/// <summary>
/// Updates the montitor with the closest forward vehicle along the lane
/// </summary>
/// <param name="vehicleState"></param>
/// <param name="final"></param>
public void Update(VehicleState vehicleState, ArbiterWaypoint final, LinePath fullPath)
{
this.VehiclesToIgnore = new List <int>();
if (TacticalDirector.VehicleAreas.ContainsKey(final.Lane))
{
List <VehicleAgent> laneVehicles = TacticalDirector.VehicleAreas[final.Lane];
this.CurrentVehicle = null;
double currentDistance = Double.MaxValue;
foreach (VehicleAgent va in laneVehicles)
{
double endDistance = final.Lane.DistanceBetween(final.Position, va.ClosestPosition);
if (endDistance > 0)
{
this.VehiclesToIgnore.Add(va.VehicleId);
}
double tmpDist = endDistance;
if (tmpDist > 0 && (this.CurrentVehicle == null || tmpDist < currentDistance))
{
this.CurrentVehicle = va;
currentDistance = tmpDist;
}
}
}
else
{
this.CurrentVehicle = null;
}
}
public bool VehiclePassableInPolygon(ArbiterLane al, VehicleAgent va, Polygon p, VehicleState ourState, Polygon circ)
{
Polygon vehiclePoly = va.GetAbsolutePolygon(ourState);
vehiclePoly = Polygon.ConvexMinkowskiConvolution(circ, vehiclePoly);
List <Coordinates> pointsOutside = new List <Coordinates>();
ArbiterLanePartition alp = al.GetClosestPartition(va.ClosestPosition);
foreach (Coordinates c in vehiclePoly)
{
if (!p.IsInside(c))
{
pointsOutside.Add(c);
}
}
foreach (Coordinates m in pointsOutside)
{
foreach (Coordinates n in pointsOutside)
{
if (!m.Equals(n))
{
if (GeneralToolkit.TriangleArea(alp.Initial.Position, m, alp.Final.Position) *
GeneralToolkit.TriangleArea(alp.Initial.Position, n, alp.Final.Position) < 0)
{
return(false);
}
}
}
}
return(true);
}
/// <summary>
/// Updates the current vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
public void Update(IFQMPlanable lane, VehicleState state)
{
// get the forward path
LinePath p = lane.LanePath();
// get our position
Coordinates f = state.Front;
// get all vehicles associated with those components
List <VehicleAgent> vas = new List <VehicleAgent>();
foreach (IVehicleArea iva in lane.AreaComponents)
{
if (TacticalDirector.VehicleAreas.ContainsKey(iva))
{
vas.AddRange(TacticalDirector.VehicleAreas[iva]);
}
}
// get the closest forward of us
double minDistance = Double.MaxValue;
VehicleAgent closest = null;
// set the vehicles to ignore
this.VehiclesToIgnore = new List <int>();
// get clsoest
foreach (VehicleAgent va in vas)
{
// get position of front
Coordinates frontPos = va.ClosestPosition;
// check relatively inside
if (lane.RelativelyInside(frontPos))
{
// distance to vehicle
double frontDist = lane.DistanceBetween(f, frontPos);
// check forward of us
if (frontDist > 0)
{
// add to ignorable
this.VehiclesToIgnore.Add(va.VehicleId);
// check for closest
if (frontDist < minDistance)
{
minDistance = frontDist;
closest = va;
}
}
}
}
this.CurrentVehicle = closest;
this.currentDistance = minDistance;
}
/// <summary>
/// Resets values held over time
/// </summary>
public void Reset()
{
if (this.CurrentVehicle != null)
{
this.CurrentVehicle.Reset();
}
this.CurrentVehicle = null;
this.currentDistance = Double.MaxValue;
}
void Awake()
{
if (target == null)
{
target = transform.Find("Forklift Target");
}
if (agent == null)
{
agent = transform.Find("Forklift Agent Inference").GetComponent <VehicleAgent>();
}
}
public bool VehicleAllInsidePolygon(VehicleAgent va, Polygon p, VehicleState ourState)
{
for (int i = 0; i < va.StateMonitor.Observed.relativePoints.Length; i++)
{
Coordinates c = va.TransformCoordAbs(va.StateMonitor.Observed.relativePoints[i], ourState);
if (!p.IsInside(c))
{
return(false);
}
}
return(true);
}
private void Awake()
{
if (env == null)
{
env = GetComponentInParent <RandomEnvironment>();
}
if (agent == null)
{
agent = transform.parent.GetComponentInChildren <VehicleAgent>();
}
if (background == null)
{
background = GetComponentInChildren <Transform>();
}
// Position overview at border (in corner?)
