public override void OnBehaviorReceived(Behavior b)
{
// check if the transition is valid
if (b is StayInLaneBehavior)
{
StayInLaneBehavior sb = (StayInLaneBehavior)b;
// check if the lane id's match
if (object.Equals(sb.TargetLane, laneID))
{
// check if the speed command changed
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "received new stay in lane speed command: {0}", sb.SpeedCommand);
// queue the new speed command to the behavior
Services.BehaviorManager.QueueParam(sb);
}
else
{
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "recevied new stay in lane behavior, different target lane: {0}", sb);
// the lane id's changed
// re-initialize the behavior
Services.BehaviorManager.Execute(b, null, false);
}
}
else
{
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane behavior, received {0}", b);
// this is cool to execute
Services.BehaviorManager.Execute(b, null, false);
}
}
/// <summary>
/// Resume from pause
/// </summary>
/// <returns></returns>
public Behavior Resume(VehicleState currentState, double speed)
{
// new default stay in lane behavior
Behavior b = new StayInLaneBehavior(Lane.LaneId, new ScalarSpeedCommand(0.0), new int[] { }, Lane.LanePath(), Lane.Width, Lane.NumberOfLanesLeft(currentState.Position, true), Lane.NumberOfLanesRight(currentState.Position, true));
// set default blinkers
b.Decorators = this.DefaultStateDecorators;
// return behavior
return(b);
}
public override void Initialize(Behavior b)
{
base.Initialize(b);
// extract the stay in lane behavior
StayInLaneBehavior sb = (StayInLaneBehavior)b;
Services.UIService.PushAbsolutePath(sb.BackupPath, sb.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(new LineList(), sb.TimeStamp, "original path2");
HandleBehavior(sb);
}
/// <summary>
/// Behavior given we stay in the current lane
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <param name="downstreamPoint"></param>
/// <returns></returns>
public TravelingParameters Primary(IFQMPlanable lane, VehicleState state, RoadPlan roadPlan,
List <ITacticalBlockage> blockages, List <ArbiterWaypoint> ignorable, bool log)
{
// possible parameterizations
List <TravelingParameters> tps = new List <TravelingParameters>();
#region Lane Major Parameterizations with Current Lane Goal Params, If Best Goal Exists in Current Lane
// check if the best goal is in the current lane
ArbiterWaypoint lanePoint = null;
if (lane.AreaComponents.Contains(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Lane))
{
lanePoint = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest;
}
// get the next thing we need to stop at no matter what and parameters for stopping at it
ArbiterWaypoint laneNavStop;
double laneNavStopSpeed;
double laneNavStopDistance;
StopType laneNavStopType;
this.NextNavigationalStop(lane, lanePoint, state.Front, state.ENCovariance, ignorable,
out laneNavStopSpeed, out laneNavStopDistance, out laneNavStopType, out laneNavStop);
// create parameterization of the stop
TravelingParameters laneNavParams = this.NavStopParameterization(lane, roadPlan, laneNavStopSpeed, laneNavStopDistance, laneNavStop, laneNavStopType, state);
this.navigationParameters = laneNavParams;
this.laneParameters = laneNavParams;
tps.Add(laneNavParams);
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FQMBehavior = laneNavParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FQMBehaviorInfo = laneNavParams.Behavior.ShortBehaviorInformation();
CoreCommon.CurrentInformation.FQMSpeedCommand = laneNavParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FQMDistance = laneNavParams.DistanceToGo.ToString("F6");
CoreCommon.CurrentInformation.FQMSpeed = laneNavParams.RecommendedSpeed.ToString("F6");
CoreCommon.CurrentInformation.FQMState = laneNavParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FQMStateInfo = laneNavParams.NextState.StateInformation();
CoreCommon.CurrentInformation.FQMStopType = laneNavStopType.ToString();
CoreCommon.CurrentInformation.FQMWaypoint = laneNavStop.ToString();
CoreCommon.CurrentInformation.FQMSegmentSpeedLimit = lane.CurrentMaximumSpeed(state.Position).ToString("F1");
}
#endregion
#endregion
#region Forward Vehicle Parameterization
// forward vehicle update
this.ForwardVehicle.Update(lane, state);
// clear current params
this.followingParameters = null;
// check not in a sparse area
bool sparseArea = lane is ArbiterLane ?
((ArbiterLane)lane).GetClosestPartition(state.Front).Type == PartitionType.Sparse :
((SupraLane)lane).ClosestComponent(state.Front) == SLComponentType.Initial && ((SupraLane)lane).Initial.GetClosestPartition(state.Front).Type == PartitionType.Sparse;
// exists forward vehicle
if (!sparseArea && this.ForwardVehicle.ShouldUseForwardTracker)
{
// get forward vehicle params, set lane decorators
TravelingParameters vehicleParams = this.ForwardVehicle.Follow(lane, state, ignorable);
vehicleParams.Behavior.Decorators.AddRange(this.laneParameters.Decorators);
this.FollowingParameters = vehicleParams;
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FVTBehavior = vehicleParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FVTSpeed = this.ForwardVehicle.FollowingParameters.RecommendedSpeed.ToString("F3");
CoreCommon.CurrentInformation.FVTSpeedCommand = vehicleParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FVTDistance = vehicleParams.DistanceToGo.ToString("F2");
CoreCommon.CurrentInformation.FVTState = vehicleParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FVTStateInfo = vehicleParams.NextState.StateInformation();
// set xSeparation
CoreCommon.CurrentInformation.FVTXSeparation = this.ForwardVehicle.ForwardControl.xSeparation.ToString("F0");
}
#endregion
// check if we're stopped behind fv, allow wait timer if true, stop wait timer if not behind fv
bool forwardVehicleStopped = this.ForwardVehicle.CurrentVehicle.IsStopped;
bool forwardSeparationGood = this.ForwardVehicle.ForwardControl.xSeparation < TahoeParams.VL * 2.5;
bool wereStopped = CoreCommon.Communications.GetVehicleSpeed().Value < 0.1;
bool forwardDistanceToGo = vehicleParams.DistanceToGo < 3.5;
if (forwardVehicleStopped && forwardSeparationGood && wereStopped && forwardDistanceToGo)
{
this.ForwardVehicle.StoppedBehindForwardVehicle = true;
}
else
{
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Stop();
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Reset();
}
// add vehicle param
tps.Add(vehicleParams);
}
else
{
// no forward vehicle
this.followingParameters = null;
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
}
#endregion
#region Sparse Waypoint Parameterization
// check for sparse waypoints downstream
bool sparseDownstream;
bool sparseNow;
double sparseDistance;
lane.SparseDetermination(state.Front, out sparseDownstream, out sparseNow, out sparseDistance);
// check if sparse areas downstream
if (sparseDownstream)
{
// set the distance to the sparse area
if (sparseNow)
{
sparseDistance = 0.0;
}
// get speed
double speed = SpeedTools.GenerateSpeed(sparseDistance, 2.24, lane.CurrentMaximumSpeed(state.Front));
// maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new ScalarSpeedCommand(speed);
#region Parameterize Given Speed Command
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), this.laneParameters.Decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List <int>());
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, this.laneParameters.Decorators, state.Timestamp);
}
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = this.laneParameters.Decorators;
tp.DistanceToGo = Double.MaxValue;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
tps.Add(tp);
#endregion
}
#endregion
// sort params by most urgent
tps.Sort();
// set current params
this.currentParameters = tps[0];
// get behavior to check add vehicles to ignore
if (this.currentParameters.Behavior is StayInLaneBehavior)
{
((StayInLaneBehavior)this.currentParameters.Behavior).IgnorableObstacles = this.ForwardVehicle.VehiclesToIgnore;
}
// out of navigation, blockages, and vehicle following determine the actual primary parameters for this lane
return(tps[0]);
}
/// <summary>
/// Makes new parameterization for nav
/// </summary>
/// <param name="lane"></param>
/// <param name="lanePlan"></param>
/// <param name="speed"></param>
/// <param name="distance"></param>
/// <param name="stopType"></param>
/// <returns></returns>
public TravelingParameters NavStopParameterization(IFQMPlanable lane, RoadPlan roadPlan, double speed, double distance,
ArbiterWaypoint stopWaypoint, StopType stopType, VehicleState state)
{
// get min dist
double distanceCutOff = stopType == StopType.StopLine ? CoreCommon.OperationslStopLineSearchDistance : CoreCommon.OperationalStopDistance;
#region Get Decorators
// turn direction default
ArbiterTurnDirection atd = ArbiterTurnDirection.Straight;
List <BehaviorDecorator> decorators = TurnDecorators.NoDecorators;
// check if need decorators
if (lane is ArbiterLane &&
stopWaypoint.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest) &&
roadPlan.BestPlan.laneWaypointOfInterest.IsExit &&
distance < 40.0)
{
if (roadPlan.BestPlan.laneWaypointOfInterest.BestExit == null)
{
ArbiterOutput.Output("NAV BUG: lanePlan.laneWaypointOfInterest.BestExit: FQM NavStopParameterization");
}
else
{
switch (roadPlan.BestPlan.laneWaypointOfInterest.BestExit.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
else if (lane is SupraLane)
{
SupraLane sl = (SupraLane)lane;
double distToInterconnect = sl.DistanceBetween(state.Front, sl.Interconnect.InitialGeneric.Position);
if ((distToInterconnect > 0 && distToInterconnect < 40.0) || sl.ClosestComponent(state.Front) == SLComponentType.Interconnect)
{
switch (sl.Interconnect.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
#endregion
#region Get Maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new StopAtDistSpeedCommand(distance);
#region Distance Cutoff
// check if distance is less than cutoff
if (distance < distanceCutOff && stopType != StopType.EndOfLane)
{
// default behavior
Behavior b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtDistSpeedCommand(distance), new List <int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
// stopping so not using speed param
usingSpeed = false;
// exit is next
if (stopType == StopType.Exit)
{
// exit means stopping at a good exit in our current lane
IState nextState = new StoppingAtExitState(stopWaypoint.Lane, stopWaypoint, atd, true, roadPlan.BestPlan.laneWaypointOfInterest.BestExit, state.Timestamp, state.Front);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
// stop line is left
else if (stopType == StopType.StopLine)
{
// determine if hte stop line is the best exit
bool isNavExit = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Equals(stopWaypoint);
// get turn direction
atd = isNavExit ? atd : ArbiterTurnDirection.Straight;
// predetermine interconnect if best exit
ArbiterInterconnect desired = null;
if (isNavExit)
{
desired = roadPlan.BestPlan.laneWaypointOfInterest.BestExit;
}
else if (stopWaypoint.NextPartition != null && state.Front.DistanceTo(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position) > 25)
{
desired = stopWaypoint.NextPartition.ToInterconnect;
}
// set decorators
decorators = isNavExit ? decorators : TurnDecorators.NoDecorators;
// stop at the stop
IState nextState = new StoppingAtStopState(stopWaypoint.Lane, stopWaypoint, atd, isNavExit, desired);
