foreach (IntersectionInvolved ii in updatedPriorities)
{
// lane
ArbiterLane al = (ArbiterLane)ii.Area;
// get our time to the intersection point
double ourSpeed = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value);
double stoppedTime = ourSpeed < 1.0 ? 1.5 : 0.0;
double extraTime = 1.5;
double interconnectTime = aiSubpath.PathLength / this.turn.MaximumDefaultSpeed;
double ourTime = Math.Min(6.5, stoppedTime + extraTime + interconnectTime);
// double outTime = Math.Min(4.0, Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.001 ? aiSubpath.PathLength / 1.0 : aiSubpath.PathLength / Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value));
// get closest vehicle in that lane to the intersection
if (TacticalDirector.VehicleAreas.ContainsKey(ii.Area))
{
// get lane vehicles
List <VehicleAgent> vas = TacticalDirector.VehicleAreas[ii.Area];
// determine for all
VehicleAgent closestLaneVa = null;
double closestDistanceVa = Double.MaxValue;
double closestTime = Double.MaxValue;
foreach (VehicleAgent testVa in vas)
{
// check upstream
double distance = al.DistanceBetween(testVa.ClosestPosition, ii.Exit.Position);
// get speed
double speed = testVa.Speed;
double time = testVa.StateMonitor.Observed.speedValid ? distance / Math.Abs(speed) : distance / al.Way.Segment.SpeedLimits.MaximumSpeed;
// check distance > 0
if (distance > 0)
{
// check if closer or none other exists
if (closestLaneVa == null || time < closestTime)
{
closestLaneVa = testVa;
closestDistanceVa = distance;
closestTime = time;
}
}
}
// check if closest exists
if (closestLaneVa != null)
{
// set va
VehicleAgent va = closestLaneVa;
double distance = closestDistanceVa;
// check dist and birth time
if (distance > 0 && va.PassedDelayedBirth)
{
// check time
double speed = va.Speed == 0.0 ? 0.01 : va.Speed;
double time = va.StateMonitor.Observed.speedValid ? distance / Math.Abs(speed) : distance / al.Way.Segment.SpeedLimits.MaximumSpeed;
// too close
if (!al.LanePolygon.IsInside(CoreCommon.Communications.GetVehicleState().Front) &&
distance < 25 && (!va.StateMonitor.Observed.speedValid || !va.StateMonitor.Observed.isStopped) &&
CoreCommon.Communications.GetVehicleState().Front.DistanceTo(va.ClosestPosition) < 20)
{
ArbiterOutput.Output("Turn, NOGO, Lane: " + al.ToString() + " vehicle: " + va.ToString() + " possibly moving to close, stopping");
//return false;
updatedPrioritiesClear = false;
return(false);
}
else if (time > 0 && time < ourTime)
{
ArbiterOutput.Output("Turn, NOGO, Lane: " + al.ToString() + ", va: " + va.ToString() + ", stopped: " + va.IsStopped.ToString() + ", timeUs: " + ourTime.ToString("f2") + ", timeThem: " + time.ToString("f2"));
//return false;
updatedPrioritiesClear = false;
return(false);
}
else
{
ArbiterOutput.Output("Turn, CANGO, Lane: " + al.ToString() + ", va: " + va.ToString() + ", stopped: " + va.IsStopped.ToString() + ", timeUs: " + ourTime.ToString("f2") + ", timeThem: " + time.ToString("f2"));
//return true;
}
}
}
else
{
ArbiterOutput.Output("Turn, CANGO, Lane: " + al.ToString() + " has no traffic vehicles");
}
}
}
return(updatedPrioritiesClear);
#endregion
}
}
// fall through fine to go
ArbiterOutput.Output("In Turn, CAN GO, Clear of vehicles upstream");
return(true);
}