}
public void Update(VehicleState ourState)
{
if (TacticalDirector.VehicleAreas.ContainsKey(this.finalWaypoint.Perimeter.Zone))
{
VehicleAgent closest = null;
double tmpDist = Double.MaxValue;
foreach (VehicleAgent va in TacticalDirector.VehicleAreas[this.finalWaypoint.Perimeter.Zone])
{
if (this.entryPolygon.IsInside(va.ClosestPosition))
{
double tmp = va.ClosestPosition.DistanceTo(this.finalWaypoint.Position);
if (closest == null || tmp < tmpDist)
{
tmpDist = tmp;
closest = va;
}
}
}
if (closest != null && closest.IsStopped)
{
if (this.currentVehicle == null || !this.currentVehicle.Equals(closest))
{
this.currentVehicle = closest;
this.ResetTiming();
this.failedTimer.Start();
}
else
{
this.currentVehicle = closest;
}
}
else
{
this.currentVehicle = closest;
this.ResetTiming();
}
}
else
{
this.currentVehicle = null;
this.ResetTiming();
}
}
/// <summary>
/// Updates the current vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
public void Update(ArbiterLane lane, VehicleState state)
{
// get the forward path
LinePath p = lane.LanePath().Clone();
p.Reverse();
// get our position
Coordinates f = state.Front;
// get all vehicles associated with those components
List <VehicleAgent> vas = new List <VehicleAgent>();
foreach (IVehicleArea iva in lane.AreaComponents)
{
if (TacticalDirector.VehicleAreas.ContainsKey(iva))
{
vas.AddRange(TacticalDirector.VehicleAreas[iva]);
}
}
// get the closest forward of us
double minDistance = Double.MaxValue;
VehicleAgent closest = null;
// get clsoest
foreach (VehicleAgent va in vas)
{
// get position of front
Coordinates frontPos = va.ClosestPosition;
// gets distance from other vehicle to us along the lane
double frontDist = lane.DistanceBetween(frontPos, f);
if (frontDist >= 0 && frontDist < minDistance)
{
minDistance = frontDist;
closest = va;
}
}
this.CurrentVehicle = closest;
this.currentDistance = minDistance;
}
/// <summary>
/// Helps with parameterizations for lateral reasoning
/// </summary>
/// <param name="referenceLane"></param>
/// <param name="fqmLane"></param>
/// <param name="goal"></param>
/// <param name="vehicleFront"></param>
/// <returns></returns>
public TravelingParameters ParameterizationHelper(ArbiterLane referenceLane, ArbiterLane fqmLane,
Coordinates goal, Coordinates vehicleFront, IState nextState, VehicleState state, VehicleAgent va)
{
// get traveling parameterized list
List <TravelingParameters> tps = new List <TravelingParameters>();
// get distance to the goal
double goalDistance;
double goalSpeed;
this.StoppingParams(goal, referenceLane, vehicleFront, new double[] { }, out goalSpeed, out goalDistance);
tps.Add(this.GetParameters(referenceLane, goalSpeed, goalDistance, state));
// get next stop
ArbiterWaypoint stopPoint;
double stopSpeed;
double stopDistance;
StopType stopType;
this.NextLaneStop(fqmLane, vehicleFront, new double[] { }, new List <ArbiterWaypoint>(),
out stopPoint, out stopSpeed, out stopDistance, out stopType);
this.StoppingParams(stopPoint.Position, referenceLane, vehicleFront, new double[] { },
out stopSpeed, out stopDistance);
tps.Add(this.GetParameters(referenceLane, stopSpeed, stopDistance, state));
// get vehicle
if (va != null)
{
VehicleAgent tmp = this.ForwardVehicle.CurrentVehicle;
double tmpDist = this.ForwardVehicle.currentDistance;
this.ForwardVehicle.CurrentVehicle = va;
this.ForwardVehicle.currentDistance = referenceLane.DistanceBetween(state.Front, va.ClosestPosition);
