/// <summary>
/// Plans over an intersection
/// </summary>
/// <param name="exitWaypoint"></param>
/// <param name="goal"></param>
/// <returns></returns>
public IntersectionPlan PlanIntersection(ITraversableWaypoint exitWaypoint, INavigableNode goal)
{
// road plan if the itnersection has a road available to take from it
RoadPlan rp = null;
// check if road waypoint
if (exitWaypoint is ArbiterWaypoint)
{
// get exit
ArbiterWaypoint awp = (ArbiterWaypoint)exitWaypoint;
// check if it has lane partition moving outwards
if (awp.NextPartition != null)
{
// road plan ignoring exit
List <ArbiterWaypoint> iws = RoadToolkit.WaypointsClose(awp.Lane.Way, awp.Position, awp);
rp = this.PlanNavigableArea(awp.Lane, awp.Position, goal, iws);
}
}
// get exit plan
IntersectionPlan ip = this.GetIntersectionExitPlan(exitWaypoint, goal);
// add road plan if exists
ip.SegmentPlan = rp;
// return the plan
return(ip);
}
/// <summary>
/// Try to plan the intersection heavily penalizing the interconnect
/// </summary>
/// <param name="iTraversableWaypoint"></param>
/// <param name="iArbiterWaypoint"></param>
/// <param name="arbiterInterconnect"></param>
/// <returns></returns>
public IntersectionPlan PlanIntersectionWithoutInterconnect(ITraversableWaypoint exit, IArbiterWaypoint goal, ArbiterInterconnect interconnect)
{
// save old blockage
NavigationBlockage tmpBlockage = interconnect.Blockage;
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
interconnect.Blockage = newerBlockage;
KeyValuePair <int, Dictionary <ArbiterWaypointId, DownstreamPointOfInterest> > tmpCurrentTimes = currentTimes;
this.currentTimes = new KeyValuePair <int, Dictionary <ArbiterWaypointId, DownstreamPointOfInterest> >();
// plan
IntersectionPlan ip = this.PlanIntersection(exit, goal);
this.currentTimes = tmpCurrentTimes;
// reset interconnect blockage
interconnect.Blockage = tmpBlockage;
// return plan
return(ip);
}
/// <summary>
/// Plan over all exits
/// </summary>
/// <param name="exitWaypoint"></param>
/// <param name="goal"></param>
/// <returns></returns>
public IntersectionPlan GetIntersectionExitPlan(ITraversableWaypoint exitWaypoint, INavigableNode goal)
{
// initialize the intersection plan
IntersectionPlan ip = new IntersectionPlan(exitWaypoint, new List <PlanableInterconnect>(), null);
ip.ExitWaypoint = exitWaypoint;
//check valid exit
if (exitWaypoint.IsExit)
{
// plan over each interconnect
foreach (ArbiterInterconnect ai in exitWaypoint.Exits)
{
// start of plan is the final wp of itner
INavigableNode start = (INavigableNode)ai.FinalGeneric;
// plan
double time;
List <INavigableNode> nodes;
this.Plan(start, goal, out nodes, out time);
time += ai.TimeCost();
// create planned interconnect
PlanableInterconnect pi = new PlanableInterconnect(ai, time, nodes);
// add planned interconnect to the intersection plan
ip.PossibleEntries.Add(pi);
}
}
// return the plan
return(ip);
}
public WaitingAtIntersectionExitState(ITraversableWaypoint exit, ArbiterTurnDirection turnDirection, IntersectionDescription description, ArbiterInterconnect desired)
{
this.exitWaypoint = exit;
this.turnDirection = turnDirection;
this.IntersectionDescription = description;
this.desired = desired;
this.turnTestState = TurnTestState.Unknown;
}
public WaitingAtIntersectionExitState(ITraversableWaypoint exit, ArbiterTurnDirection turnDirection, IntersectionDescription description, ArbiterInterconnect desired)
{
this.exitWaypoint = exit;
this.turnDirection = turnDirection;
this.IntersectionDescription = description;
this.desired = desired;
this.turnTestState = TurnTestState.Unknown;
}
/// <summary>
/// Try to plan the intersection heavily penalizing the interconnect
/// </summary>
/// <param name="iTraversableWaypoint"></param>
/// <param name="iArbiterWaypoint"></param>
/// <param name="arbiterInterconnect"></param>
/// <returns></returns>
public IntersectionPlan PlanIntersectionWithoutInterconnect(ITraversableWaypoint exit, IArbiterWaypoint goal, ArbiterInterconnect interconnect, bool blockAllRelated)
{
ITraversableWaypoint entry = (ITraversableWaypoint)interconnect.FinalGeneric;
if (!blockAllRelated)
{
return(this.PlanIntersectionWithoutInterconnect(exit, goal, interconnect));
}
else
{
Dictionary <IConnectAreaWaypoints, NavigationBlockage> saved = new Dictionary <IConnectAreaWaypoints, NavigationBlockage>();
if (entry.IsEntry)
{
foreach (ArbiterInterconnect ai in entry.Entries)
{
saved.Add(ai, ai.Blockage);
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
ai.Blockage = newerBlockage;
}
}
if (entry is ArbiterWaypoint && ((ArbiterWaypoint)entry).PreviousPartition != null)
{
ArbiterLanePartition alp = ((ArbiterWaypoint)entry).PreviousPartition;
saved.Add(alp, alp.Blockage);
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
alp.Blockage = newerBlockage;
}
KeyValuePair <int, Dictionary <ArbiterWaypointId, DownstreamPointOfInterest> > tmpCurrentTimes = currentTimes;
this.currentTimes = new KeyValuePair <int, Dictionary <ArbiterWaypointId, DownstreamPointOfInterest> >();
// plan
IntersectionPlan ip = this.PlanIntersection(exit, goal);
this.currentTimes = tmpCurrentTimes;
// reset the blockages