b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtLineSpeedCommand(), new List <int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
m = new Maneuver(b, nextState, decorators, state.Timestamp);
sc = new StopAtLineSpeedCommand();
}
else if (stopType == StopType.LastGoal)
{
// stop at the last goal
IState nextState = new StayInLaneState(stopWaypoint.Lane, CoreCommon.CorePlanningState);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// set speed
sc = new ScalarSpeedCommand(speed);
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List <int>());
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, decorators, state.Timestamp);
}
}
#endregion
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = distance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
return(tp);
#endregion
}
/// <summary>
/// Parameters to follow the forward vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters Follow(IFQMPlanable lane, VehicleState state, List <ArbiterWaypoint> ignorable)
{
// travelling parameters
TravelingParameters tp = new TravelingParameters();
// get control parameters
ForwardVehicleTrackingControl fvtc = GetControl(lane, state, ignorable);
this.ForwardControl = fvtc;
// initialize the parameters
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.Decorators = new List <BehaviorDecorator>();
// ignore the forward vehicles
tp.VehiclesToIgnore = this.VehiclesToIgnore;
#region Following Control
#region Immediate Stop
// need to stop immediately
if (fvtc.vFollowing == 0.0)
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(0.0);
tp.SpeedCommand = sc;
tp.UsingSpeed = true;
if (lane is ArbiterLane)
{
// standard path following behavior
ArbiterLane al = ((ArbiterLane)lane);
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Stopping at Distance
// stop at distance
else if (fvtc.vFollowing < 0.7 &&
CoreCommon.Communications.GetVehicleSpeed().Value <= 2.24 &&
fvtc.xSeparation > fvtc.xAbsMin)
{
// speed command
SpeedCommand sc = new StopAtDistSpeedCommand(fvtc.xDistanceToGood);
tp.SpeedCommand = sc;
tp.UsingSpeed = false;
if (lane is ArbiterLane)
{
ArbiterLane al = (ArbiterLane)lane;
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Normal Following
// else normal
else
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(fvtc.vFollowing);
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.UsingSpeed = true;
tp.SpeedCommand = sc;
if (lane is ArbiterLane)
{
ArbiterLane al = ((ArbiterLane)lane);
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#endregion
#region Check for Oncoming Vehicles
// check if need to add current lane oncoming vehicle decorator
if (false && this.CurrentVehicle.PassedDelayedBirth && fvtc.forwardOncoming && fvtc.xSeparation > TahoeParams.VL && fvtc.xSeparation < 30)
{
// check valid lane area
if (lane is ArbiterLane || ((SupraLane)lane).ClosestComponent(this.CurrentVehicle.ClosestPosition) == SLComponentType.Initial)
{
// get distance to and speed of the forward vehicle
double fvDistance = fvtc.xSeparation;
double fvSpeed = fvtc.vTarget;
// create the 5mph behavior
ScalarSpeedCommand updated = new ScalarSpeedCommand(2.24);
// set that we are using speed
tp.UsingSpeed = true;
tp.RecommendedSpeed = updated.Speed;
tp.DistanceToGo = fvtc.xSeparation;
// create the decorator
OncomingVehicleDecorator ovd = new OncomingVehicleDecorator(updated, fvDistance, fvSpeed);
// add the decorator
tp.Behavior.Decorators.Add(ovd);
tp.Decorators.Add(ovd);
}
}
#endregion
// set current
this.followingParameters = tp;
// return parameterization
return(tp);
}
/// <summary>
/// Generate the traveling parameterization for the desired behaivor
/// </summary>
/// <param name="lane"></param>
/// <param name="navStopSpeed"></param>
/// <param name="navStopDistance"></param>
/// <param name="navStop"></param>
/// <param name="navStopType"></param>
/// <param name="state"></param>
/// <returns></returns>
private TravelingParameters NavStopParameterization(ArbiterLane lane, double navStopSpeed, double navStopDistance, ArbiterWaypoint navStop, StopType navStopType, VehicleState state)
{
// get min dist
double distanceCutOff = CoreCommon.OperationalStopDistance;
// turn direction default
List <BehaviorDecorator> decorators = TurnDecorators.NoDecorators;
// create new params
TravelingParameters tp = new TravelingParameters();
#region Get Maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
// get lane path
LinePath lp = lane.LanePath().Clone();
lp.Reverse();
#region Distance Cutoff
// check if distance is less than cutoff
if (navStopDistance < distanceCutOff)
{
// default behavior
tp.SpeedCommand = new StopAtDistSpeedCommand(navStopDistance);
Behavior b = new StayInLaneBehavior(lane.LaneId, new StopAtDistSpeedCommand(navStopDistance), new List <int>(), lp, lane.Width, lane.NumberOfLanesLeft(state.Front, false), lane.NumberOfLanesRight(state.Front, false));
// stopping so not using speed param
usingSpeed = false;
IState nextState = CoreCommon.CorePlanningState;
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// get lane
ArbiterLane al = lane;
// default behavior
tp.SpeedCommand = new ScalarSpeedCommand(Math.Min(navStopSpeed, 2.24));
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(Math.Min(navStopSpeed, 2.24)), new List <int>(), lp, al.Width, al.NumberOfLanesRight(state.Front, false), al.NumberOfLanesLeft(state.Front, false));
// standard behavior is fine for maneuver
m = new Maneuver(b, CoreCommon.CorePlanningState, decorators, state.Timestamp);
}
#endregion
#endregion
#region Parameterize
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = navStopDistance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = navStopSpeed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
return(tp);
#endregion
}
/// <summary>
/// Intelligence thread
/// </summary>
public void CoreIntelligence()
{
// wait for entry data
this.WaitForEntryData();
// jumpstart behavioral
this.Behavioral.Jumpstart();
// timer, run at 10Hz
MMWaitableTimer cycleTimer = new MMWaitableTimer(100);
// stopwatch
Stopwatch stopwatch = new Stopwatch();
Stopwatch stopwatch2 = new Stopwatch();
// set initial state
CoreCommon.CorePlanningState = new StartUpState();
// send the projection to the operational components
CoreCommon.Communications.TrySendProjection();
CoreCommon.Communications.TryOperationalTestFacadeConnect();
// always run
while (this.arbiterMode == ArbiterMode.Run || this.arbiterMode == ArbiterMode.Pause)
{
try
{
// make sure we run at 10Hz
cycleTimer.WaitEvent.WaitOne();
if (this.arbiterMode == ArbiterMode.Run)
{
// start stopwatch
stopwatch.Reset();
stopwatch.Start();
// reset ai information
CoreCommon.CurrentInformation = new ArbiterInformation();
// check for null current state
if (CoreCommon.CorePlanningState == null)
{
CoreCommon.CorePlanningState = new StartUpState();
throw new Exception("CoreCommon.CorePlanningState == null, returning to startup state");
}
// get goal
INavigableNode goal = StateReasoning.FilterGoal(CoreCommon.Communications.GetVehicleState());
// filter the state for needed changes
CoreCommon.CorePlanningState = StateReasoning.FilterStates(CoreCommon.Communications.GetCarMode(), Behavioral);
// set current state
CoreCommon.CurrentInformation.CurrentState = CoreCommon.CorePlanningState.ShortDescription();
CoreCommon.CurrentInformation.CurrentStateInfo = CoreCommon.CorePlanningState.StateInformation();
// plan the maneuver
Maneuver m = Behavioral.Plan(
CoreCommon.Communications.GetVehicleState(),
CoreCommon.Communications.GetVehicleSpeed().Value,
CoreCommon.Communications.GetObservedVehicles(),
CoreCommon.Communications.GetObservedObstacles(),
CoreCommon.Communications.GetCarMode(),
goal);
// set next state
CoreCommon.CorePlanningState = m.PrimaryState;
CoreCommon.CurrentInformation.NextState = CoreCommon.CorePlanningState.ShortDescription();
CoreCommon.CurrentInformation.NextStateInfo = CoreCommon.CorePlanningState.StateInformation();
// get ignorable
List <int> toIgnore = new List <int>();
if (m.PrimaryBehavior is StayInLaneBehavior)
{
StayInLaneBehavior silb = (StayInLaneBehavior)m.PrimaryBehavior;
if (silb.IgnorableObstacles != null)
{
toIgnore.AddRange(silb.IgnorableObstacles);
}
else
{
ArbiterOutput.Output("stay in lane ignorable obstacles null");
}
}
else if (m.PrimaryBehavior is SupraLaneBehavior)
{
SupraLaneBehavior slb = (SupraLaneBehavior)m.PrimaryBehavior;
if (slb.IgnorableObstacles != null)
{
toIgnore.AddRange(slb.IgnorableObstacles);
}
else
{
ArbiterOutput.Output("Supra lane ignorable obstacles null");
}
}
CoreCommon.CurrentInformation.FVTIgnorable = toIgnore.ToArray();
// reset the execution stopwatch
this.executionStopwatch.Stop();
this.executionStopwatch.Reset();
this.executionStopwatch.Start();
// send behavior to communications
CoreCommon.Communications.Execute(m.PrimaryBehavior);
CoreCommon.CurrentInformation.NextBehavior = m.PrimaryBehavior.ToShortString();
CoreCommon.CurrentInformation.NextBehaviorInfo = m.PrimaryBehavior.ShortBehaviorInformation();
CoreCommon.CurrentInformation.NextSpeedCommand = m.PrimaryBehavior.SpeedCommandString();
CoreCommon.CurrentInformation.NextBehaviorTimestamp = m.PrimaryBehavior.TimeStamp.ToString("F6");
#region Turn Decorators
// set turn signal decorators
if (m.PrimaryBehavior.Decorators != null)
{
bool foundDec = false;
foreach (BehaviorDecorator bd in m.PrimaryBehavior.Decorators)
{
if (bd is TurnSignalDecorator)
{
if (!foundDec)
{
TurnSignalDecorator tsd = (TurnSignalDecorator)bd;
foundDec = true;
CoreCommon.CurrentInformation.NextBehaviorTurnSignals = tsd.Signal.ToString();
}
else
{
CoreCommon.CurrentInformation.NextBehaviorTurnSignals = "Multiple!";
}
}
}
}
#endregion
// filter the lane state
if (CoreCommon.CorePlanningState.UseLaneAgent)
{
this.coreLaneAgent.UpdateInternal(CoreCommon.CorePlanningState.InternalLaneState, CoreCommon.CorePlanningState.ResetLaneAgent);
this.coreLaneAgent.UpdateEvidence(CoreCommon.Communications.GetVehicleState().Area);
CoreCommon.CorePlanningState = this.coreLaneAgent.UpdateFilter();
}
// log and send information to remote listeners
CoreCommon.Communications.UpdateInformation(CoreCommon.CurrentInformation);
// check cycle time
stopwatch.Stop();
if (stopwatch.ElapsedMilliseconds > 100 || global::UrbanChallenge.Arbiter.Core.ArbiterSettings.Default.PrintCycleTimesAlways)
{
ArbiterOutput.Output("Cycle t: " + stopwatch.ElapsedMilliseconds.ToString());
}
}
}
catch (Exception e)
{
// notify exception made its way up to the core thread
ArbiterOutput.Output("\n\n");
ArbiterOutput.Output("Core Intelligence Thread caught exception!! \n");
ArbiterOutput.Output(" Exception type: " + e.GetType().ToString());
ArbiterOutput.Output(" Exception thrown by: " + e.TargetSite + "\n");
ArbiterOutput.Output(" Stack Trace: " + e.StackTrace + "\n");
if (e is NullReferenceException)
{
NullReferenceException nre = (NullReferenceException)e;
ArbiterOutput.Output("Null reference exception from: " + nre.Source);
}
ArbiterOutput.Output("\n");
if (this.executionStopwatch.ElapsedMilliseconds / 1000.0 > 3.0)
{
ArbiterOutput.Output(" Time since last execution more then 3 seconds");
ArbiterOutput.Output(" Resetting and Restarting Intelligence");
try
{
Thread tmp = new Thread(ResetThread);
tmp.IsBackground = true;
this.arbiterMode = ArbiterMode.Stop;
tmp.Start();
}
catch (Exception ex)
{
ArbiterOutput.Output("\n\n");
