/// <summary>
/// Resets the interconnect we wish to take
/// </summary>
/// <param name="reset"></param>
public void ResetDesired(ArbiterInterconnect desired)
{
// create monitors
this.AllMonitors = this.IntersectionPriorityQueue;
this.NonStopPriorityAreas = new List<IDominantMonitor>();
this.PreviouslyWaiting = new List<IDominantMonitor>();
this.cooldownTimer = new Stopwatch();
#region Priority Areas Over Interconnect
// check contains priority lane for this
if (this.Intersection.PriorityLanes.ContainsKey(desired.ToInterconnect))
{
// loop through all other priority monitors over this interconnect
foreach (IntersectionInvolved ii in this.Intersection.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(this.OurMonitor.Waypoint, ((ArbiterPerimeterWaypoint)desired.FinalGeneric).Perimeter.Zone,
((ArbiterInterconnect)desired).TurnDirection));
}
else
{
throw new Exception("unhandled desired interconnect final type");
}
#endregion
// add to all
foreach (IIntersectionQueueable iiq in this.NonStopPriorityAreas)
this.AllMonitors.Add(iiq);
this.AllMonitors.Add(this.EntryAreaMonitor);
// update all
this.Update(CoreCommon.Communications.GetVehicleState());
}
/// <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="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>
/// Resets the interconnect we wish to take
/// </summary>
/// <param name="reset"></param>
public void ResetDesired(ArbiterInterconnect desired)
{
// create monitors
this.AllMonitors = this.IntersectionPriorityQueue;
this.NonStopPriorityAreas = new List <IDominantMonitor>();
this.PreviouslyWaiting = new List <IDominantMonitor>();
this.cooldownTimer = new Stopwatch();
#region Priority Areas Over Interconnect
// check contains priority lane for this
if (this.Intersection.PriorityLanes.ContainsKey(desired.ToInterconnect))
{
// loop through all other priority monitors over this interconnect
foreach (IntersectionInvolved ii in this.Intersection.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(this.OurMonitor.Waypoint, ((ArbiterPerimeterWaypoint)desired.FinalGeneric).Perimeter.Zone,
((ArbiterInterconnect)desired).TurnDirection));
}
else
{
throw new Exception("unhandled desired interconnect final type");
}
#endregion
// add to all
foreach (IIntersectionQueueable iiq in this.NonStopPriorityAreas)
{
this.AllMonitors.Add(iiq);
}
this.AllMonitors.Add(this.EntryAreaMonitor);
// update all
this.Update(CoreCommon.Communications.GetVehicleState());
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="turn"></param>
/// <param name="entryMontitor"></param>
public TurnForwardMonitor(ArbiterInterconnect turn, IEntryAreaMonitor entryMonitor)
{
this.turn = turn;
this.EntryMonitor = entryMonitor;
this.VehiclesToIgnore = new List<int>();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="turn"></param>
/// <param name="entryMontitor"></param>
public TurnForwardMonitor(ArbiterInterconnect turn, IEntryAreaMonitor entryMonitor)
{
this.turn = turn;
this.EntryMonitor = entryMonitor;
this.VehiclesToIgnore = new List <int>();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="turn"></param>
public TurnReasoning(ArbiterInterconnect turn, IEntryAreaMonitor entryAreaMonitor)
{
this.turn = turn;
this.navigation = new Navigator();
this.forwardMonitor = new TurnForwardMonitor(turn, entryAreaMonitor);
}