foreach (KeyValuePair <IConnectAreaWaypoints, NavigationBlockage> savedPair in saved)
{
savedPair.Key.Blockage = savedPair.Value;
}
// return plan
return(ip);
}
}
/// <summary>
/// Check where turns intersect the subpath furthese along it
/// </summary>
/// <param name="aiSubpath"></param>
/// <param name="iTraversableWaypoint"></param>
/// <returns></returns>
private Coordinates?TurnIntersects(LinePath aiSubpath, ITraversableWaypoint iTraversableWaypoint, out ArbiterInterconnect interconnect)
{
Line aiSub = new Line(aiSubpath.StartPoint.Location, aiSubpath.EndPoint.Location);
double distance = 0.0;
Coordinates?furthest = null;
interconnect = null;
foreach (ArbiterInterconnect ai in iTraversableWaypoint.OutgoingConnections)
{
Line iLine = new Line(ai.InterconnectPath.StartPoint.Location, ai.InterconnectPath.EndPoint.Location);
Coordinates intersect;
bool doesIntersect = aiSub.Intersect(iLine, out intersect);
if (doesIntersect && (ai.IsInside(intersect) || ai.InterconnectPath.GetClosestPoint(intersect).Equals(ai.InterconnectPath.EndPoint)))
{
if (!furthest.HasValue)
{
furthest = intersect;
distance = intersect.DistanceTo(aiSubpath.EndPoint.Location);
interconnect = ai;
}
else
{
double tmpDist = intersect.DistanceTo(aiSubpath.EndPoint.Location);
if (tmpDist < distance)
{
furthest = intersect;
distance = tmpDist;
interconnect = ai;
}
}
}
}
if (furthest.HasValue)
{
return(furthest.Value);
}
else
{
return(null);
}
}
/// <summary>
/// Try to plan the intersection heavily penalizing the interconnect
/// </summary>
/// <param name="iTraversableWaypoint"></param>
/// <param name="iArbiterWaypoint"></param>
/// <param name="arbiterInterconnect"></param>
/// <returns></returns>
public IntersectionPlan PlanIntersectionWithoutInterconnect(ITraversableWaypoint exit, IArbiterWaypoint goal, ArbiterInterconnect interconnect)
{
// save old blockage
NavigationBlockage tmpBlockage = interconnect.Blockage;
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
interconnect.Blockage = newerBlockage;
KeyValuePair<int, Dictionary<ArbiterWaypointId, DownstreamPointOfInterest>> tmpCurrentTimes = currentTimes;
this.currentTimes = new KeyValuePair<int, Dictionary<ArbiterWaypointId, DownstreamPointOfInterest>>();
// plan
IntersectionPlan ip = this.PlanIntersection(exit, goal);
this.currentTimes = tmpCurrentTimes;
// reset interconnect blockage
interconnect.Blockage = tmpBlockage;
// return plan
return ip;
}
/// <summary>
/// Plans what maneuer we should take next
/// </summary>
/// <param name="planningState"></param>
/// <param name="navigationalPlan"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicles"></param>
/// <param name="obstacles"></param>
/// <param name="blockage"></param>
/// <returns></returns>
public Maneuver Plan(IState planningState, INavigationalPlan navigationalPlan, VehicleState vehicleState,
SceneEstimatorTrackedClusterCollection vehicles, SceneEstimatorUntrackedClusterCollection obstacles, List <ITacticalBlockage> blockages)
{
#region Waiting At Intersection Exit
if (planningState is WaitingAtIntersectionExitState)
{
// state
WaitingAtIntersectionExitState waies = (WaitingAtIntersectionExitState)planningState;
// get intersection plan
IntersectionPlan ip = (IntersectionPlan)navigationalPlan;
// nullify turn reasoning
this.TurnReasoning = null;
#region Intersection Monitor Updates
// check correct intersection monitor
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(waies.exitWaypoint.AreaSubtypeWaypointId) &&
(IntersectionTactical.IntersectionMonitor == null ||
!IntersectionTactical.IntersectionMonitor.OurMonitor.Waypoint.Equals(waies.exitWaypoint)))
{
// create new intersection monitor
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
waies.exitWaypoint,
CoreCommon.RoadNetwork.IntersectionLookup[waies.exitWaypoint.AreaSubtypeWaypointId],
vehicleState,
ip.BestOption);
}
// update if exists
if (IntersectionTactical.IntersectionMonitor != null)
{
// update monitor
IntersectionTactical.IntersectionMonitor.Update(vehicleState);
// print current
ArbiterOutput.Output(IntersectionTactical.IntersectionMonitor.IntersectionStateString());
}
#endregion
#region Desired Behavior
// get best option from previously saved
IConnectAreaWaypoints icaw = null;
if (waies.desired != null)
{
ArbiterInterconnect tmpInterconnect = waies.desired;
if (waies.desired.InitialGeneric is ArbiterWaypoint)
{
ArbiterWaypoint init = (ArbiterWaypoint)waies.desired.InitialGeneric;
if (init.NextPartition != null && init.NextPartition.Final.Equals(tmpInterconnect.FinalGeneric))
{
icaw = init.NextPartition;
}
else
{
icaw = waies.desired;
}
}
else
{
icaw = waies.desired;
}
}
else
{
icaw = ip.BestOption;
waies.desired = icaw.ToInterconnect;
}
#endregion
#region Turn Feasibility Reasoning
// check uturn
if (waies.desired.TurnDirection == ArbiterTurnDirection.UTurn)
{
waies.turnTestState = TurnTestState.Completed;
}
// check already determined feasible
if (waies.turnTestState == TurnTestState.Unknown ||
waies.turnTestState == TurnTestState.Failed)
{
#region Determine Behavior to Accomplish Turn
// get default turn behavior
TurnBehavior testTurnBehavior = this.DefaultTurnBehavior(icaw);