ArbiterOutput.Output("Core Intelligence Thread caught exception attempting to restart itself1!!!!HOLYCRAP!! \n");
ArbiterOutput.Output(" Exception thrown by: " + ex.TargetSite + "\n");
ArbiterOutput.Output(" Stack Trace: " + ex.StackTrace + "\n");
ArbiterOutput.Output(" Resetting planning state to startup");
ArbiterOutput.Output("\n");
CoreCommon.CorePlanningState = new StartUpState();
}
}
}
}
}
public override void Process(object param)
{
try {
Trace.CorrelationManager.StartLogicalOperation("ChangeLanes");
if (!base.BeginProcess())
{
return;
}
// check if we were given a parameter
if (param != null && param is ChangeLaneBehavior)
{
ChangeLaneBehavior clParam = (ChangeLaneBehavior)param;
HandleBehavior(clParam);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "got new param -- speed {0}, dist {1}, dist timestamp {2}", clParam.SpeedCommand, clParam.MaxDist, clParam.TimeStamp);
}
// project the lane paths up to the current time
RelativeTransform relTransform = Services.RelativePose.GetTransform(behaviorTimestamp, curTimestamp);
LinePath curStartingPath = startingLanePath.Transform(relTransform);
LinePath curEndingPath = endingLanePath.Transform(relTransform);
// get the starting and ending lane models
ILaneModel startingLaneModel, endingLaneModel;
Services.RoadModelProvider.GetLaneChangeModels(curStartingPath, startingLaneWidth, startingNumLanesLeft, startingNumLanesRight,
curEndingPath, endingLaneWidth, changeLeft, behaviorTimestamp, out startingLaneModel, out endingLaneModel);
// calculate the max speed
// TODO: make this look ahead for slowing down
settings.maxSpeed = GetMaxSpeed(endingLanePath, endingLanePath.ZeroPoint);
// get the remaining lane change distance
double remainingDist = GetRemainingLaneChangeDistance();
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "remaining distance is {0}", remainingDist);
if (cancelled)
{
return;
}
// check if we're done
if (remainingDist <= 0)
{
// create a new stay in lane behavior
int deltaLanes = changeLeft ? -1 : 1;
StayInLaneBehavior stayInLane = new StayInLaneBehavior(endingLaneID, speedCommand, null, endingLanePath, endingLaneWidth, startingNumLanesLeft + deltaLanes, startingNumLanesRight - deltaLanes);
stayInLane.TimeStamp = behaviorTimestamp.ts;
Services.BehaviorManager.Execute(stayInLane, null, false);
// send completion report
ForwardCompletionReport(new SuccessCompletionReport(typeof(ChangeLaneBehavior)));
return;
}
// calculate the planning distance
double planningDist = GetPlanningDistance();
if (planningDist < remainingDist + TahoeParams.VL)
{
planningDist = remainingDist + TahoeParams.VL;
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "planning dist {0}", planningDist);
// create a linearization options structure
LinearizationOptions laneOpts = new LinearizationOptions();
laneOpts.Timestamp = curTimestamp;
// get the center line of the target lane starting at the distance we want to enter into it
laneOpts.StartDistance = remainingDist;
laneOpts.EndDistance = planningDist;
LinePath centerLine = endingLaneModel.LinearizeCenterLine(laneOpts);
// add the final center line as a weighting
AddTargetPath(centerLine.Clone(), default_lane_alpha_w);
// pre-pend (0,0) as our position
centerLine.Insert(0, new Coordinates(0, 0));
LinePath leftBound = null;
LinePath rightBound = null;
// figure out if the lane is to the right or left of us
laneOpts.EndDistance = planningDist;
double leftEndingStartDist, rightEndingStartDist;
GetLaneBoundStartDists(curEndingPath, endingLaneWidth, out leftEndingStartDist, out rightEndingStartDist);
if (changeLeft)
{
// we're the target lane is to the left
// get the left bound of the target lane
laneOpts.StartDistance = Math.Max(leftEndingStartDist, TahoeParams.FL);
leftBound = endingLaneModel.LinearizeLeftBound(laneOpts);
}
else
{
// we're changing to the right, get the right bound of the target lane
laneOpts.StartDistance = Math.Max(rightEndingStartDist, TahoeParams.FL);
rightBound = endingLaneModel.LinearizeRightBound(laneOpts);
}
// get the other bound as the starting lane up to 5m before the remaining dist
laneOpts.StartDistance = TahoeParams.FL;
laneOpts.EndDistance = Math.Max(0, remainingDist - 5);
if (changeLeft)
{
if (laneOpts.EndDistance > 0)
{
rightBound = startingLaneModel.LinearizeRightBound(laneOpts);
}
else
{
rightBound = new LinePath();
}
}
else
{
if (laneOpts.EndDistance > 0)
{
leftBound = startingLaneModel.LinearizeLeftBound(laneOpts);
}
else
{
leftBound = new LinePath();
}
}
// append on the that bound of the target lane starting at the remaining dist
laneOpts.StartDistance = Math.Max(remainingDist, TahoeParams.FL);
laneOpts.EndDistance = planningDist;
if (changeLeft)
{
rightBound.AddRange(endingLaneModel.LinearizeRightBound(laneOpts));
}
else
{
leftBound.AddRange(endingLaneModel.LinearizeLeftBound(laneOpts));
}
// set up the planning
smootherBasePath = centerLine;
AddLeftBound(leftBound, !changeLeft);
AddRightBound(rightBound, changeLeft);
Services.UIService.PushLineList(centerLine, curTimestamp, "subpath", true);
Services.UIService.PushLineList(leftBound, curTimestamp, "left bound", true);
Services.UIService.PushLineList(rightBound, curTimestamp, "right bound", true);
if (cancelled)
{
return;
}
// set auxillary options
settings.endingHeading = centerLine.EndSegment.UnitVector.ArcTan;
// smooth and track that stuff
SmoothAndTrack(commandLabel, true);
}
finally {
Trace.CorrelationManager.StopLogicalOperation();
}
}
public override void ExecuteBehavior(Behavior behavior, Common.Coordinates location, RndfWaypointID lowerBound, RndfWaypointID upperBound)
{
if (behavior is UTurnBehavior)
{
//
}
// check to see if we are at the upper bound
RndfWayPoint upperWaypoint = channelListener.RndfNetwork.Waypoints[upperBound];
if (!(behavior is TurnBehavior) && upperWaypoint.NextLanePartition != null && location.DistanceTo(upperWaypoint.Position) < 3)
{
lowerBound = upperWaypoint.WaypointID;
upperBound = upperWaypoint.NextLanePartition.FinalWaypoint.WaypointID;
}
Console.WriteLine(" > Received Instruction to Execute Behavior: " + behavior.ToString());
if (behavior is StayInLaneBehavior)
{
StayInLaneBehavior stayInLane = (StayInLaneBehavior)behavior;
if (stayInLane.SpeedCommand is StopLineLaneSpeedCommand)
{
StopLineLaneSpeedCommand speedCommand = (StopLineLaneSpeedCommand)stayInLane.SpeedCommand;
if (speedCommand.Distance < 2)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = location;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List <LaneEstimate> laneEstimates = new List <LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 0;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
///Console.WriteLine(" > Published Position");
}
else
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[upperBound].Position;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List <LaneEstimate> laneEstimates = new List <LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
///Console.WriteLine(" > Published Position");
}
}
else if (stayInLane.SpeedCommand is StopLaneSpeedCommand)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = location;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List <LaneEstimate> laneEstimates = new List <LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = -5;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
///Console.WriteLine(" > Published Position");
}
else if (stayInLane.SpeedCommand is DefaultLaneSpeedCommand)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[upperBound].Position;
LaneEstimate laneEstimate = new LaneEstimate(lowerBound.LaneID, lowerBound.LaneID, 1);
List <LaneEstimate> laneEstimates = new List <LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
//Console.WriteLine(" > Published Position");
}
else
{
throw new ArgumentException("Unknown Lane Speed Type", "stayInLane.SpeedCommand");
}
}
// TODO: include midway point
else if (behavior is TurnBehavior)
{
TurnBehavior currentBehavior = (TurnBehavior)behavior;
RndfWayPoint exitWaypoint = channelListener.RndfNetwork.Waypoints[currentBehavior.ExitPoint];
if (location.DistanceTo(exitWaypoint.Position) < 0.1)
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
RndfWayPoint entryWaypoint = channelListener.RndfNetwork.Waypoints[currentBehavior.EntryPoint];
Common.Coordinates change = entryWaypoint.Position - exitWaypoint.Position;
Common.Coordinates midpoint = exitWaypoint.Position + change / 2;
LaneEstimate laneEstimate = new LaneEstimate(currentBehavior.ExitPoint.LaneID, currentBehavior.EntryPoint.LaneID, 1);
vehicleState.xyPosition = midpoint;
List <LaneEstimate> laneEstimates = new List <LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
}
else
{
// Create a fake vehicle state
VehicleState vehicleState = new VehicleState();
vehicleState.xyPosition = channelListener.RndfNetwork.Waypoints[currentBehavior.EntryPoint].Position;
LaneEstimate laneEstimate = new LaneEstimate(currentBehavior.EntryPoint.LaneID, currentBehavior.EntryPoint.LaneID, 1);
List <LaneEstimate> laneEstimates = new List <LaneEstimate>();
laneEstimates.Add(laneEstimate);
vehicleState.speed = 3;
vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
this.PublishVehicleState(vehicleState);
//Console.WriteLine(" > Published Position");
}
}
else
{
throw new ArgumentException("Unknown Behavior Type", "behavior");
}
//Console.WriteLine("Sent Back Position \n");
}
/// <summary>
/// Plans what maneuer we should take next
/// </summary>
/// <param name="planningState"></param>
/// <param name="navigationalPlan"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicles"></param>
/// <param name="obstacles"></param>
/// <param name="blockage"></param>
/// <returns></returns>
public Maneuver Plan(IState planningState, RoadPlan navigationalPlan, VehicleState vehicleState,
SceneEstimatorTrackedClusterCollection vehicles, SceneEstimatorUntrackedClusterCollection obstacles,
List <ITacticalBlockage> blockages, double vehicleSpeed)
{
// assign vehicles to their lanes
this.roadMonitor.Assign(vehicles);
// navigation tasks
this.taskReasoning.navigationPlan = navigationalPlan;
#region Stay in lane
// maneuver given we are in a lane
if (planningState is StayInLaneState)
{
// get state
StayInLaneState sils = (StayInLaneState)planningState;
// check reasoning if needs to be different
if (this.forwardReasoning == null || !this.forwardReasoning.Lane.Equals(sils.Lane))
{
if (sils.Lane.LaneOnLeft == null)
{
this.leftLateralReasoning = new LateralReasoning(null, SideObstacleSide.Driver);
}
else if (sils.Lane.LaneOnLeft.Way.Equals(sils.Lane.Way))
{
this.leftLateralReasoning = new LateralReasoning(sils.Lane.LaneOnLeft, SideObstacleSide.Driver);
}
else
{
this.leftLateralReasoning = new OpposingLateralReasoning(sils.Lane.LaneOnLeft, SideObstacleSide.Driver);
}
if (sils.Lane.LaneOnRight == null)
{
this.rightLateralReasoning = new LateralReasoning(null, SideObstacleSide.Passenger);
}
else if (sils.Lane.LaneOnRight.Way.Equals(sils.Lane.Way))
{
this.rightLateralReasoning = new LateralReasoning(sils.Lane.LaneOnRight, SideObstacleSide.Passenger);
}
else
{
this.rightLateralReasoning = new OpposingLateralReasoning(sils.Lane.LaneOnRight, SideObstacleSide.Passenger);
}
this.forwardReasoning = new ForwardReasoning(this.leftLateralReasoning, this.rightLateralReasoning, sils.Lane);
}
// populate navigation with road plan
taskReasoning.SetRoadPlan(navigationalPlan, sils.Lane);
// as penalties for lane changes already taken into account, can just look at