TravelingParameters tp = this.ForwardVehicle.Follow(referenceLane, state, new List <ArbiterWaypoint>());
tps.Add(tp);
this.ForwardVehicle.CurrentVehicle = tmp;
this.ForwardVehicle.currentDistance = tmpDist;
}
// parameterize
tps.Sort();
return(tps[0]);
}
/// <summary>
/// Update the rear monitor with the closest vehicle in the rear
/// </summary>
/// <param name="state"></param>
public void Update(VehicleState state)
{
// get the forward path
LinePath p = lane.LanePath();
// get our position
Coordinates f = state.Front - state.Heading.Normalize(TahoeParams.VL);
// get all vehicles associated with those components
List <VehicleAgent> vas = new List <VehicleAgent>();
foreach (IVehicleArea iva in lane.AreaComponents)
{
if (TacticalDirector.VehicleAreas.ContainsKey(iva))
{
vas.AddRange(TacticalDirector.VehicleAreas[iva]);
}
}
// get the closest forward of us
double minDistance = Double.MaxValue;
VehicleAgent closest = null;
// get clsoest
foreach (VehicleAgent va in vas)
{
// get position of front
Coordinates frontPos = va.ClosestPosition;
double frontDist = lane.DistanceBetween(f, frontPos);
if (frontDist >= 0 && frontDist < minDistance)
{
minDistance = frontDist;
closest = va;
}
}
this.CurrentVehicle = closest;
this.currentDistance = minDistance;
}
/// <summary>
/// Update the monitor
/// </summary>
public void Update()
{
// flag if vehicle exists anymore
bool contains = false;
// get updated agent form tactical direction
foreach (VehicleAgent va in TacticalDirector.ValidVehicles.Values)
{
if (this.intersectionVehicle.Equals(va))
{
Polygon vaP = va.GetAbsolutePolygon(CoreCommon.Communications.GetVehicleState());
if (this.globalMonitor.Intersection.IntersectionPolygon.IsInside(vaP))
{
this.intersectionVehicle = va;
contains = true;
}
}
}
if (contains)
{
if (this.intersectionVehicle.StateMonitor.Observed.speedValid && this.intersectionVehicle.IsStopped && !this.stopwatch.IsRunning)
{
this.ResetTimer();
this.stopwatch.Start();
}
else if (!this.intersectionVehicle.StateMonitor.Observed.speedValid ||
!this.intersectionVehicle.StateMonitor.Observed.isStopped)
{
this.ResetTimer();
}
}
else
{
this.intersectionVehicle = null;
this.ResetTimer();
}
}
// Start is called before the first frame update
protected override void Start()
{
base.Start();
robotArmAgent = GetComponentInChildren <RobotArmAgent>();
vehicleAgent = GetComponentInChildren <VehicleAgent>();
vehicleAgent.OnTargetEnter = (Transform target) => {
robotArmAgent.SetTarget(target);
};
vehicleAgent.OnTargetExit = (Transform target) => {
if (!robotArmAgent.robotArm.IsHoldingObject())
{
robotArmAgent.SetTarget(null);
}
};
robotArmAgent.OnTargetDroppedSuccessfully = (Transform target) => {
/* target.GetComponentInParent<Rigidbody>().Sleep();
* target.GetComponentInParent<Rigidbody>().transform.parent = transform;
* target.localPosition = new Vector3 (
* Random.Range (-4f, 4f),
* 0f,
* Random.Range (4f, 4f)
* ); */
};
}
// Update is called once per frame
void Update()
{
VehicleAgent vehicle = gameObject.GetComponent <VehicleAgent> ();
if (Input.GetKey(forwardKey))
{
vehicle.Accelerate();
}
if (Input.GetKey(backwardKey))
{
vehicle.Brake();
}
if (Input.GetKey(leftKey))
{
vehicle.SteerLeft();
}
if (Input.GetKey(rightKey))
{
vehicle.SteerRight();
}
}
/// <summary>
/// Gets closest vehicle on lane before either the exit or where we are clsoest
/// </summary>