// set saudi decorator
if (waies.saudi != SAUDILevel.None)
{
testTurnBehavior.Decorators.Add(new ShutUpAndDoItDecorator(waies.saudi));
}
// set to ignore all vehicles
testTurnBehavior.VehiclesToIgnore = new List <int>(new int[] { -1 });
#endregion
#region Check Turn Feasible
// check if we have completed
CompletionReport turnCompletionReport;
bool completedTest = CoreCommon.Communications.TestExecute(testTurnBehavior, out turnCompletionReport); //CoreCommon.Communications.AsynchronousTestHasCompleted(testTurnBehavior, out turnCompletionReport, true);
// if we have completed the test
if (completedTest || ((TrajectoryBlockedReport)turnCompletionReport).BlockageType != BlockageType.Dynamic)
{
#region Can Complete
// check success
if (turnCompletionReport.Result == CompletionResult.Success)
{
// set completion state of the turn
waies.turnTestState = TurnTestState.Completed;
}
#endregion
#region No Saudi Level, Found Initial Blockage
// otherwise we cannot do the turn, check if saudi is still none
else if (waies.saudi == SAUDILevel.None)
{
// notify
ArbiterOutput.Output("Increased Saudi Level of Turn to L1");
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Failed;
}
#endregion
#region Already at L1 Saudi
else if (waies.saudi == SAUDILevel.L1)
{
// notify
ArbiterOutput.Output("Turn with Saudi L1 Level failed");
// get an intersection plan without this interconnect
IntersectionPlan testPlan = CoreCommon.Navigation.PlanIntersectionWithoutInterconnect(
waies.exitWaypoint,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId],
waies.desired);
// check that the plan exists
if (!testPlan.BestOption.ToInterconnect.Equals(waies.desired) &&
testPlan.BestRouteTime < double.MaxValue - 1.0)
{
// get the desired interconnect
ArbiterInterconnect reset = testPlan.BestOption.ToInterconnect;
#region Check that the reset interconnect is feasible
// test the reset interconnect
TurnBehavior testResetTurnBehavior = this.DefaultTurnBehavior(reset);
// set to ignore all vehicles
testResetTurnBehavior.VehiclesToIgnore = new List <int>(new int[] { -1 });
// check if we have completed
CompletionReport turnResetCompletionReport;
bool completedResetTest = CoreCommon.Communications.TestExecute(testResetTurnBehavior, out turnResetCompletionReport);
// check to see if this is feasible
if (completedResetTest && turnResetCompletionReport is SuccessCompletionReport && reset.Blockage.ProbabilityExists < 0.95)
{
// notify
ArbiterOutput.Output("Found clear interconnect: " + reset.ToString() + " adding blockage to current interconnect: " + waies.desired.ToString());
// set the interconnect as being blocked
CoreCommon.Navigation.AddInterconnectBlockage(waies.desired);
// reset all
waies.desired = reset;
waies.turnTestState = TurnTestState.Completed;
waies.saudi = SAUDILevel.None;
waies.useTurnBounds = true;
IntersectionMonitor.ResetDesired(reset);
}
#endregion
#region No Lane Bounds
// otherwise try without lane bounds
else
{
// notify
ArbiterOutput.Output("Had to fallout to using no turn bounds");
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Completed;
waies.useTurnBounds = false;
}
#endregion
}
#region No Lane Bounds
// otherwise try without lane bounds
else
{
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Unknown;
waies.useTurnBounds = false;
}
#endregion
}
#endregion
// want to reset ourselves
return(new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
}
#endregion
#region Entry Monitor Blocked
// checks the entry monitor vehicle for failure
if (IntersectionMonitor != null && IntersectionMonitor.EntryAreaMonitor != null &&
IntersectionMonitor.EntryAreaMonitor.Vehicle != null && IntersectionMonitor.EntryAreaMonitor.Failed)
{
ArbiterOutput.Output("Entry area blocked");
// get an intersection plan without this interconnect
IntersectionPlan testPlan = CoreCommon.Navigation.PlanIntersectionWithoutInterconnect(
waies.exitWaypoint,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId],
waies.desired,
true);
// check that the plan exists
if (!testPlan.BestOption.ToInterconnect.Equals(waies.desired) &&
testPlan.BestRouteTime < double.MaxValue - 1.0)
{
// get the desired interconnect
ArbiterInterconnect reset = testPlan.BestOption.ToInterconnect;
#region Check that the reset interconnect is feasible
// test the reset interconnect
TurnBehavior testResetTurnBehavior = this.DefaultTurnBehavior(reset);
// set to ignore all vehicles
testResetTurnBehavior.VehiclesToIgnore = new List <int>(new int[] { -1 });
// check if we have completed
CompletionReport turnResetCompletionReport;
bool completedResetTest = CoreCommon.Communications.TestExecute(testResetTurnBehavior, out turnResetCompletionReport);
// check to see if this is feasible
if (reset.TurnDirection == ArbiterTurnDirection.UTurn || (completedResetTest && turnResetCompletionReport is SuccessCompletionReport && reset.Blockage.ProbabilityExists < 0.95))
{
// notify
ArbiterOutput.Output("Found clear interconnect: " + reset.ToString() + " adding blockage to all possible turns into final");
// set all the interconnects to the final as being blocked
if (((ITraversableWaypoint)waies.desired.FinalGeneric).IsEntry)
{