// best lane plan to figure out what to do
TypeOfTasks bestTask = taskReasoning.Best;
// get the forward lane plan
Maneuver forwardManeuver = forwardReasoning.ForwardManeuver(sils.Lane, vehicleState, navigationalPlan, blockages, sils.WaypointsToIgnore);
// get the secondary
Maneuver?secondaryManeuver = forwardReasoning.AdvancedSecondary(sils.Lane, vehicleState, navigationalPlan, blockages, sils.WaypointsToIgnore, bestTask); //forwardReasoning.SecondaryManeuver(sils.Lane, vehicleState, navigationalPlan, blockages, sils.WaypointsToIgnore, bestTask);
// check behavior type for uturn
if (secondaryManeuver.HasValue && secondaryManeuver.Value.PrimaryBehavior is UTurnBehavior)
{
return(secondaryManeuver.Value);
}
// check if we wish to change lanes here
if (bestTask != TypeOfTasks.Straight)
{
// parameters
LaneChangeParameters parameters;
secondaryManeuver = this.forwardReasoning.AdvancedDesiredLaneChangeManeuver(sils.Lane, bestTask == TypeOfTasks.Left ? true : false, navigationalPlan.BestPlan.laneWaypointOfInterest.PointOfInterest,
navigationalPlan, vehicleState, blockages, sils.WaypointsToIgnore, new LaneChangeInformation(LaneChangeReason.Navigation, this.forwardReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle), secondaryManeuver, out parameters);
}
// final maneuver
Maneuver finalManeuver = secondaryManeuver.HasValue ? secondaryManeuver.Value : forwardManeuver;
// set opposing vehicle flag
if (false && this.leftLateralReasoning != null && this.leftLateralReasoning is OpposingLateralReasoning && finalManeuver.PrimaryBehavior is StayInLaneBehavior)
{
StayInLaneBehavior silb = (StayInLaneBehavior)finalManeuver.PrimaryBehavior;
OpposingLateralReasoning olr = (OpposingLateralReasoning)this.leftLateralReasoning;
olr.ForwardMonitor.ForwardVehicle.Update(olr.lane, vehicleState);
if (olr.ForwardMonitor.ForwardVehicle.CurrentVehicle != null)
{
ForwardVehicleTrackingControl fvtc = olr.ForwardMonitor.ForwardVehicle.GetControl(olr.lane, vehicleState);
BehaviorDecorator[] bds = new BehaviorDecorator[finalManeuver.PrimaryBehavior.Decorators.Count];
finalManeuver.PrimaryBehavior.Decorators.CopyTo(bds);
finalManeuver.PrimaryBehavior.Decorators = new List <BehaviorDecorator>(bds);
silb.Decorators.Add(new OpposingLaneDecorator(fvtc.xSeparation, olr.ForwardMonitor.ForwardVehicle.CurrentVehicle.Speed));
ArbiterOutput.Output("Added Opposing Lane Decorator: " + fvtc.xSeparation.ToString("F2") + "m, " + olr.ForwardMonitor.ForwardVehicle.CurrentVehicle.Speed.ToString("f2") + "m/s");
}
finalManeuver.PrimaryBehavior = silb;
}
// return the final
return(finalManeuver);
}
#endregion
#region Stay in supra lane
else if (CoreCommon.CorePlanningState is StayInSupraLaneState)
{
// get state
StayInSupraLaneState sisls = (StayInSupraLaneState)planningState;
// check reasoning
if (this.forwardReasoning == null || !this.forwardReasoning.Lane.Equals(sisls.Lane))
{
if (sisls.Lane.Initial.LaneOnLeft == null)
{
this.leftLateralReasoning = new LateralReasoning(null, SideObstacleSide.Driver);
}
else if (sisls.Lane.Initial.LaneOnLeft.Way.Equals(sisls.Lane.Initial.Way))
{
this.leftLateralReasoning = new LateralReasoning(sisls.Lane.Initial.LaneOnLeft, SideObstacleSide.Driver);
}
else
{
this.leftLateralReasoning = new OpposingLateralReasoning(sisls.Lane.Initial.LaneOnLeft, SideObstacleSide.Driver);
}
if (sisls.Lane.Initial.LaneOnRight == null)
{
this.rightLateralReasoning = new LateralReasoning(null, SideObstacleSide.Passenger);
}
else if (sisls.Lane.Initial.LaneOnRight.Way.Equals(sisls.Lane.Initial.Way))
{
this.rightLateralReasoning = new LateralReasoning(sisls.Lane.Initial.LaneOnRight, SideObstacleSide.Passenger);
}
else
{
this.rightLateralReasoning = new OpposingLateralReasoning(sisls.Lane.Initial.LaneOnRight, SideObstacleSide.Passenger);
}
this.forwardReasoning = new ForwardReasoning(this.leftLateralReasoning, this.rightLateralReasoning, sisls.Lane);
}
// populate navigation with road plan
taskReasoning.SetSupraRoadPlan(navigationalPlan, sisls.Lane);
// as penalties for lane changes already taken into account, can just look at
// best lane plan to figure out what to do
// TODO: NOTE THAT THIS BEST TASK SHOULD BE IN THE SUPRA LANE!! (DO WE NEED THIS)
TypeOfTasks bestTask = taskReasoning.Best;
// get the forward lane plan
Maneuver forwardManeuver = forwardReasoning.ForwardManeuver(sisls.Lane, vehicleState, navigationalPlan, blockages, sisls.WaypointsToIgnore);
// get hte secondary
Maneuver?secondaryManeuver = forwardReasoning.AdvancedSecondary(sisls.Lane, vehicleState, navigationalPlan, blockages, new List <ArbiterWaypoint>(), bestTask); //forwardReasoning.SecondaryManeuver(sisls.Lane, vehicleState, navigationalPlan, blockages, sisls.WaypointsToIgnore, bestTask);
// final maneuver
Maneuver finalManeuver = secondaryManeuver.HasValue ? secondaryManeuver.Value : forwardManeuver;
// check if stay in lane
if (false && this.leftLateralReasoning != null && this.leftLateralReasoning is OpposingLateralReasoning && finalManeuver.PrimaryBehavior is SupraLaneBehavior)
{
SupraLaneBehavior silb = (SupraLaneBehavior)finalManeuver.PrimaryBehavior;
OpposingLateralReasoning olr = (OpposingLateralReasoning)this.leftLateralReasoning;
olr.ForwardMonitor.ForwardVehicle.Update(olr.lane, vehicleState);
if (olr.ForwardMonitor.ForwardVehicle.CurrentVehicle != null)
{
ForwardVehicleTrackingControl fvtc = olr.ForwardMonitor.ForwardVehicle.GetControl(olr.lane, vehicleState);
BehaviorDecorator[] bds = new BehaviorDecorator[finalManeuver.PrimaryBehavior.Decorators.Count];
finalManeuver.PrimaryBehavior.Decorators.CopyTo(bds);
finalManeuver.PrimaryBehavior.Decorators = new List <BehaviorDecorator>(bds);
silb.Decorators.Add(new OpposingLaneDecorator(fvtc.xSeparation, olr.ForwardMonitor.ForwardVehicle.CurrentVehicle.Speed));
ArbiterOutput.Output("Added Opposing Lane Decorator: " + fvtc.xSeparation.ToString("F2") + "m, " + olr.ForwardMonitor.ForwardVehicle.CurrentVehicle.Speed.ToString("f2") + "m/s");
}
finalManeuver.PrimaryBehavior = silb;
}
// return the final
return(finalManeuver);
// notify
/*if (secondaryManeuver.HasValue)
* ArbiterOutput.Output("Secondary Maneuver");
*
* // check for forward's secondary maneuver for desired behavior other than going straight
* if (secondaryManeuver.HasValue)
* {
* // return the secondary maneuver
* return secondaryManeuver.Value;
* }
* // otherwise our default behavior and posibly desired is going straight
* else
* {
* // return default forward maneuver
* return forwardManeuver;
* }*/
}
#endregion
#region Change Lanes State
// maneuver given we are changing lanes
else if (planningState is ChangeLanesState)
{
// get state
ChangeLanesState cls = (ChangeLanesState)planningState;
LaneChangeReasoning lcr = new LaneChangeReasoning();
Maneuver final = lcr.PlanLaneChange(cls, vehicleState, navigationalPlan, blockages, new List <ArbiterWaypoint>());
#warning need to filter through waypoints to ignore so don't get stuck by a stop line
//Maneuver final = new Maneuver(cls.Resume(vehicleState, vehicleSpeed), cls, cls.DefaultStateDecorators, vehicleState.Timestamp);
// return the final planned maneuver
return(final);
/*if (!cls.parameters..TargetIsOnComing)
* {
* // check reasoning
* if (this.forwardReasoning == null || !this.forwardReasoning.Lane.Equals(cls.TargetLane))
* {
* if (cls.TargetLane.LaneOnLeft.Way.Equals(cls.TargetLane.Way))
* this.leftLateralReasoning = new LateralReasoning(cls.TargetLane.LaneOnLeft);
* else
* this.leftLateralReasoning = new OpposingLateralReasoning(cls.TargetLane.LaneOnLeft);
*
* if (cls.TargetLane.LaneOnRight.Way.Equals(cls.TargetLane.Way))
* this.rightLateralReasoning = new LateralReasoning(cls.TargetLane.LaneOnRight);
* else
* this.rightLateralReasoning = new OpposingLateralReasoning(cls.TargetLane.LaneOnRight);
*
* this.forwardReasoning = new ForwardReasoning(this.leftLateralReasoning, this.rightLateralReasoning, cls.TargetLane);
* }
*
*
* // get speed command
* double speed;
* double distance;
* this.forwardReasoning.ForwardMonitor.StoppingParams(new ArbiterWaypoint(cls.TargetUpperBound.pt, null), cls.TargetLane, vehicleState.Front, vehicleState.ENCovariance, out speed, out distance);
* SpeedCommand sc = new ScalarSpeedCommand(Math.Max(speed, 0.0));
* cls.distanceLeft = distance;
*
* // get behavior
* ChangeLaneBehavior clb = new ChangeLaneBehavior(cls.InitialLane.LaneId, cls.TargetLane.LaneId, cls.InitialLane.LaneOnLeft != null && cls.InitialLane.LaneOnLeft.Equals(cls.TargetLane),
* distance, sc, new List<int>(), cls.InitialLane.PartitionPath, cls.TargetLane.PartitionPath, cls.InitialLane.Width, cls.TargetLane.Width);
*
* // plan over the target lane
* //Maneuver targetManeuver = forwardReasoning.ForwardManeuver(cls.TargetLane, vehicleState, !cls.TargetIsOnComing, blockage, cls.InitialLaneState.IgnorableWaypoints);
*
* // plan over the initial lane
* //Maneuver initialManeuver = forwardReasoning.ForwardManeuver(cls.InitialLane, vehicleState, !cls.InitialIsOncoming, blockage, cls.InitialLaneState.IgnorableWaypoints);
*
* // generate the change lanes command
* //Maneuver final = laneChangeReasoning.PlanLaneChange(cls, initialManeuver, targetManeuver);
*
* }
* else
* {
* throw new Exception("Change lanes into oncoming not supported yet by road tactical");
* }*/
}
#endregion
#region Opposing Lanes State
// maneuver given we are in an opposing lane
else if (planningState is OpposingLanesState)
{
// get state
OpposingLanesState ols = (OpposingLanesState)planningState;
ArbiterWayId opposingWay = ols.OpposingWay;
ols.SetClosestGood(vehicleState);
ols.ResetLaneAgent = false;
// check reasoning
if (this.opposingReasoning == null || !this.opposingReasoning.Lane.Equals(ols.OpposingLane))
{
if (ols.OpposingLane.LaneOnRight == null)
{
this.leftLateralReasoning = new LateralReasoning(null, SideObstacleSide.Driver);
}
else if (!ols.OpposingLane.LaneOnRight.Way.Equals(ols.OpposingLane.Way))
{
this.leftLateralReasoning = new LateralReasoning(ols.OpposingLane.LaneOnRight, SideObstacleSide.Driver);
}
else
{
this.leftLateralReasoning = new OpposingLateralReasoning(ols.OpposingLane.LaneOnRight, SideObstacleSide.Driver);
}
if (ols.OpposingLane.LaneOnLeft == null)
{
this.rightLateralReasoning = new LateralReasoning(null, SideObstacleSide.Passenger);
}
else if (!ols.OpposingLane.LaneOnLeft.Way.Equals(ols.OpposingLane.Way))
{
this.rightLateralReasoning = new LateralReasoning(ols.OpposingLane.LaneOnLeft, SideObstacleSide.Passenger);
}
else
{
this.rightLateralReasoning = new OpposingLateralReasoning(ols.OpposingLane.LaneOnLeft, SideObstacleSide.Passenger);
}
this.opposingReasoning = new OpposingReasoning(this.leftLateralReasoning, this.rightLateralReasoning, ols.OpposingLane);
}
// get the forward lane plan
Maneuver forwardManeuver = this.opposingReasoning.ForwardManeuver(ols.OpposingLane, ols.ClosestGoodLane, vehicleState, navigationalPlan, blockages);
// get the secondary maneuver
Maneuver?secondaryManeuver = null;
if (ols.ClosestGoodLane != null)
{
secondaryManeuver = this.opposingReasoning.SecondaryManeuver(ols.OpposingLane, ols.ClosestGoodLane, vehicleState, blockages, ols.EntryParameters);
}
// check for reasonings secondary maneuver for desired behavior other than going straight
if (secondaryManeuver != null)
{
// return the secondary maneuver
return(secondaryManeuver.Value);
}
