/// <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>
/// 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);
}
}