foreach (ArbiterInterconnect toBlock in ((ITraversableWaypoint)waies.desired.FinalGeneric).Entries)
{
CoreCommon.Navigation.AddInterconnectBlockage(toBlock);
}
}
// check if exists previous partition to block
if (waies.desired.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finWaypoint = (ArbiterWaypoint)waies.desired.FinalGeneric;
if (finWaypoint.PreviousPartition != null)
{
CoreCommon.Navigation.AddBlockage(finWaypoint.PreviousPartition, finWaypoint.Position, false);
}
}
// reset all
waies.desired = reset;
waies.turnTestState = TurnTestState.Completed;
waies.saudi = SAUDILevel.None;
waies.useTurnBounds = true;
IntersectionMonitor.ResetDesired(reset);
// want to reset ourselves
return(new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
}
else
{
ArbiterOutput.Output("Entry area blocked, but no otehr valid route found");
}
}
#endregion
// check if can traverse
if (IntersectionTactical.IntersectionMonitor == null || IntersectionTactical.IntersectionMonitor.CanTraverse(icaw, vehicleState))
{
#region If can traverse the intersection
// quick check not interconnect
if (!(icaw is ArbiterInterconnect))
{
icaw = icaw.ToInterconnect;
}
// get interconnect
ArbiterInterconnect ai = (ArbiterInterconnect)icaw;
// clear all old completion reports
CoreCommon.Communications.ClearCompletionReports();
// check if uturn
if (ai.InitialGeneric is ArbiterWaypoint && ai.FinalGeneric is ArbiterWaypoint && ai.TurnDirection == ArbiterTurnDirection.UTurn)
{
// go into turn
List <ArbiterLane> involvedLanes = new List <ArbiterLane>();
involvedLanes.Add(((ArbiterWaypoint)ai.InitialGeneric).Lane);
involvedLanes.Add(((ArbiterWaypoint)ai.FinalGeneric).Lane);
uTurnState nextState = new uTurnState(((ArbiterWaypoint)ai.FinalGeneric).Lane,
IntersectionToolkit.uTurnBounds(vehicleState, involvedLanes));
nextState.Interconnect = ai;
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return(new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
else
{
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finalWaypoint = (ArbiterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.TurnInfo(finalWaypoint, out finalPath, out leftLL, out rightLL);
// go into turn
IState nextState = new TurnState(ai, ai.TurnDirection, finalWaypoint.Lane, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5), waies.saudi, waies.useTurnBounds);
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return(new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
else
{
// final perimeter waypoint
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.ZoneTurnInfo(ai, apw, out finalPath, out leftLL, out rightLL);
// go into turn
IState nextState = new TurnState(ai, ai.TurnDirection, null, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5), waies.saudi, waies.useTurnBounds);
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return(new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
}
#endregion
}
// otherwise need to wait
else
{
IState next = waies;
return(new Maneuver(new HoldBrakeBehavior(), next, next.DefaultStateDecorators, vehicleState.Timestamp));
}
}
#endregion
#region Stopping At Exit
else if (planningState is StoppingAtExitState)
{
// cast to exit stopping
StoppingAtExitState saes = (StoppingAtExitState)planningState;
saes.currentPosition = vehicleState.Front;
// get intersection plan
IntersectionPlan ip = (IntersectionPlan)navigationalPlan;
// if has an intersection
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(saes.waypoint.AreaSubtypeWaypointId))
{
// create new intersection monitor
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
saes.waypoint,
CoreCommon.RoadNetwork.IntersectionLookup[saes.waypoint.AreaSubtypeWaypointId],
vehicleState,
ip.BestOption);
// update it
IntersectionTactical.IntersectionMonitor.Update(vehicleState);
}
else
{
IntersectionTactical.IntersectionMonitor = null;
}
// otherwise update the stop parameters
saes.currentPosition = vehicleState.Front;
Behavior b = saes.Resume(vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value);
return(new Maneuver(b, saes, saes.DefaultStateDecorators, vehicleState.Timestamp));
}
#endregion
#region In uTurn
else if (planningState is uTurnState)
{
// get state
uTurnState uts = (uTurnState)planningState;
// check if in other lane
if (CoreCommon.Communications.HasCompleted((new UTurnBehavior(null, null, null, null)).GetType()))
{
// quick check
if (uts.Interconnect != null && uts.Interconnect.FinalGeneric is ArbiterWaypoint)
{
// get the closest partition to the new lane
ArbiterLanePartition alpClose = uts.TargetLane.GetClosestPartition(vehicleState.Front);
// waypoints
ArbiterWaypoint partitionInitial = alpClose.Initial;
ArbiterWaypoint uturnEnd = (ArbiterWaypoint)uts.Interconnect.FinalGeneric;
// check initial past end
if (partitionInitial.WaypointId.Number > uturnEnd.WaypointId.Number)
{
// get waypoints inclusive
List <ArbiterWaypoint> inclusive = uts.TargetLane.WaypointsInclusive(uturnEnd, partitionInitial);
bool found = false;
// loop through
foreach (ArbiterWaypoint aw in inclusive)
{
if (!found && aw.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
// notiofy