// otherwise our default behavior and posibly desired is going straight
else
{
// return default forward maneuver
return(forwardManeuver);
}
}
#endregion
#region not imp
/*
#region Uturn
*
* // we are making a uturn
* else if (planningState is uTurnState)
* {
* // get the uturn state
* uTurnState uts = (uTurnState)planningState;
*
* // get the final lane we wish to be in
* ArbiterLane targetLane = uts.TargetLane;
*
* // get operational state
* Type operationalBehaviorType = CoreCommon.Communications.GetCurrentOperationalBehavior();
*
* // check if we have completed the uturn
* bool complete = operationalBehaviorType == typeof(StayInLaneBehavior);
*
* // default next behavior
* Behavior nextBehavior = new StayInLaneBehavior(targetLane.LaneId, new ScalarSpeedCommand(CoreCommon.OperationalStopSpeed), new List<int>());
* nextBehavior.Decorators = TurnDecorators.NoDecorators;
*
* // check if complete
* if (complete)
* {
* // stay in lane
* List<ArbiterLaneId> aprioriLanes = new List<ArbiterLaneId>();
* aprioriLanes.Add(targetLane.LaneId);
* return new Maneuver(nextBehavior, new StayInLaneState(targetLane), null, null, aprioriLanes, true);
* }
* // otherwise keep same
* else
* {
* // set abort behavior
* ((StayInLaneBehavior)nextBehavior).SpeedCommand = new ScalarSpeedCommand(0.0);
*
* // maneuver
* return new Maneuver(uts.DefaultBehavior, uts, nextBehavior, new StayInLaneState(targetLane));
* }
* }
*
#endregion*/
#endregion
#region Unknown
// unknown state
else
{
throw new Exception("Unknown Travel State type: planningState: " + planningState.ToString() + "\n with type: " + planningState.GetType().ToString());
}
#endregion
}
/// <summary>
/// Plan a lane change
/// </summary>
/// <param name="cls"></param>
/// <param name="initialManeuver"></param>
/// <param name="targetManeuver"></param>
/// <returns></returns>
public Maneuver PlanLaneChange(ChangeLanesState cls, VehicleState vehicleState, RoadPlan roadPlan,
List <ITacticalBlockage> blockages, List <ArbiterWaypoint> ignorable)
{
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is LaneChangeBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// go to a blockage handling tactical
return(new Maneuver(new NullBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
// lanes of the lane change
ArbiterLane initial = cls.Parameters.Initial;
ArbiterLane target = cls.Parameters.Target;
#region Initial Forwards
if (!cls.Parameters.InitialOncoming)
{
ForwardReasoning initialReasoning = new ForwardReasoning(new LateralReasoning(null, SideObstacleSide.Driver), new LateralReasoning(null, SideObstacleSide.Driver), initial);
#region Target Forwards
if (!cls.Parameters.TargetOncoming)
{
// target reasoning
ForwardReasoning targetReasoning = new ForwardReasoning(new LateralReasoning(null, SideObstacleSide.Driver), new LateralReasoning(null, SideObstacleSide.Driver), target);
#region Navigation
if (cls.Parameters.Reason == LaneChangeReason.Navigation)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// vehicles to ignore
List <int> ignorableVehicles = new List <int>();
// params for forward lane
initialReasoning.ForwardManeuver(initial, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters initialParams = initialReasoning.ForwardMonitor.ParameterizationHelper(initial, initial,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
initial.WaypointList[initial.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle);
ArbiterOutput.Output("initial dist to go: " + initialParams.DistanceToGo.ToString("f3"));
if (initialParams.Type == TravellingType.Vehicle && !initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.IsStopped)
{
tps.Add(initialParams);
}
else
{
tps.Add(initialReasoning.ForwardMonitor.NavigationParameters);
}
ignorableVehicles.AddRange(initialParams.VehiclesToIgnore);
// get params for the final lane
targetReasoning.ForwardManeuver(target, vehicleState, roadPlan, blockages, new List <ArbiterWaypoint>());
TravelingParameters targetParams = targetReasoning.ForwardMonitor.CurrentParameters;
tps.Add(targetParams);
ignorableVehicles.AddRange(targetParams.VehiclesToIgnore);
try
{
if (CoreCommon.Communications.GetVehicleSpeed().Value < 0.1 &&
targetParams.Type == TravellingType.Vehicle &&
targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle != null &&
targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.Queuing == QueuingState.Failed)
{
return(new Maneuver(new HoldBrakeBehavior(), new StayInLaneState(target, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
catch (Exception) { }
ArbiterOutput.Output("target dist to go: " + targetParams.DistanceToGo.ToString("f3"));
// decorators
List <BehaviorDecorator> decorators = initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target) ? TurnDecorators.LeftTurnDecorator : TurnDecorators.RightTurnDecorator;
// distance
double distanceToGo = initial.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// check if need to modify distance to go
if (initialParams.Type == TravellingType.Vehicle && initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.IsStopped)
{
double curDistToUpper = cls.Parameters.DistanceToDepartUpperBound;
double newVhcDistToUpper = initial.DistanceBetween(vehicleState.Front, initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition) - 2.0;
if (curDistToUpper > newVhcDistToUpper)
{
distanceToGo = newVhcDistToUpper;
}
}
// get final
tps.Sort();
// get the proper speed command
ScalarSpeedCommand sc = new ScalarSpeedCommand(tps[0].RecommendedSpeed);
if (sc.Speed < 8.84)
{
sc = new ScalarSpeedCommand(Math.Min(targetParams.RecommendedSpeed, 8.84));
}
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target), distanceToGo,
sc, targetParams.VehiclesToIgnore, initial.LanePath(), target.LanePath(), initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, true),
initial.NumberOfLanesRight(vehicleState.Front, true));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
#region Failed Forwards
else if (cls.Parameters.Reason == LaneChangeReason.FailedForwardVehicle)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// vehicles to ignore
List <int> ignorableVehicles = new List <int>();
// params for forward lane
initialReasoning.ForwardManeuver(initial, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters initialParams = initialReasoning.ForwardMonitor.ParameterizationHelper(initial, initial,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
initial.WaypointList[initial.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, null);
tps.Add(initialParams);
ignorableVehicles.AddRange(initialParams.VehiclesToIgnore);
// get params for the final lane
targetReasoning.ForwardManeuver(target, vehicleState, roadPlan, blockages, new List <ArbiterWaypoint>());
TravelingParameters targetParams = targetReasoning.ForwardMonitor.CurrentParameters;
tps.Add(targetParams);
ignorableVehicles.AddRange(targetParams.VehiclesToIgnore);
// decorators
List <BehaviorDecorator> decorators = initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target) ? TurnDecorators.LeftTurnDecorator : TurnDecorators.RightTurnDecorator;
// distance
double distanceToGo = initial.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// get final
tps.Sort();
// get the proper speed command
SpeedCommand sc = new ScalarSpeedCommand(tps[0].RecommendedSpeed);
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target), distanceToGo,
sc, targetParams.VehiclesToIgnore, initial.LanePath(), target.LanePath(), initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, true),
initial.NumberOfLanesRight(vehicleState.Front, true));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
#region Slow
else if (cls.Parameters.Reason == LaneChangeReason.SlowForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
#endregion
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
}
#endregion
#region Target Oncoming
else
{
OpposingReasoning targetReasoning = new OpposingReasoning(new OpposingLateralReasoning(null, SideObstacleSide.Driver), new OpposingLateralReasoning(null, SideObstacleSide.Driver), target);
#region Failed Forward
if (cls.Parameters.Reason == LaneChangeReason.FailedForwardVehicle)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// ignore the forward vehicle but keep params for forward lane
initialReasoning.ForwardManeuver(initial, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters initialParams = initialReasoning.ForwardMonitor.ParameterizationHelper(initial, initial,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
initial.WaypointList[initial.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position, vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, null);
tps.Add(initialParams);
// get params for the final lane
targetReasoning.ForwardManeuver(target, initial, vehicleState, roadPlan, blockages);
TravelingParameters targetParams = targetReasoning.OpposingForwardMonitor.CurrentParamters.Value;
tps.Add(targetParams);
// decorators
List <BehaviorDecorator> decorators = cls.Parameters.ToLeft ? TurnDecorators.LeftTurnDecorator : TurnDecorators.RightTurnDecorator;
// distance
double distanceToGo = initial.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// get final
tps.Sort();
// get the proper speed command
SpeedCommand sc = new ScalarSpeedCommand(Math.Min(tps[0].RecommendedSpeed, 2.24));
// check final for stopped failed opposing
VehicleAgent forwardVa = targetReasoning.OpposingForwardMonitor.ForwardVehicle.CurrentVehicle;
if (forwardVa != null)
{
// dist between
double distToFV = -targetReasoning.Lane.DistanceBetween(vehicleState.Front, forwardVa.ClosestPosition);
// check stopped
bool stopped = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.5;
// check distance
bool distOk = distToFV < 2.5 * TahoeParams.VL;
// check failed
bool failed = forwardVa.QueuingState.Queuing == QueuingState.Failed;
// notify
ArbiterOutput.Output("Forward Vehicle: Stopped: " + stopped.ToString() + ", DistOk: " + distOk.ToString() + ", Failed: " + failed.ToString());
// check all for failed
if (stopped && distOk && failed)
{
// check inside target
if (target.LanePolygon.IsInside(vehicleState.Front))
{
// blockage recovery
StayInLaneState sils = new StayInLaneState(initial, CoreCommon.CorePlanningState);
StayInLaneBehavior silb = new StayInLaneBehavior(initial.LaneId, new StopAtDistSpeedCommand(TahoeParams.VL * 2.0, true), new List <int>(), initial.LanePath(), initial.Width, initial.NumberOfLanesLeft(vehicleState.Front, false), initial.NumberOfLanesRight(vehicleState.Front, false));
BlockageRecoveryState brs = new BlockageRecoveryState(silb, sils, sils, BlockageRecoveryDEFCON.REVERSE,
new EncounteredBlockageState(new LaneBlockage(new TrajectoryBlockedReport(CompletionResult.Stopped, 4.0, BlockageType.Static, -1, true, silb.GetType())), sils, BlockageRecoveryDEFCON.INITIAL, SAUDILevel.None),
BlockageRecoverySTATUS.EXECUTING);
return(new Maneuver(silb, brs, TurnDecorators.HazardDecorator, vehicleState.Timestamp));
}
// check which lane we are in
else
{
// return to forward lane
return(new Maneuver(new HoldBrakeBehavior(), new StayInLaneState(initial, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
}
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, cls.Parameters.ToLeft, distanceToGo,
sc, targetParams.VehiclesToIgnore, initial.LanePath(), target.ReversePath, initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, true),
