public override void Process(object param)
{
if (!base.BeginProcess())
{
return;
}
// check if we're given a param
if (param != null && param is TurnBehavior)
{
TurnBehavior turnParam = (TurnBehavior)param;
HandleTurnBehavior(turnParam);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "turn behavior - got new param, speed command {0}", turnParam.SpeedCommand);
}
LinePath curTargetPath = targetPath.Clone();
LinePath curLeftBound = null;
if (leftBound != null)
{
curLeftBound = leftBound.Clone();
}
LinePath curRightBound = null;
if (rightBound != null)
{
curRightBound = rightBound.Clone();
}
// transform the path into the current timestamp
if (behaviorTimestamp != curTimestamp)
{
// get the relative transform
RelativeTransform relTransform = Services.RelativePose.GetTransform(behaviorTimestamp, curTimestamp);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in turn behavior, transforming from {0}->{1}, wanted {2}->{3}", relTransform.OriginTimestamp, relTransform.EndTimestamp, behaviorTimestamp, curTimestamp);
curTargetPath.TransformInPlace(relTransform);
if (curLeftBound != null)
{
curLeftBound.TransformInPlace(relTransform);
}
if (curRightBound != null)
{
curRightBound.TransformInPlace(relTransform);
}
}
// get the distance between our current location and the start point
double distToStart = Coordinates.Zero.DistanceTo(curTargetPath[0]);
double startDist = Math.Max(0, TahoeParams.FL - distToStart);
// extract off the first 5 m of the target path
LinePath.PointOnPath endTarget = curTargetPath.AdvancePoint(curTargetPath.StartPoint, TahoeParams.VL);
curTargetPath = curTargetPath.SubPath(curTargetPath.StartPoint, endTarget);
curTargetPath = curTargetPath.RemoveZeroLengthSegments();
// adjust the left bound and right bounds starting distance
if (curLeftBound != null)
{
LinePath.PointOnPath leftBoundStart = curLeftBound.AdvancePoint(curLeftBound.StartPoint, 2);
curLeftBound = curLeftBound.SubPath(leftBoundStart, curLeftBound.EndPoint);
AddLeftBound(curLeftBound, false);
Services.UIService.PushLineList(curLeftBound, curTimestamp, "left bound", true);
}
if (curRightBound != null)
{
LinePath.PointOnPath rightBoundStart = curRightBound.AdvancePoint(curRightBound.StartPoint, 2);
curRightBound = curRightBound.SubPath(rightBoundStart, curRightBound.EndPoint);
AddRightBound(curRightBound, false);
Services.UIService.PushLineList(curRightBound, curTimestamp, "right bound", true);
}
if (cancelled)
{
return;
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in turn behavior, dist to start: {0}", distToStart);
if (distToStart < TahoeParams.FL * 0.75)
{
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in turn behavior, past start point of target path");
// return a completion report
ForwardCompletionReport(new SuccessCompletionReport(typeof(TurnBehavior)));
}
AddTargetPath(curTargetPath.Clone(), 0.005);
// transform the pseudo start lane to the current timestamp
AbsoluteTransformer trans = Services.StateProvider.GetAbsoluteTransformer(curTimestamp);
LinePath curStartPath = pseudoStartLane.Transform(trans);
// add the intersection pull path
LinePath intersectionPullPath = new LinePath();
double pullWeight = 0;
GetIntersectionPullPath(curStartPath, curTargetPath, intersectionPolygon, true, true, intersectionPullPath, ref pullWeight);
if (intersectionPullPath.Count > 0)
{
AddTargetPath(intersectionPullPath, pullWeight);
}
// set up planning details
// add our position to the current target path
LinePath origTargetPath = curTargetPath.Clone();
curTargetPath.Insert(0, new Coordinates(0, 0));
//curTargetPath.Insert(1, new Coordinates(1, 0));
smootherBasePath = curTargetPath;
// add the bounds
// calculate max speed
settings.maxSpeed = GetMaxSpeed(null, LinePath.PointOnPath.Invalid);
settings.Options.w_diff = 4;
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "max speed set to {0}", settings.maxSpeed);
if (cancelled)
{
return;
}
Services.UIService.PushLineList(curTargetPath, curTimestamp, "subpath", true);
// set the avoidance path to the previously planned path
// transform to the current timestamp
disablePathAngleCheck = true;
if (turnBasePath != null)
{
avoidanceBasePath = turnBasePath.Transform(trans);
avoidanceBasePath = avoidanceBasePath.SubPath(avoidanceBasePath.GetClosestPoint(Coordinates.Zero), avoidanceBasePath.EndPoint);
maxAvoidanceBasePathAdvancePoint = avoidanceBasePath.GetPointOnPath(1);
if (avoidanceBasePath.PathLength > 7.5)
{
smootherBasePath = avoidanceBasePath.SubPath(avoidanceBasePath.StartPoint, avoidanceBasePath.AdvancePoint(avoidanceBasePath.EndPoint, -7.5));
}
else
{
smootherBasePath = avoidanceBasePath.Clone();
}
disablePathAngleCheck = false;
}
// fill in auxiliary settings
if (curLeftBound != null || curRightBound != null)
{
settings.endingHeading = curTargetPath.EndSegment.UnitVector.ArcTan;
}
settings.endingPositionFixed = false;
settings.endingPositionMax = 16;
settings.endingPositionMin = -16;
if (curLeftBound != null && curLeftBound.Count > 0 && curTargetPath.Count > 0)
{
double leftWidth = curLeftBound[0].DistanceTo(origTargetPath[0]) - TahoeParams.T / 2;
settings.endingPositionMax = leftWidth;
settings.endingPositionFixed = true;
}
if (curRightBound != null && curRightBound.Count > 0 && curTargetPath.Count > 0)
{
double rightWidth = curRightBound[0].DistanceTo(origTargetPath[0]) - TahoeParams.T / 2;
settings.endingPositionFixed = true;
settings.endingPositionMin = -rightWidth;
}
//disablePathAngleCheck = true;
//useAvoidancePath = true;
// do the planning
SmoothAndTrack(commandLabel, true);
}