ArbiterOutput.Output("removed checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString() + " as passed over in uturn");
// remove
CoreCommon.Mission.MissionCheckpoints.Dequeue();
// set found
found = true;
}
}
}
// default check
else if (uts.Interconnect.FinalGeneric.Equals(CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId]))
{
// notiofy
ArbiterOutput.Output("removed checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString() + " as end of uturn");
// remove
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
}
// check if the uturn is for a blockage
else if (uts.Interconnect == null)
{
// get final lane
ArbiterLane targetLane = uts.TargetLane;
// check has opposing
if (targetLane.Way.Segment.Lanes.Count > 1)
{
// check the final checkpoint is in our lane
if (CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.AreaSubtypeId.Equals(targetLane.LaneId))
{
// check that the final checkpoint is within the uturn polygon
if (uts.Polygon != null &&
uts.Polygon.IsInside(CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId].Position))
{
// remove the checkpoint
ArbiterOutput.Output("Found checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.ToString() + " inside blockage uturn area, dequeuing");
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
}
}
}
// stay in target lane
IState nextState = new StayInLaneState(uts.TargetLane, new Probability(0.8, 0.2), true, CoreCommon.CorePlanningState);
Behavior b = new StayInLaneBehavior(uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0), new List <int>(), uts.TargetLane.LanePath(), uts.TargetLane.Width, uts.TargetLane.NumberOfLanesLeft(vehicleState.Front, true), uts.TargetLane.NumberOfLanesRight(vehicleState.Front, true));
return(new Maneuver(b, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
// otherwise continue uturn
else
{
// get polygon
Polygon p = uts.Polygon;
// add polygon to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(p, ArbiterInformationDisplayObjectType.uTurnPolygon));
// check the type of uturn
if (!uts.singleLaneUturn)
{
// get ending path
LinePath endingPath = uts.TargetLane.LanePath();
// next state is current
IState nextState = uts;
// behavior
Behavior b = new UTurnBehavior(p, endingPath, uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0));
// maneuver
return(new Maneuver(b, nextState, null, vehicleState.Timestamp));
}
else
{
// get ending path
LinePath endingPath = uts.TargetLane.LanePath().Clone();
endingPath = endingPath.ShiftLateral(-2.0); //uts.TargetLane.Width);
// add polygon to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(endingPath, ArbiterInformationDisplayObjectType.leftBound));
// next state is current
IState nextState = uts;
// behavior
Behavior b = new UTurnBehavior(p, endingPath, uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0));
// maneuver
return(new Maneuver(b, nextState, null, vehicleState.Timestamp));
}
}
}
#endregion
#region In Turn
else if (planningState is TurnState)
{
// get state
TurnState ts = (TurnState)planningState;
// add bounds to observable
if (ts.LeftBound != null && ts.RightBound != null)
{
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(ts.LeftBound, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(ts.RightBound, ArbiterInformationDisplayObjectType.rightBound));
}
// create current turn reasoning
if (this.TurnReasoning == null)
{
this.TurnReasoning = new TurnReasoning(ts.Interconnect,
IntersectionTactical.IntersectionMonitor != null ? IntersectionTactical.IntersectionMonitor.EntryAreaMonitor : null);
}
// get primary maneuver
Maneuver primary = this.TurnReasoning.PrimaryManeuver(vehicleState, blockages, ts);
// get secondary maneuver
Maneuver?secondary = this.TurnReasoning.SecondaryManeuver(vehicleState, (IntersectionPlan)navigationalPlan);
// return the manevuer
return(secondary.HasValue ? secondary.Value : primary);
}
#endregion
#region Itnersection Startup
else if (planningState is IntersectionStartupState)
{
// state and plan
IntersectionStartupState iss = (IntersectionStartupState)planningState;
IntersectionStartupPlan isp = (IntersectionStartupPlan)navigationalPlan;
// initial path
LinePath vehiclePath = new LinePath(new Coordinates[] { vehicleState.Rear, vehicleState.Front });
List <ITraversableWaypoint> feasibleEntries = new List <ITraversableWaypoint>();
// vehicle polygon forward of us
Polygon vehicleForward = vehicleState.ForwardPolygon;
// best waypoint
ITraversableWaypoint best = null;
double bestCost = Double.MaxValue;
// given feasible choose best, no feasible choose random
if (feasibleEntries.Count == 0)
{
foreach (ITraversableWaypoint itw in iss.Intersection.AllEntries.Values)
{
if (vehicleForward.IsInside(itw.Position))
{
feasibleEntries.Add(itw);
}
}
if (feasibleEntries.Count == 0)
{
foreach (ITraversableWaypoint itw in iss.Intersection.AllEntries.Values)
{
feasibleEntries.Add(itw);
}
}
}
// get best
foreach (ITraversableWaypoint itw in feasibleEntries)
{
if (isp.NodeTimeCosts.ContainsKey(itw))
{
KeyValuePair <ITraversableWaypoint, double> lookup = new KeyValuePair <ITraversableWaypoint, double>(itw, isp.NodeTimeCosts[itw]);
if (best == null || lookup.Value < bestCost)
{
best = lookup.Key;