initial.NumberOfLanesRight(vehicleState.Front, true));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
#region Other
else if (cls.Parameters.Reason == LaneChangeReason.Navigation)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
else if (cls.Parameters.Reason == LaneChangeReason.SlowForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
#endregion
}
#endregion
}
#endregion
#region Initial Oncoming
else
{
OpposingReasoning initialReasoning = new OpposingReasoning(new OpposingLateralReasoning(null, SideObstacleSide.Driver), new OpposingLateralReasoning(null, SideObstacleSide.Driver), initial);
#region Target Forwards
if (!cls.Parameters.TargetOncoming)
{
ForwardReasoning targetReasoning = new ForwardReasoning(new LateralReasoning(null, SideObstacleSide.Driver), new LateralReasoning(null, SideObstacleSide.Driver), target);
if (cls.Parameters.Reason == LaneChangeReason.FailedForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
#region Navigation
else if (cls.Parameters.Reason == LaneChangeReason.Navigation)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// distance to the upper bound of the change
double distanceToGo = target.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// get params for the initial lane
initialReasoning.ForwardManeuver(initial, target, vehicleState, roadPlan, blockages);
// current params of the fqm
TravelingParameters initialParams = initialReasoning.OpposingForwardMonitor.CurrentParamters.Value;
if (initialParams.Type == TravellingType.Vehicle)
{
if (!initialReasoning.OpposingForwardMonitor.ForwardVehicle.CurrentVehicle.IsStopped)
{
tps.Add(initialParams);
}
else
{
tps.Add(initialReasoning.OpposingForwardMonitor.NaviationParameters);
distanceToGo = initial.DistanceBetween(initialReasoning.OpposingForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition, vehicleState.Front) - TahoeParams.VL;
}
}
else
{
tps.Add(initialReasoning.OpposingForwardMonitor.NaviationParameters);
}
// get params for forward lane
targetReasoning.ForwardManeuver(target, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters targetParams = targetReasoning.ForwardMonitor.ParameterizationHelper(target, target,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
target.WaypointList[target.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle);
tps.Add(targetParams);
// ignoring vehicles add
List <int> ignoreVehicles = initialParams.VehiclesToIgnore;
ignoreVehicles.AddRange(targetParams.VehiclesToIgnore);
// decorators
List <BehaviorDecorator> decorators = !cls.Parameters.ToLeft ? TurnDecorators.RightTurnDecorator : TurnDecorators.LeftTurnDecorator;
// get final
tps.Sort();
// get the proper speed command
SpeedCommand sc = tps[0].SpeedCommand;
if (sc is StopAtDistSpeedCommand)
{
sc = new ScalarSpeedCommand(0.0);
}
// check final for stopped failed opposing
VehicleAgent forwardVa = targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle;
if (forwardVa != null)
{
// dist between
double distToFV = targetReasoning.Lane.DistanceBetween(vehicleState.Front, forwardVa.ClosestPosition);
// check stopped
bool stopped = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.5;
// check distance
bool distOk = distToFV < 2.5 * TahoeParams.VL;
// check failed
bool failed = forwardVa.QueuingState.Queuing == QueuingState.Failed;
// notify
ArbiterOutput.Output("Forward Vehicle: Stopped: " + stopped.ToString() + ", DistOk: " + distOk.ToString() + ", Failed: " + failed.ToString());
// check all for failed
if (stopped && distOk && failed)
{
// check which lane we are in
if (initial.LanePolygon.IsInside(vehicleState.Front))
{
// return to opposing lane
return(new Maneuver(new HoldBrakeBehavior(), new OpposingLanesState(initial, true, CoreCommon.CorePlanningState, vehicleState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
else
{
// lane state
return(new Maneuver(new HoldBrakeBehavior(), new StayInLaneState(target, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
}
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, cls.Parameters.ToLeft, distanceToGo,
sc, ignoreVehicles, initial.ReversePath, target.LanePath(), initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, false),
initial.NumberOfLanesRight(vehicleState.Front, false));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
else if (cls.Parameters.Reason == LaneChangeReason.SlowForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
}
#endregion
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
}
#endregion
}
private void HandleBehavior(StayInLaneBehavior b)
{
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer(b.TimeStamp);
this.behaviorTimestamp = absTransform.Timestamp;
this.rndfPath = b.BackupPath.Transform(absTransform);
this.rndfPathWidth = b.LaneWidth;
this.numLanesLeft = b.NumLaneLeft;
this.numLanesRight = b.NumLanesRight;
this.laneID = b.TargetLane;
this.ignorableObstacles = b.IgnorableObstacles;
Services.ObstaclePipeline.LastIgnoredObstacles = b.IgnorableObstacles;
HandleSpeedCommand(b.SpeedCommand);
opposingLaneVehicleExists = false;
oncomingVehicleExists = false;
extraWidth = 0;
if (b.Decorators != null)
{
foreach (BehaviorDecorator d in b.Decorators)
{
if (d is OpposingLaneDecorator)
{
opposingLaneVehicleExists = true;
opposingLaneVehicleDist = ((OpposingLaneDecorator)d).Distance;
opposingLaneVehicleSpeed = ((OpposingLaneDecorator)d).Speed;
}
else if (d is OncomingVehicleDecorator)
{
oncomingVehicleExists = true;
oncomingVehicleDist = ((OncomingVehicleDecorator)d).TargetDistance;
oncomingVehicleSpeed = ((OncomingVehicleDecorator)d).TargetSpeed;
oncomingVehicleSpeedCommand = ((OncomingVehicleDecorator)d).SecondarySpeed;
}
else if (d is WidenBoundariesDecorator)
{
extraWidth = ((WidenBoundariesDecorator)d).ExtraWidth;
}
}
}
if (oncomingVehicleExists)
{
double timeToCollision = oncomingVehicleDist / Math.Abs(oncomingVehicleSpeed);
if (oncomingVehicleDist > 30 || timeToCollision > 20 || numLanesRight > 0)
{
oncomingVehicleExists = false;
}
else
{
HandleSpeedCommand(oncomingVehicleSpeedCommand);
}
}
if (laneID != null && Services.RoadNetwork != null)
{
ArbiterLane lane = Services.RoadNetwork.ArbiterSegments[laneID.SegmentId].Lanes[laneID];
AbsolutePose pose = Services.StateProvider.GetAbsolutePose();
sparse = (lane.GetClosestPartition(pose.xy).Type == PartitionType.Sparse);
if (sparse)
{
LinePath.PointOnPath closest = b.BackupPath.GetClosestPoint(pose.xy);
goalPoint = b.BackupPath[closest.Index + 1];
}
}
Services.UIService.PushAbsolutePath(b.BackupPath, b.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(new LineList(), b.TimeStamp, "original path2");
if (sparse)
{
if (Services.ObstaclePipeline.ExtraSpacing == 0)
{
Services.ObstaclePipeline.ExtraSpacing = 0.5;
}
Services.ObstaclePipeline.UseOccupancyGrid = false;
}
else
{
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
smootherSpacingAdjust = 0;
prevCurvature = double.NaN;
}
}
/// <summary>
/// Gets parameterization
/// </summary>
/// <param name="lane"></param>
/// <param name="speed"></param>
/// <param name="distance"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters GetParameters(ArbiterLane lane, double speed, double distance, VehicleState state)
{
double distanceCutOff = CoreCommon.OperationslStopLineSearchDistance;
Maneuver m = new Maneuver();
SpeedCommand sc;
bool usingSpeed = true;
#region Distance Cutoff
// check if distance is less than cutoff
if (distance < distanceCutOff)
{
// default behavior
sc = new StopAtDistSpeedCommand(distance);
Behavior b = new StayInLaneBehavior(lane.LaneId, sc, new List <int>(), lane.LanePath(), lane.Width, lane.NumberOfLanesLeft(state.Front, true), lane.NumberOfLanesRight(state.Front, true));
// stopping so not using speed param
usingSpeed = false;
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(lane, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, state.Timestamp);
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// get lane
ArbiterLane al = lane;
// default behavior
sc = new ScalarSpeedCommand(speed);
Behavior b = new StayInLaneBehavior(al.LaneId, sc, new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, state.Timestamp);
}
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = distance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
return(tp);
#endregion
}
/// <summary>
/// Simple right lane change
/// </summary>
/// <param name="arbiterLane"></param>
/// <param name="closestGood"></param>
/// <param name="vehicleState"></param>
/// <param name="blockages"></param>
/// <returns></returns>
private Maneuver?DefaultRightToGoodChange(ArbiterLane arbiterLane, ArbiterLane closestGood, VehicleState vehicleState,
List <ITacticalBlockage> blockages, Coordinates xUpper, bool forcedOpposing)
{
bool adjRearClear = this.rightLateralReasoning.AdjacentAndRearClear(vehicleState);
if (adjRearClear)
{
// notify
ArbiterOutput.Output("Opposing Secondary: Adjacent and Rear Clear");
LaneChangeParameters lcp = new LaneChangeParameters(
true, true, arbiterLane, true, closestGood, false, false, null,
3 * TahoeParams.VL, null, TurnDecorators.RightTurnDecorator,
this.OpposingForwardMonitor.CurrentParamters.Value, xUpper, new Coordinates(), new Coordinates(),
new Coordinates(), LaneChangeReason.Navigation);
lcp.ForcedOpposing = forcedOpposing;
ChangeLanesState cls = new ChangeLanesState(lcp);
return(new Maneuver(this.OpposingForwardMonitor.CurrentParamters.Value.Behavior, cls, lcp.Decorators, vehicleState.Timestamp));
}
else
{
if (this.rightLateralReasoning.AdjacentVehicle != null &&
!this.rightLateralReasoning.AdjacentVehicle.IsStopped &&
this.rightLateralReasoning.AdjacentVehicle.Speed > CoreCommon.Communications.GetVehicleSpeed().Value - 2.0)
{
// notify
ArbiterOutput.Output("Opposing Secondary: Adjacent and Rear NOT Clear, ADJACENT NOT STOPPED, vAdj: " + this.rightLateralReasoning.AdjacentVehicle.Speed.ToString("f1"));
TravelingParameters tp = this.OpposingForwardMonitor.CurrentParamters.Value;
if (tp.Behavior is StayInLaneBehavior)
{
StayInLaneBehavior silb = (StayInLaneBehavior)tp.Behavior;
silb.SpeedCommand = new ScalarSpeedCommand(0.0);
}
return(new Maneuver(tp.Behavior, tp.NextState, tp.Decorators, vehicleState.Timestamp));
}
else if (this.rightLateralReasoning.AdjacentVehicle != null &&
this.OpposingForwardMonitor.NaviationParameters.DistanceToGo < TahoeParams.VL * 4.0)
{
// notify
ArbiterOutput.Output("Opposing Secondary: Adjacent and Rear NOT Clear, ADJACENT FILLED, too close to nav stop");
TravelingParameters tp = this.OpposingForwardMonitor.CurrentParamters.Value;
if (tp.Behavior is StayInLaneBehavior)
{
StayInLaneBehavior silb = (StayInLaneBehavior)tp.Behavior;
silb.SpeedCommand = new ScalarSpeedCommand(0.0);
}
return(new Maneuver(tp.Behavior, tp.NextState, tp.Decorators, vehicleState.Timestamp));
}
else if (this.rightLateralReasoning.AdjacentVehicle == null && !adjRearClear)
{
// notify
ArbiterOutput.Output("Opposing Secondary: REAR NOT Clear, WAITING");
TravelingParameters tp = this.OpposingForwardMonitor.CurrentParamters.Value;
if (tp.Behavior is StayInLaneBehavior)
{
StayInLaneBehavior silb = (StayInLaneBehavior)tp.Behavior;
silb.SpeedCommand = new ScalarSpeedCommand(0.0);
}
return(new Maneuver(tp.Behavior, tp.NextState, tp.Decorators, vehicleState.Timestamp));
}
else
{
return(null);
}
}
}
/// <summary>
/// Parameters to follow the forward vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters Follow(ArbiterLane lane, VehicleState state)
