/// <summary>
/// Constructor
/// </summary>
/// <param name="tacticalBlockage"></param>
/// <param name="currentState"></param>
public EncounteredBlockageState(ITacticalBlockage tacticalBlockage, IState planningState, BlockageRecoveryDEFCON defcon, SAUDILevel saudi)
{
this.TacticalBlockage = tacticalBlockage;
this.PlanningState = planningState;
this.Saudi = saudi;
this.Defcon = defcon;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="tacticalBlockage"></param>
/// <param name="currentState"></param>
public EncounteredBlockageState(ITacticalBlockage tacticalBlockage, IState planningState)
{
this.TacticalBlockage = tacticalBlockage;
this.PlanningState = planningState;
this.Saudi = SAUDILevel.None;
this.Defcon = BlockageRecoveryDEFCON.INITIAL;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="tacticalBlockage"></param>
/// <param name="currentState"></param>
public EncounteredBlockageState(ITacticalBlockage tacticalBlockage, IState planningState, BlockageRecoveryDEFCON defcon, SAUDILevel saudi)
{
this.TacticalBlockage = tacticalBlockage;
this.PlanningState = planningState;
this.Saudi = saudi;
this.Defcon = defcon;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="tacticalBlockage"></param>
/// <param name="currentState"></param>
public EncounteredBlockageState(ITacticalBlockage tacticalBlockage, IState planningState)
{
this.TacticalBlockage = tacticalBlockage;
this.PlanningState = planningState;
this.Saudi = SAUDILevel.None;
this.Defcon = BlockageRecoveryDEFCON.INITIAL;
}
/// <summary>
/// Reverse because of a blockage
/// </summary>
/// <param name="lane"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicleSpeed"></param>
/// <param name="defcon"></param>
/// <param name="saudi"></param>
/// <param name="laneOpposing"></param>
/// <param name="currentBlockage"></param>
/// <param name="ebs"></param>
/// <returns></returns>
private Maneuver LaneReverseManeuver(ArbiterLane lane, VehicleState vehicleState, double vehicleSpeed,
BlockageRecoveryDEFCON defcon, SAUDILevel saudi, bool laneOpposing, ITacticalBlockage currentBlockage, EncounteredBlockageState ebs)
{
// distance to reverse
double distToReverse = TahoeParams.VL * 2.0;
// just reverse and let brian catch it
StayInLaneBehavior reverseBehavior = new StayInLaneBehavior(
lane.LaneId, new StopAtDistSpeedCommand(distToReverse, true),
new List<int>(), lane.LanePath(), lane.Width,
lane.NumberOfLanesLeft(vehicleState.Front, true), lane.NumberOfLanesRight(vehicleState.Front, true));
// get the saudi level
List<BehaviorDecorator> decs = new List<BehaviorDecorator>(TurnDecorators.HazardDecorator.ToArray());
decs.Add(new ShutUpAndDoItDecorator(saudi));
reverseBehavior.Decorators = decs;
// state
IState laneState = new StayInLaneState(lane, CoreCommon.CorePlanningState);
BlockageRecoveryState brs = new BlockageRecoveryState(
reverseBehavior, laneState, laneState, defcon, ebs, BlockageRecoverySTATUS.EXECUTING);
// check enough room in lane to reverse
RearQuadrantMonitor rearMonitor = this.tacticalUmbrella.roadTactical.forwardReasoning.RearMonitor;
if (rearMonitor == null || !rearMonitor.lane.Equals(lane))
this.tacticalUmbrella.roadTactical.forwardReasoning.RearMonitor = new RearQuadrantMonitor(lane, SideObstacleSide.Driver);
#region Start too close to start of lane
// check distance to the start of the lane
double laneStartDistanceFromFront = lane.DistanceBetween(lane.WaypointList[0].Position, vehicleState.Front);
if (laneStartDistanceFromFront < TahoeParams.VL)
{
// make sure we're not at the very start of the lane
if (laneStartDistanceFromFront < 0.5)
{
// output
ArbiterOutput.Output("Too close to the start of the lane, raising defcon");
// go up chain
return new Maneuver(new NullBehavior(),
new EncounteredBlockageState(currentBlockage, laneState, BlockageRecoveryDEFCON.WIDENBOUNDS, saudi),
TurnDecorators.NoDecorators,
vehicleState.Timestamp);
}
// otherwise back up to the start of the lane
else
{
// output
ArbiterOutput.Output("Too close to the start of the lane, setting reverse distance to TP.VL");
// set proper distance
distToReverse = TahoeParams.VL;
// set behavior speed (no car behind us as too close to start of lane)
LinePath bp = vehicleState.VehicleLinePath;
reverseBehavior.SpeedCommand = new StopAtDistSpeedCommand(distToReverse, true);
StayInLaneBehavior silb = new StayInLaneBehavior(null, reverseBehavior.SpeedCommand, new List<int>(), bp, lane.Width * 1.5, 0, 0);
return new Maneuver(silb, brs, decs, vehicleState.Timestamp);
}
}
#endregion
#region Sparse
// check distance to the start of the lane
if (lane.GetClosestPartition(vehicleState.Front).Type == PartitionType.Sparse)
{
// set behavior speed (no car behind us as too close to start of lane)
LinePath bp = vehicleState.VehicleLinePath;
reverseBehavior.SpeedCommand = new StopAtDistSpeedCommand(distToReverse, true);
StayInLaneBehavior silb = new StayInLaneBehavior(null, reverseBehavior.SpeedCommand, new List<int>(), bp, lane.Width * 1.5, 0, 0);
return new Maneuver(silb, brs, decs, vehicleState.Timestamp);
}
#endregion
#region Vehicle Behind us
// update and check for vehicle
rearMonitor.Update(vehicleState);
if (rearMonitor.CurrentVehicle != null)
{
// check for not failed forward vehicle
if (rearMonitor.CurrentVehicle.QueuingState.Queuing != QueuingState.Failed)
{
// check if enough room to rear vehicle
double vehicleDistance = lane.DistanceBetween(rearMonitor.CurrentVehicle.ClosestPosition, vehicleState.Rear);
if (vehicleDistance < distToReverse - 2.0)
{
// revised distance given vehicle
double revisedDistance = vehicleDistance - 2.0;
// check enough room
if (revisedDistance > TahoeParams.VL)
{
// set the updated speed command
reverseBehavior.SpeedCommand = new StopAtDistSpeedCommand(revisedDistance, true);
}
// not enough room
else
{
// output not enough room because of vehicle
ArbiterOutput.Output("Blockage recovery, not enough room in rear because of rear vehicle, waiting for it to clear");
return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp);
}
}
}
// check failed rear vehicle, up defcon
else
{
// failed vehicle in rear, go up chain
return new Maneuver(new NullBehavior(),
new EncounteredBlockageState(currentBlockage, laneState, BlockageRecoveryDEFCON.WIDENBOUNDS, saudi),
TurnDecorators.NoDecorators,
vehicleState.Timestamp);
}
}
#endregion
// all clear, return reverse maneuver, set cooldown
BlockageHandler.SetDefaultBlockageCooldown();
return new Maneuver(reverseBehavior, brs, decs, vehicleState.Timestamp);
}