bestCost = lookup.Value;
}
}
}
// get something going to this waypoint
ArbiterInterconnect interconnect = null;
if (best.IsEntry)
{
ArbiterInterconnect closest = null;
double closestDistance = double.MaxValue;
foreach (ArbiterInterconnect ai in best.Entries)
{
double dist = ai.InterconnectPath.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front);
if (closest == null || dist < closestDistance)
{
closest = ai;
closestDistance = dist;
}
}
interconnect = closest;
}
else if (best is ArbiterWaypoint && ((ArbiterWaypoint)best).PreviousPartition != null)
{
interconnect = ((ArbiterWaypoint)best).PreviousPartition.ToInterconnect;
}
// get state
if (best is ArbiterWaypoint)
{
// go to this turn state
LinePath finalPath;
LineList leftBound;
LineList rightBound;
IntersectionToolkit.TurnInfo((ArbiterWaypoint)best, out finalPath, out leftBound, out rightBound);
return(new Maneuver(new HoldBrakeBehavior(), new TurnState(interconnect, interconnect.TurnDirection, ((ArbiterWaypoint)best).Lane,
finalPath, leftBound, rightBound, new ScalarSpeedCommand(2.0)), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
else
{
// go to this turn state
LinePath finalPath;
LineList leftBound;
LineList rightBound;
IntersectionToolkit.ZoneTurnInfo(interconnect, (ArbiterPerimeterWaypoint)best, out finalPath, out leftBound, out rightBound);
return(new Maneuver(new HoldBrakeBehavior(), new TurnState(interconnect, interconnect.TurnDirection, null,
finalPath, leftBound, rightBound, new ScalarSpeedCommand(2.0)), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
#endregion
#region Unknown
else
{
throw new Exception("Unknown planning state in intersection tactical plan: " + planningState.ToString());
}
#endregion
}
/// <summary>
/// Generates interconnects into the road network
/// </summary>
/// <param name="arn"></param>
/// <returns></returns>
public ArbiterRoadNetwork GenerateInterconnects(ArbiterRoadNetwork arn)
{
// list of all exit entries in the xy rndf
List <SimpleExitEntry> sees = new List <SimpleExitEntry>();
// zones
if (xyRndf.Zones != null)
{
// loop over zones
foreach (SimpleZone sz in xyRndf.Zones)
{
// add all ee's
sees.AddRange(sz.Perimeter.ExitEntries);
}
}
// segments
if (xyRndf.Segments != null)
{
// loop over segments
foreach (SimpleSegment ss in xyRndf.Segments)
{
// lanes
foreach (SimpleLane sl in ss.Lanes)
{
// add all ee's
sees.AddRange(sl.ExitEntries);
}
}
}
// loop over ee's and create interconnects
foreach (SimpleExitEntry see in sees)
{
IArbiterWaypoint initial = arn.LegacyWaypointLookup[see.ExitId];
IArbiterWaypoint final = arn.LegacyWaypointLookup[see.EntryId];
ArbiterInterconnect ai = new ArbiterInterconnect(initial, final);
arn.ArbiterInterconnects.Add(ai.InterconnectId, ai);
arn.DisplayObjects.Add(ai);
if (initial is ITraversableWaypoint)
{
ITraversableWaypoint initialWaypoint = (ITraversableWaypoint)initial;
initialWaypoint.IsExit = true;
if (initialWaypoint.Exits == null)
{
initialWaypoint.Exits = new List <ArbiterInterconnect>();
}
initialWaypoint.Exits.Add(ai);
}
else
{
throw new Exception("initial wp of ee: " + see.ExitId + " is not ITraversableWaypoint");
}
if (final is ITraversableWaypoint)
{
ITraversableWaypoint finalWaypoint = (ITraversableWaypoint)final;
finalWaypoint.IsEntry = true;
if (finalWaypoint.Entries == null)
{
finalWaypoint.Entries = new List <ArbiterInterconnect>();
}
finalWaypoint.Entries.Add(ai);
}
else
{
throw new Exception("final wp of ee: " + see.EntryId + " is not ITraversableWaypoint");
}
// set the turn direction
this.SetTurnDirection(ai);
// interconnectp olygon stuff
this.GenerateInterconnectPolygon(ai);
if (ai.TurnPolygon.IsComplex)
{
Console.WriteLine("Found complex polygon for interconnect: " + ai.ToString());
ai.TurnPolygon = ai.DefaultPoly();
}
}
return(arn);
}
/// <summary>
/// finish the wrapping and cretae the intersection
/// </summary>
public void FinalizeIntersection(Polygon interPoly, ArbiterIntersection ai)
{
// check poly not null
if (interPoly != null)
{
this.WrappingHelpers = new List<Coordinates>();
Rect r = interPoly.CalculateBoundingRectangle();
Coordinates bl = new Coordinates(r.x, r.y);
Coordinates tr = new Coordinates(r.x + r.width, r.y + r.height);
Polygon sqPoly = this.CreateSquarePolygon(bl, tr).Inflate(1.0);
//interPoly = this.CreateIntersectionPolygon(interPoly);
//interPoly = interPoly.Inflate(0.05);
// retreive all exits involved in this intersection
Dictionary<IAreaSubtypeWaypointId, ITraversableWaypoint> exits = this.IntersectionExits(sqPoly);//interPoly);
// make sure the inter contains an exit
if (exits.Count > 0)
{
// make stopped exits, necessarily these are arbiter waypoints not perimeter points
List<ArbiterStoppedExit> ases = this.CreateStoppedExits(exits.Values);
// construct intersection id
ITraversableWaypoint[] exitArray = new ITraversableWaypoint[exits.Count];
exits.Values.CopyTo(exitArray, 0);
ArbiterIntersectionId aii = new ArbiterIntersectionId(exitArray[0].Exits[0].InterconnectId);
// determine incoming lanes
Dictionary<ArbiterLane, LinePath.PointOnPath> incoming = this.DetermineIncoming(interPoly);
// create the intersection
ai.IntersectionPolygon = interPoly;