{
// travelling parameters
TravelingParameters tp = new TravelingParameters();
// ignorable obstacles
List <int> ignoreVehicle = new List <int>();
ignoreVehicle.Add(CurrentVehicle.VehicleId);
// get control parameters
ForwardVehicleTrackingControl fvtc = GetControl(lane, state);
// init params
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.Decorators = TurnDecorators.NoDecorators;
// flag to ignore forward vehicle
bool ignoreForward = false;
// reversed lane path
LinePath lp = lane.LanePath().Clone();
lp.Reverse();
#region Following Control
#region Immediate Stop
// need to stop immediately
if (fvtc.vFollowing == 0.0)
{
// don't ignore forward
ignoreForward = false;
// speed command
SpeedCommand sc = new ScalarSpeedCommand(0.0);
tp.UsingSpeed = true;
// standard path following behavior
Behavior final = new StayInLaneBehavior(lane.LaneId, sc, ignoreVehicle, lp, lane.Width, lane.NumberOfLanesLeft(state.Front, false), lane.NumberOfLanesRight(state.Front, false));
tp.Behavior = final;
tp.SpeedCommand = sc;
}
#endregion
#region Distance Stop
// stop at distance
else if (fvtc.vFollowing < 0.7 &&
CoreCommon.Communications.GetVehicleSpeed().Value <= 2.24 &&
fvtc.xSeparation > fvtc.xAbsMin)
{
// ignore forward vehicle
ignoreForward = true;
// speed command
SpeedCommand sc = new StopAtDistSpeedCommand(fvtc.xDistanceToGood);
tp.UsingSpeed = false;
// standard path following behavior
Behavior final = new StayInLaneBehavior(lane.LaneId, sc, ignoreVehicle, lp, lane.Width, lane.NumberOfLanesLeft(state.Front, false), lane.NumberOfLanesRight(state.Front, false));
tp.Behavior = final;
tp.SpeedCommand = sc;
}
#endregion
#region Normal Following
// else normal
else
{
// ignore the forward vehicle as we are tracking properly
ignoreForward = true;
// speed command
SpeedCommand sc = new ScalarSpeedCommand(fvtc.vFollowing);
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.UsingSpeed = true;
// standard path following behavior
Behavior final = new StayInLaneBehavior(lane.LaneId, sc, ignoreVehicle, lp, lane.Width, lane.NumberOfLanesLeft(state.Front, false), lane.NumberOfLanesRight(state.Front, false));
tp.Behavior = final;
tp.SpeedCommand = sc;
}
#endregion
#endregion
// check ignore
if (ignoreForward)
{
List <int> ignorable = new List <int>();
ignorable.Add(this.CurrentVehicle.VehicleId);
tp.VehiclesToIgnore = ignorable;
}
else
{
tp.VehiclesToIgnore = new List <int>();
}
// return parameterization
return(tp);
}
/// <summary>
/// Plans what maneuer we should take next
/// </summary>
/// <param name="planningState"></param>
/// <param name="navigationalPlan"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicles"></param>
/// <param name="obstacles"></param>
/// <param name="blockage"></param>
/// <returns></returns>
public Maneuver Plan(IState planningState, INavigationalPlan navigationalPlan, VehicleState vehicleState,
SceneEstimatorTrackedClusterCollection vehicles, SceneEstimatorUntrackedClusterCollection obstacles, List <ITacticalBlockage> blockages)
{
#region Waiting At Intersection Exit
if (planningState is WaitingAtIntersectionExitState)
{
// state
WaitingAtIntersectionExitState waies = (WaitingAtIntersectionExitState)planningState;
// get intersection plan
IntersectionPlan ip = (IntersectionPlan)navigationalPlan;
// nullify turn reasoning
this.TurnReasoning = null;
#region Intersection Monitor Updates
// check correct intersection monitor
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(waies.exitWaypoint.AreaSubtypeWaypointId) &&
(IntersectionTactical.IntersectionMonitor == null ||
!IntersectionTactical.IntersectionMonitor.OurMonitor.Waypoint.Equals(waies.exitWaypoint)))
{
// create new intersection monitor
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
waies.exitWaypoint,
CoreCommon.RoadNetwork.IntersectionLookup[waies.exitWaypoint.AreaSubtypeWaypointId],
vehicleState,
ip.BestOption);
}
// update if exists
if (IntersectionTactical.IntersectionMonitor != null)
{
// update monitor
IntersectionTactical.IntersectionMonitor.Update(vehicleState);
// print current
ArbiterOutput.Output(IntersectionTactical.IntersectionMonitor.IntersectionStateString());
}
#endregion
#region Desired Behavior
// get best option from previously saved
IConnectAreaWaypoints icaw = null;
if (waies.desired != null)
{
ArbiterInterconnect tmpInterconnect = waies.desired;
if (waies.desired.InitialGeneric is ArbiterWaypoint)
{
ArbiterWaypoint init = (ArbiterWaypoint)waies.desired.InitialGeneric;
if (init.NextPartition != null && init.NextPartition.Final.Equals(tmpInterconnect.FinalGeneric))
{
icaw = init.NextPartition;
}
else
{
icaw = waies.desired;
}
}
else
{
icaw = waies.desired;
}
}
else
{
icaw = ip.BestOption;
waies.desired = icaw.ToInterconnect;
}
#endregion
#region Turn Feasibility Reasoning
// check uturn
if (waies.desired.TurnDirection == ArbiterTurnDirection.UTurn)
{
waies.turnTestState = TurnTestState.Completed;
}
// check already determined feasible
if (waies.turnTestState == TurnTestState.Unknown ||
waies.turnTestState == TurnTestState.Failed)
{
#region Determine Behavior to Accomplish Turn
// get default turn behavior
TurnBehavior testTurnBehavior = this.DefaultTurnBehavior(icaw);
// set saudi decorator
if (waies.saudi != SAUDILevel.None)
{
testTurnBehavior.Decorators.Add(new ShutUpAndDoItDecorator(waies.saudi));
}
// set to ignore all vehicles
testTurnBehavior.VehiclesToIgnore = new List <int>(new int[] { -1 });
#endregion
#region Check Turn Feasible
// check if we have completed
CompletionReport turnCompletionReport;
bool completedTest = CoreCommon.Communications.TestExecute(testTurnBehavior, out turnCompletionReport); //CoreCommon.Communications.AsynchronousTestHasCompleted(testTurnBehavior, out turnCompletionReport, true);
// if we have completed the test
if (completedTest || ((TrajectoryBlockedReport)turnCompletionReport).BlockageType != BlockageType.Dynamic)
{
#region Can Complete
// check success
if (turnCompletionReport.Result == CompletionResult.Success)
{
// set completion state of the turn
waies.turnTestState = TurnTestState.Completed;
}
#endregion
#region No Saudi Level, Found Initial Blockage
// otherwise we cannot do the turn, check if saudi is still none
else if (waies.saudi == SAUDILevel.None)
{
// notify
ArbiterOutput.Output("Increased Saudi Level of Turn to L1");
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Failed;
}
#endregion
#region Already at L1 Saudi
else if (waies.saudi == SAUDILevel.L1)
{
// notify
ArbiterOutput.Output("Turn with Saudi L1 Level failed");
// get an intersection plan without this interconnect
IntersectionPlan testPlan = CoreCommon.Navigation.PlanIntersectionWithoutInterconnect(
waies.exitWaypoint,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId],
waies.desired);
// check that the plan exists
if (!testPlan.BestOption.ToInterconnect.Equals(waies.desired) &&
testPlan.BestRouteTime < double.MaxValue - 1.0)
{
// get the desired interconnect
ArbiterInterconnect reset = testPlan.BestOption.ToInterconnect;
#region Check that the reset interconnect is feasible
// test the reset interconnect
TurnBehavior testResetTurnBehavior = this.DefaultTurnBehavior(reset);
// set to ignore all vehicles
testResetTurnBehavior.VehiclesToIgnore = new List <int>(new int[] { -1 });
// check if we have completed
CompletionReport turnResetCompletionReport;
bool completedResetTest = CoreCommon.Communications.TestExecute(testResetTurnBehavior, out turnResetCompletionReport);
// check to see if this is feasible
if (completedResetTest && turnResetCompletionReport is SuccessCompletionReport && reset.Blockage.ProbabilityExists < 0.95)
{
// notify
ArbiterOutput.Output("Found clear interconnect: " + reset.ToString() + " adding blockage to current interconnect: " + waies.desired.ToString());
// set the interconnect as being blocked
CoreCommon.Navigation.AddInterconnectBlockage(waies.desired);
// reset all
waies.desired = reset;
waies.turnTestState = TurnTestState.Completed;
waies.saudi = SAUDILevel.None;
waies.useTurnBounds = true;
IntersectionMonitor.ResetDesired(reset);
}
#endregion
#region No Lane Bounds
// otherwise try without lane bounds
else
{
// notify
ArbiterOutput.Output("Had to fallout to using no turn bounds");
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Completed;
waies.useTurnBounds = false;
}
#endregion
}
#region No Lane Bounds
// otherwise try without lane bounds
else
{
// up the saudi level, set as turn failed and no other option
waies.saudi = SAUDILevel.L1;
waies.turnTestState = TurnTestState.Unknown;
waies.useTurnBounds = false;
}
#endregion
}
#endregion
// want to reset ourselves
return(new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
}
#endregion
#region Entry Monitor Blocked
// checks the entry monitor vehicle for failure
if (IntersectionMonitor != null && IntersectionMonitor.EntryAreaMonitor != null &&
IntersectionMonitor.EntryAreaMonitor.Vehicle != null && IntersectionMonitor.EntryAreaMonitor.Failed)
{
ArbiterOutput.Output("Entry area blocked");
// get an intersection plan without this interconnect
IntersectionPlan testPlan = CoreCommon.Navigation.PlanIntersectionWithoutInterconnect(
waies.exitWaypoint,
CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId],
waies.desired,
true);
// check that the plan exists
if (!testPlan.BestOption.ToInterconnect.Equals(waies.desired) &&
testPlan.BestRouteTime < double.MaxValue - 1.0)
{
// get the desired interconnect
ArbiterInterconnect reset = testPlan.BestOption.ToInterconnect;
#region Check that the reset interconnect is feasible
// test the reset interconnect
TurnBehavior testResetTurnBehavior = this.DefaultTurnBehavior(reset);
// set to ignore all vehicles
testResetTurnBehavior.VehiclesToIgnore = new List <int>(new int[] { -1 });
// check if we have completed
CompletionReport turnResetCompletionReport;
bool completedResetTest = CoreCommon.Communications.TestExecute(testResetTurnBehavior, out turnResetCompletionReport);
// check to see if this is feasible
if (reset.TurnDirection == ArbiterTurnDirection.UTurn || (completedResetTest && turnResetCompletionReport is SuccessCompletionReport && reset.Blockage.ProbabilityExists < 0.95))
{
// notify
ArbiterOutput.Output("Found clear interconnect: " + reset.ToString() + " adding blockage to all possible turns into final");
// set all the interconnects to the final as being blocked
if (((ITraversableWaypoint)waies.desired.FinalGeneric).IsEntry)
{
foreach (ArbiterInterconnect toBlock in ((ITraversableWaypoint)waies.desired.FinalGeneric).Entries)
{
CoreCommon.Navigation.AddInterconnectBlockage(toBlock);
}
}
// check if exists previous partition to block
if (waies.desired.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finWaypoint = (ArbiterWaypoint)waies.desired.FinalGeneric;
if (finWaypoint.PreviousPartition != null)
{
CoreCommon.Navigation.AddBlockage(finWaypoint.PreviousPartition, finWaypoint.Position, false);
}
}
// reset all
waies.desired = reset;
waies.turnTestState = TurnTestState.Completed;
waies.saudi = SAUDILevel.None;
waies.useTurnBounds = true;
IntersectionMonitor.ResetDesired(reset);
// want to reset ourselves
return(new Maneuver(new HoldBrakeBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
}
else
{
ArbiterOutput.Output("Entry area blocked, but no otehr valid route found");
}
}
#endregion
// check if can traverse
