/// <summary>
/// Constructor
/// </summary>
/// <param name="partitionId"></param>
public ArbiterLanePartition(ArbiterLanePartitionId partitionId,
ArbiterWaypoint initial, ArbiterWaypoint final, ArbiterSegment segment)
: base(false, null, true, segment, new List <IConnectAreaWaypoints>(), initial, final)
{
this.PartitionId = partitionId;
this.Initial = initial;
this.Final = final;
this.Length = this.Initial.Position.DistanceTo(this.Final.Position);
this.UserWaypoints = new List <ArbiterUserWaypoint>();
this.NonLaneAdjacentPartitions = new List <ArbiterLanePartition>();
// create a path of the partition and get the closest
List <Coordinates> coords = new List <Coordinates>();
coords.Add(initial.Position);
coords.Add(final.Position);
PartitionPath = new LinePath(coords);
// nav edge stuff
this.Contained.Add(this);
this.blockage = new NavigationBlockage(0.0);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="initial"></param>
/// <param name="final"></param>
public ArbiterInterconnect(IArbiterWaypoint initial, IArbiterWaypoint final) :
base(false, null, false, null, new List <IConnectAreaWaypoints>(), initial, final)
{
this.initialWaypoint = initial;
this.finalWaypoint = final;
this.InterconnectId = new ArbiterInterconnectId(initialWaypoint.AreaSubtypeWaypointId, finalWaypoint.AreaSubtypeWaypointId);
// create a path of the partition and get the closest
List <Coordinates> ips = new List <Coordinates>();
ips.Add(initial.Position);
ips.Add(final.Position);
this.InterconnectPath = new LinePath(ips);
// nav edge stuff
this.Contained.Add(this);
this.blockage = new NavigationBlockage(0.0);
this.TurnPolygon = this.DefaultPoly();
this.InnerCoordinates = new List <Coordinates>();
}
/// <summary>
/// Get a road plan while setting partition costs very high
/// </summary>
/// <param name="partition"></param>
/// <param name="goal"></param>
/// <param name="blockAdjacent"></param>
/// <param name="c"></param>
/// <returns></returns>
public RoadPlan PlanRoadOppositeWithoutPartition(ArbiterLanePartition partition, ArbiterLanePartition opposite, IArbiterWaypoint goal, bool blockAdjacent, Coordinates c, bool sameWay)
{
KeyValuePair<int, Dictionary<ArbiterWaypointId, DownstreamPointOfInterest>> tmpCurrentTimes = currentTimes;
this.currentTimes = new KeyValuePair<int, Dictionary<ArbiterWaypointId, DownstreamPointOfInterest>>();
RoadPlan rp = null;
if (!blockAdjacent)
{
NavigationBlockage nb = partition.Blockage;
NavigationBlockage tmp = new NavigationBlockage(double.MaxValue);
partition.Blockage = tmp;
rp = this.PlanNavigableArea(partition.Lane, c, goal, new List<ArbiterWaypoint>());
partition.Blockage = nb;
}
else
{
// save
List<KeyValuePair<ArbiterLanePartition, NavigationBlockage>> savedBlockages = new List<KeyValuePair<ArbiterLanePartition, NavigationBlockage>>();
// set
savedBlockages.Add(new KeyValuePair<ArbiterLanePartition,NavigationBlockage>(partition, partition.Blockage));
// create new
NavigationBlockage anewerBlockage = new NavigationBlockage(Double.MaxValue);
anewerBlockage.BlockageExists = true;
partition.Blockage = anewerBlockage;
foreach (ArbiterLanePartition alp in partition.NonLaneAdjacentPartitions)
{
if (alp.IsInside(c) && (!sameWay || (sameWay && partition.Lane.Way.Equals(alp.Lane.Way))))
{
savedBlockages.Add(new KeyValuePair<ArbiterLanePartition,NavigationBlockage>(alp, alp.Blockage));
// create new
NavigationBlockage newerBlockage = new NavigationBlockage(Double.MaxValue);
newerBlockage.BlockageExists = true;
alp.Blockage = newerBlockage;
}
}
// plan
rp = this.PlanNavigableArea(opposite.Lane, c, goal, new List<ArbiterWaypoint>());
// restore
foreach (KeyValuePair<ArbiterLanePartition, NavigationBlockage> saved in savedBlockages)
{
saved.Key.Blockage = saved.Value;
}
}
// restore
this.currentTimes = tmpCurrentTimes;
// return
return rp;
}
/// <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>
/// 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>
/// Constructor
/// </summary>
/// <param name="partitionId"></param>
public ArbiterLanePartition(ArbiterLanePartitionId partitionId,
ArbiterWaypoint initial, ArbiterWaypoint final, ArbiterSegment segment)
: base(false, null, true, segment, new List<IConnectAreaWaypoints>(), initial, final)
{
this.PartitionId = partitionId;
this.Initial = initial;
this.Final = final;
this.Length = this.Initial.Position.DistanceTo(this.Final.Position);
this.UserWaypoints = new List<ArbiterUserWaypoint>();
this.NonLaneAdjacentPartitions = new List<ArbiterLanePartition>();
// create a path of the partition and get the closest
List<Coordinates> coords = new List<Coordinates>();
coords.Add(initial.Position);
coords.Add(final.Position);
PartitionPath = new LinePath(coords);
// nav edge stuff
this.Contained.Add(this);
this.blockage = new NavigationBlockage(0.0);
}