ai.Center = interPoly.BoundingCircle.center;
ai.StoppedExits = ases;
ai.IncomingLanePoints = incoming;
ai.AllExits = exits;
ai.AllEntries = this.IntersectionEntries(sqPoly);
ai.PriorityLanes = this.DetermineInvolved(exits.Values, incoming);
// update poly
//this.UpdateIntersectionPolygon(ai);
try
{
List<Polygon> ps = new List<Polygon>();
foreach (ITraversableWaypoint itw in exits.Values)
{
foreach (ArbiterInterconnect ait in itw.Exits)
{
ps.Add(ait.TurnPolygon);
}
}
ai.IntersectionPolygon = this.GetIntersectionPolygon(ps, ai.AllExits, ai.AllEntries);
if (ai.IntersectionPolygon.IsComplex)
{
EditorOutput.WriteLine("Intersection polygon complex, defaulting");
throw new Exception("complex polygon exception");
}
}
catch (Exception)
{
EditorOutput.WriteLine("Error in union polygon generation, using better default");
try
{
this.UpdateIntersectionPolygon(ai);
}
catch (Exception)
{
EditorOutput.WriteLine("Error in my simple polygon generation, plain default");
List<Coordinates> cs = new List<Coordinates>();
foreach (ITraversableWaypoint itw in ai.AllEntries.Values)
cs.Add(itw.Position);
foreach (ITraversableWaypoint itw in ai.AllExits.Values)
{
cs.Add(itw.Position);
foreach (ArbiterInterconnect aint in itw.Exits)
{
cs.AddRange(aint.TurnPolygon);
}
}
ai.IntersectionPolygon = Polygon.GrahamScan(cs);
}
}
// add intersection
/*arn.ArbiterIntersections.Add(aii, ai);
// add to exit lookup
foreach (IAreaSubtypeWaypointId awi in exits.Keys)
arn.IntersectionLookup.Add(awi, ai);
// add to display objects
arn.DisplayObjects.Add(ai);
rd.AddDisplayObject(ai);*/
}
}
}
/// <summary>
/// finish the wrapping and cretae the intersection
/// </summary>
public void FinalizeIntersection()
{
// finalize the intersection polygon
Polygon sq = this.CreateSquarePolygon(this.WrapInitial.Value, this.WrapFinal.Value).Inflate(1.0);
Polygon interPoly = this.CreateIntersectionPolygon(sq);
// check poly not null
if (interPoly != null)
{
// inflate the inter poly
interPoly = interPoly.Inflate(0.05);
// retreive all exits involved in this intersection
Dictionary<IAreaSubtypeWaypointId, ITraversableWaypoint> exits = this.IntersectionExits(sq);
// make sure the inter contains an exit
if (exits.Count > 0)
{
// make stopped exits, necessarily these are arbiter waypoints not perimeter points
List<ArbiterStoppedExit> ases = this.CreateStoppedExits(exits.Values);
// construct intersection id
ITraversableWaypoint[] exitArray = new ITraversableWaypoint[exits.Count];
exits.Values.CopyTo(exitArray, 0);
ArbiterIntersectionId aii = new ArbiterIntersectionId(exitArray[0].Exits[0].InterconnectId);
// determine incoming lanes
Dictionary<ArbiterLane, LinePath.PointOnPath> incoming = this.DetermineIncoming(interPoly);
// create the intersection
ArbiterIntersection ai = new ArbiterIntersection(
interPoly,
ases,
this.DetermineInvolved(exits.Values, incoming),
incoming,
exits,
interPoly.Center,
aii,
arn,
this.IntersectionEntries(sq)
);
// create safety zones
this.CreateSafetyImplicitZones(ai);
// update poly
//this.UpdateIntersectionPolygon(ai);
/*List<Polygon> ps = new List<Polygon>();
foreach (ITraversableWaypoint itw in exits.Values)
{
foreach (ArbiterInterconnect ait in itw.Exits)
{
ps.Add(ait.TurnPolygon);
}
}
ai.IntersectionPolygon = this.GetIntersectionPolygon(ps, ai.AllExits, ai.AllEntries);*/
//ai.IntersectionPolygon = UrbanChallenge.Arbiter.Core.Common.Tools.PolygonToolkit.PolygonUnion(ps);
try
{
List<Polygon> ps = new List<Polygon>();
foreach (ITraversableWaypoint itw in exits.Values)
{
foreach (ArbiterInterconnect ait in itw.Exits)
{
ps.Add(ait.TurnPolygon);
}
}
ai.IntersectionPolygon = this.GetIntersectionPolygon(ps, ai.AllExits, ai.AllEntries);
if (ai.IntersectionPolygon.IsComplex)
{
EditorOutput.WriteLine("Intersection polygon complex, defaulting");
throw new Exception("complex polygon exception");
}
}
catch (Exception)
{
EditorOutput.WriteLine("Error in union polygon generation, using better default");
try
{
this.UpdateIntersectionPolygon(ai);
}
catch (Exception)
{
EditorOutput.WriteLine("Error in my simple polygon generation, plain default");
List<Coordinates> cs = new List<Coordinates>();
foreach (ITraversableWaypoint itw in ai.AllEntries.Values)
cs.Add(itw.Position);
foreach (ITraversableWaypoint itw in ai.AllExits.Values)
{
cs.Add(itw.Position);
foreach (ArbiterInterconnect aint in itw.Exits)
{
cs.AddRange(aint.TurnPolygon);
}
}
ai.IntersectionPolygon = Polygon.GrahamScan(cs);
}
}
try
{
// add intersection
arn.ArbiterIntersections.Add(aii, ai);
// add to exit lookup
foreach (IAreaSubtypeWaypointId awi in exits.Keys)
{
if (arn.IntersectionLookup.ContainsKey(awi))
arn.IntersectionLookup[awi] = ai;
else
arn.IntersectionLookup.Add(awi, ai);
}
// add to display objects
arn.DisplayObjects.Add(ai);
rd.AddDisplayObject(ai);
}
catch (Exception e)
{
EditorOutput.WriteLine("Error adding intersection: " + aii.ToString());
EditorOutput.WriteLine("Error adding intersection: " + e.ToString());
}
}
}
// reset the tool
this.it.ResetIcons();
this.WrapFinal = null;
this.WrapInitial = null;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="waypoint"></param>
/// <param name="entries"></param>