if (IntersectionTactical.IntersectionMonitor == null || IntersectionTactical.IntersectionMonitor.CanTraverse(icaw, vehicleState))
{
#region If can traverse the intersection
// quick check not interconnect
if (!(icaw is ArbiterInterconnect))
{
icaw = icaw.ToInterconnect;
}
// get interconnect
ArbiterInterconnect ai = (ArbiterInterconnect)icaw;
// clear all old completion reports
CoreCommon.Communications.ClearCompletionReports();
// check if uturn
if (ai.InitialGeneric is ArbiterWaypoint && ai.FinalGeneric is ArbiterWaypoint && ai.TurnDirection == ArbiterTurnDirection.UTurn)
{
// go into turn
List <ArbiterLane> involvedLanes = new List <ArbiterLane>();
involvedLanes.Add(((ArbiterWaypoint)ai.InitialGeneric).Lane);
involvedLanes.Add(((ArbiterWaypoint)ai.FinalGeneric).Lane);
uTurnState nextState = new uTurnState(((ArbiterWaypoint)ai.FinalGeneric).Lane,
IntersectionToolkit.uTurnBounds(vehicleState, involvedLanes));
nextState.Interconnect = ai;
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return(new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
else
{
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint finalWaypoint = (ArbiterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.TurnInfo(finalWaypoint, out finalPath, out leftLL, out rightLL);
// go into turn
IState nextState = new TurnState(ai, ai.TurnDirection, finalWaypoint.Lane, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5), waies.saudi, waies.useTurnBounds);
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return(new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
else
{
// final perimeter waypoint
ArbiterPerimeterWaypoint apw = (ArbiterPerimeterWaypoint)ai.FinalGeneric;
// get turn params
LinePath finalPath;
LineList leftLL;
LineList rightLL;
IntersectionToolkit.ZoneTurnInfo(ai, apw, out finalPath, out leftLL, out rightLL);
// go into turn
IState nextState = new TurnState(ai, ai.TurnDirection, null, finalPath, leftLL, rightLL, new ScalarSpeedCommand(2.5), waies.saudi, waies.useTurnBounds);
// hold brake
Behavior b = new HoldBrakeBehavior();
// return maneuver
return(new Maneuver(b, nextState, nextState.DefaultStateDecorators, vehicleState.Timestamp));
}
}
#endregion
}
// otherwise need to wait
else
{
IState next = waies;
return(new Maneuver(new HoldBrakeBehavior(), next, next.DefaultStateDecorators, vehicleState.Timestamp));
}
}
#endregion
#region Stopping At Exit
else if (planningState is StoppingAtExitState)
{
// cast to exit stopping
StoppingAtExitState saes = (StoppingAtExitState)planningState;
saes.currentPosition = vehicleState.Front;
// get intersection plan
IntersectionPlan ip = (IntersectionPlan)navigationalPlan;
// if has an intersection
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(saes.waypoint.AreaSubtypeWaypointId))
{
// create new intersection monitor
IntersectionTactical.IntersectionMonitor = new IntersectionMonitor(
saes.waypoint,
CoreCommon.RoadNetwork.IntersectionLookup[saes.waypoint.AreaSubtypeWaypointId],
vehicleState,
ip.BestOption);
// update it
IntersectionTactical.IntersectionMonitor.Update(vehicleState);
}
else
{
IntersectionTactical.IntersectionMonitor = null;
}
// otherwise update the stop parameters
saes.currentPosition = vehicleState.Front;
Behavior b = saes.Resume(vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value);
return(new Maneuver(b, saes, saes.DefaultStateDecorators, vehicleState.Timestamp));
}
#endregion
#region In uTurn
else if (planningState is uTurnState)
{
// get state
uTurnState uts = (uTurnState)planningState;
// check if in other lane
if (CoreCommon.Communications.HasCompleted((new UTurnBehavior(null, null, null, null)).GetType()))
{
// quick check
if (uts.Interconnect != null && uts.Interconnect.FinalGeneric is ArbiterWaypoint)
{
// get the closest partition to the new lane
ArbiterLanePartition alpClose = uts.TargetLane.GetClosestPartition(vehicleState.Front);
// waypoints
ArbiterWaypoint partitionInitial = alpClose.Initial;
ArbiterWaypoint uturnEnd = (ArbiterWaypoint)uts.Interconnect.FinalGeneric;
// check initial past end
if (partitionInitial.WaypointId.Number > uturnEnd.WaypointId.Number)
{
// get waypoints inclusive
List <ArbiterWaypoint> inclusive = uts.TargetLane.WaypointsInclusive(uturnEnd, partitionInitial);
bool found = false;
// loop through
foreach (ArbiterWaypoint aw in inclusive)
{
if (!found && aw.WaypointId.Equals(CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId))
{
// notiofy
ArbiterOutput.Output("removed checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString() + " as passed over in uturn");
// remove
CoreCommon.Mission.MissionCheckpoints.Dequeue();
// set found
found = true;
}
}
}
// default check
else if (uts.Interconnect.FinalGeneric.Equals(CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId]))
{
// notiofy
ArbiterOutput.Output("removed checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().CheckpointNumber.ToString() + " as end of uturn");
// remove
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
}
// check if the uturn is for a blockage
else if (uts.Interconnect == null)
{
// get final lane
ArbiterLane targetLane = uts.TargetLane;
// check has opposing
if (targetLane.Way.Segment.Lanes.Count > 1)
{
// check the final checkpoint is in our lane
if (CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.AreaSubtypeId.Equals(targetLane.LaneId))
{
// check that the final checkpoint is within the uturn polygon
if (uts.Polygon != null &&
uts.Polygon.IsInside(CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId].Position))
{
// remove the checkpoint
ArbiterOutput.Output("Found checkpoint: " + CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.ToString() + " inside blockage uturn area, dequeuing");
CoreCommon.Mission.MissionCheckpoints.Dequeue();
}
}
}
}
// stay in target lane
IState nextState = new StayInLaneState(uts.TargetLane, new Probability(0.8, 0.2), true, CoreCommon.CorePlanningState);
Behavior b = new StayInLaneBehavior(uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0), new List <int>(), uts.TargetLane.LanePath(), uts.TargetLane.Width, uts.TargetLane.NumberOfLanesLeft(vehicleState.Front, true), uts.TargetLane.NumberOfLanesRight(vehicleState.Front, true));
return(new Maneuver(b, nextState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
// otherwise continue uturn
else
{
// get polygon
Polygon p = uts.Polygon;
// add polygon to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(p, ArbiterInformationDisplayObjectType.uTurnPolygon));
// check the type of uturn
if (!uts.singleLaneUturn)
{
// get ending path
LinePath endingPath = uts.TargetLane.LanePath();
// next state is current
IState nextState = uts;
// behavior
Behavior b = new UTurnBehavior(p, endingPath, uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0));
// maneuver
return(new Maneuver(b, nextState, null, vehicleState.Timestamp));
}
else
{
// get ending path
LinePath endingPath = uts.TargetLane.LanePath().Clone();
endingPath = endingPath.ShiftLateral(-2.0); //uts.TargetLane.Width);
// add polygon to observable
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(endingPath, ArbiterInformationDisplayObjectType.leftBound));
// next state is current
IState nextState = uts;
// behavior
Behavior b = new UTurnBehavior(p, endingPath, uts.TargetLane.LaneId, new ScalarSpeedCommand(2.0));
// maneuver
return(new Maneuver(b, nextState, null, vehicleState.Timestamp));
}
}
}
#endregion
#region In Turn
else if (planningState is TurnState)
{
// get state
TurnState ts = (TurnState)planningState;
// add bounds to observable
if (ts.LeftBound != null && ts.RightBound != null)
{
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(ts.LeftBound, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(ts.RightBound, ArbiterInformationDisplayObjectType.rightBound));
}
// create current turn reasoning
if (this.TurnReasoning == null)
{
this.TurnReasoning = new TurnReasoning(ts.Interconnect,
IntersectionTactical.IntersectionMonitor != null ? IntersectionTactical.IntersectionMonitor.EntryAreaMonitor : null);
}
// get primary maneuver
Maneuver primary = this.TurnReasoning.PrimaryManeuver(vehicleState, blockages, ts);
// get secondary maneuver
Maneuver?secondary = this.TurnReasoning.SecondaryManeuver(vehicleState, (IntersectionPlan)navigationalPlan);
// return the manevuer
return(secondary.HasValue ? secondary.Value : primary);
}
#endregion
#region Itnersection Startup
else if (planningState is IntersectionStartupState)
{
// state and plan
IntersectionStartupState iss = (IntersectionStartupState)planningState;
IntersectionStartupPlan isp = (IntersectionStartupPlan)navigationalPlan;
// initial path
LinePath vehiclePath = new LinePath(new Coordinates[] { vehicleState.Rear, vehicleState.Front });
List <ITraversableWaypoint> feasibleEntries = new List <ITraversableWaypoint>();
// vehicle polygon forward of us
Polygon vehicleForward = vehicleState.ForwardPolygon;
// best waypoint
ITraversableWaypoint best = null;
double bestCost = Double.MaxValue;
// given feasible choose best, no feasible choose random
if (feasibleEntries.Count == 0)
{
foreach (ITraversableWaypoint itw in iss.Intersection.AllEntries.Values)
{
if (vehicleForward.IsInside(itw.Position))
{
feasibleEntries.Add(itw);
}
}
if (feasibleEntries.Count == 0)
{
foreach (ITraversableWaypoint itw in iss.Intersection.AllEntries.Values)
{
feasibleEntries.Add(itw);
}
}
}
// get best
foreach (ITraversableWaypoint itw in feasibleEntries)
{
if (isp.NodeTimeCosts.ContainsKey(itw))
{
KeyValuePair <ITraversableWaypoint, double> lookup = new KeyValuePair <ITraversableWaypoint, double>(itw, isp.NodeTimeCosts[itw]);
if (best == null || lookup.Value < bestCost)
{
best = lookup.Key;
bestCost = lookup.Value;
}
}
}
// get something going to this waypoint
ArbiterInterconnect interconnect = null;
if (best.IsEntry)
{
ArbiterInterconnect closest = null;
double closestDistance = double.MaxValue;
foreach (ArbiterInterconnect ai in best.Entries)
{
double dist = ai.InterconnectPath.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front);
if (closest == null || dist < closestDistance)
{
closest = ai;
closestDistance = dist;
}
}
interconnect = closest;
}
else if (best is ArbiterWaypoint && ((ArbiterWaypoint)best).PreviousPartition != null)
{
interconnect = ((ArbiterWaypoint)best).PreviousPartition.ToInterconnect;
}
// get state
if (best is ArbiterWaypoint)
{
// go to this turn state
LinePath finalPath;
LineList leftBound;
LineList rightBound;
IntersectionToolkit.TurnInfo((ArbiterWaypoint)best, out finalPath, out leftBound, out rightBound);
return(new Maneuver(new HoldBrakeBehavior(), new TurnState(interconnect, interconnect.TurnDirection, ((ArbiterWaypoint)best).Lane,
finalPath, leftBound, rightBound, new ScalarSpeedCommand(2.0)), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
else
{
// go to this turn state
LinePath finalPath;
LineList leftBound;
LineList rightBound;
IntersectionToolkit.ZoneTurnInfo(interconnect, (ArbiterPerimeterWaypoint)best, out finalPath, out leftBound, out rightBound);
return(new Maneuver(new HoldBrakeBehavior(), new TurnState(interconnect, interconnect.TurnDirection, null,
finalPath, leftBound, rightBound, new ScalarSpeedCommand(2.0)), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
#endregion
#region Unknown
else
{
throw new Exception("Unknown planning state in intersection tactical plan: " + planningState.ToString());
}
#endregion
}