public IntersectionPlan(ITraversableWaypoint waypoint, List<PlanableInterconnect> entries, RoadPlan roadPlan)
{
this.ExitWaypoint = waypoint;
this.PossibleEntries = entries;
this.SegmentPlan = roadPlan;
}
/// <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);
}
}
}
public IntersectionInvolved(IVehicleArea area)
{
this.Exit = null;
this.Area = area;
this.TurnDirection = ArbiterTurnDirection.Unknown;
}
/// <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>
/// Constructor
/// </summary>
/// <param name="waypoint"></param>
/// <param name="entries"></param>
public IntersectionPlan(ITraversableWaypoint waypoint, List <PlanableInterconnect> entries, RoadPlan roadPlan)
{
this.ExitWaypoint = waypoint;
this.PossibleEntries = entries;
this.SegmentPlan = roadPlan;
}
/// <summary>
/// Plans over an intersection
/// </summary>
/// <param name="exitWaypoint"></param>
/// <param name="goal"></param>
/// <returns></returns>
public IntersectionPlan PlanIntersection(ITraversableWaypoint exitWaypoint, INavigableNode goal)
{
// road plan if the itnersection has a road available to take from it
RoadPlan rp = null;
// check if road waypoint
if (exitWaypoint is ArbiterWaypoint)
{
// get exit
ArbiterWaypoint awp = (ArbiterWaypoint)exitWaypoint;
// check if it has lane partition moving outwards
if (awp.NextPartition != null)
{
// road plan ignoring exit
List<ArbiterWaypoint> iws = RoadToolkit.WaypointsClose(awp.Lane.Way, awp.Position, awp);
rp = this.PlanNavigableArea(awp.Lane, awp.Position, goal, iws);
}
}
// get exit plan
IntersectionPlan ip = this.GetIntersectionExitPlan(exitWaypoint, goal);
// add road plan if exists
ip.SegmentPlan = rp;
// return the plan
return ip;
}
/// <summary>
/// Plan over all exits
/// </summary>
/// <param name="exitWaypoint"></param>
/// <param name="goal"></param>
/// <returns></returns>
public IntersectionPlan GetIntersectionExitPlan(ITraversableWaypoint exitWaypoint, INavigableNode goal)
{
// initialize the intersection plan
IntersectionPlan ip = new IntersectionPlan(exitWaypoint, new List<PlanableInterconnect>(), null);
ip.ExitWaypoint = exitWaypoint;
//check valid exit
if (exitWaypoint.IsExit)
{
// plan over each interconnect
foreach (ArbiterInterconnect ai in exitWaypoint.Exits)
{
// start of plan is the final wp of itner
INavigableNode start = (INavigableNode)ai.FinalGeneric;
// plan
double time;
List<INavigableNode> nodes;
this.Plan(start, goal, out nodes, out time);
time += ai.TimeCost();
// create planned interconnect
PlanableInterconnect pi = new PlanableInterconnect(ai, time, nodes);
// add planned interconnect to the intersection plan
ip.PossibleEntries.Add(pi);
}
}
// return the plan
return ip;
}
public IntersectionInvolved(IVehicleArea area)
{
this.Exit = null;
this.Area = area;
this.TurnDirection = ArbiterTurnDirection.Unknown;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="exit"></param>
/// <param name="area"></param>
/// <param name="turnDirection"></param>
public IntersectionInvolved(ITraversableWaypoint exit, IVehicleArea area, ArbiterTurnDirection turnDirection)
{
this.Exit = exit;
this.Area = area;
this.TurnDirection = turnDirection;
}
/// <summary>
/// Try to plan the intersection heavily penalizing the interconnect
/// </summary>
/// <param name="iTraversableWaypoint"></param>
/// <param name="iArbiterWaypoint"></param>
/// <param name="arbiterInterconnect"></param>
/// <returns></returns>
public IntersectionPlan PlanIntersectionWithoutInterconnect(ITraversableWaypoint exit, IArbiterWaypoint goal, ArbiterInterconnect interconnect, bool blockAllRelated)
{
ITraversableWaypoint entry = (ITraversableWaypoint)interconnect.FinalGeneric;
if (!blockAllRelated)
return this.PlanIntersectionWithoutInterconnect(exit, goal, interconnect);
else
{
Dictionary<IConnectAreaWaypoints, NavigationBlockage> saved = new Dictionary<IConnectAreaWaypoints, NavigationBlockage>();
if (entry.IsEntry)
{
foreach (ArbiterInterconnect ai in entry.Entries)
{
saved.Add(ai, ai.Blockage);
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
ai.Blockage = newerBlockage;
}
}
if (entry is ArbiterWaypoint && ((ArbiterWaypoint)entry).PreviousPartition != null)
{
ArbiterLanePartition alp = ((ArbiterWaypoint)entry).PreviousPartition;
saved.Add(alp, alp.Blockage);
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
alp.Blockage = newerBlockage;
}
KeyValuePair<int, Dictionary<ArbiterWaypointId, DownstreamPointOfInterest>> tmpCurrentTimes = currentTimes;
this.currentTimes = new KeyValuePair<int, Dictionary<ArbiterWaypointId, DownstreamPointOfInterest>>();
// plan
IntersectionPlan ip = this.PlanIntersection(exit, goal);
this.currentTimes = tmpCurrentTimes;
// reset the blockages
foreach (KeyValuePair<IConnectAreaWaypoints, NavigationBlockage> savedPair in saved)
savedPair.Key.Blockage = savedPair.Value;
// return plan
return ip;
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="exit"></param>
/// <param name="area"></param>
/// <param name="turnDirection"></param>
public IntersectionInvolved(ITraversableWaypoint exit, IVehicleArea area, ArbiterTurnDirection turnDirection)
{
this.Exit = exit;
this.Area = area;
this.TurnDirection = turnDirection;
}