/// <param name="ourState"></param>
public void Update(VehicleState ourState)
{
#region Exit Polygon
// check the exit polygon
if (exit != null)
{
// create the polygon
Polygon p = this.exitPolygon;
// closest vehicle
VehicleAgent closest = null;
double closestDist = Double.MinValue;
// check all inside the polygon
foreach (VehicleAgent va in TacticalDirector.ValidVehicles.Values)
{
// check if stopped
if (va.IsStopped) // && va.StateMonitor.Observed.speedValid)
{
// get distance to exit
double distToExit;
Coordinates c = va.ClosestPointTo(this.exit.Position, ourState, out distToExit).Value;
// check inside polygon
if (p.IsInside(c))
{
// check dist
if (closest == null || distToExit < closestDist)
{
closest = va;
closestDist = distToExit;
}
}
}
}
// check closest not null
if (closest != null)
{
// check vehicle switch
if (currentVehicle != closest)
{
this.ResetTiming();
}
// check if waiting timer not running
if (!this.waitingTimer.IsRunning)
{
this.ResetTiming();
this.waitingTimer.Start();
}
// set the new vehicle
this.currentVehicle = closest;
// return to stop update
return;
}
else
{
// check if we were waiting for something in this area
if (this.globalMonitor.PreviouslyWaiting.Contains(this))
{
// remove the previous waiting
this.globalMonitor.PreviouslyWaiting.Remove(this);
}
}
}
#endregion
#region Lane Vehicles
// get the possible vehicles that could be in this stop
if (TacticalDirector.VehicleAreas.ContainsKey(this.lane))
{
// get vehicles in the the lane of the exit
List <VehicleAgent> possibleVehicles = TacticalDirector.VehicleAreas[this.lane];
// get the point we are looking from
LinePath.PointOnPath referencePoint;
// reference from exit if exists
if (exit != null)
{
LinePath.PointOnPath pop = lane.LanePath().GetClosestPoint(exit.Position);
referencePoint = lane.LanePath().AdvancePoint(pop, 3.0);
}
// otherwise look from where we are closest
else
{
referencePoint = lane.LanePath().GetClosestPoint(ourState.Front);
}
// tmp
VehicleAgent tmp = null;
double tmpDist = Double.MaxValue;
// check over all possible vehicles in the lane
foreach (VehicleAgent possible in possibleVehicles)
{
// get vehicle point on lane
LinePath.PointOnPath vehiclePoint = lane.LanePath().GetClosestPoint(possible.ClosestPosition);
// check if the vehicle is behind the reference point
double vehicleDist = lane.LanePath().DistanceBetween(vehiclePoint, referencePoint);
// check for closest
if (vehicleDist > 0 && (tmp == null || vehicleDist < tmpDist))
{
tmp = possible;
tmpDist = vehicleDist;
}
}
// set the closest
this.currentVehicle = tmp;
}
else
{
// set the closest
this.currentVehicle = null;
}
#endregion
// reset the timing if got this far
this.ResetTiming();
}
/// <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
}
/// <summary>
/// Check if we can go
/// </summary>
/// <param name="vs"></param>
private bool CanGo(VehicleState vs)
{
#region Moving Vehicles Inside Turn
// check if we can still go through this turn
if (TacticalDirector.VehicleAreas.ContainsKey(this.turn))
{
// get the subpath of the interconnect we care about
LinePath.PointOnPath frontPos = this.turn.InterconnectPath.GetClosestPoint(vs.Front);
LinePath aiSubpath = this.turn.InterconnectPath.SubPath(frontPos, this.turn.InterconnectPath.EndPoint);
if (aiSubpath.PathLength > 4.0)
{
aiSubpath = aiSubpath.SubPath(aiSubpath.StartPoint, aiSubpath.PathLength - 2.0);
// get vehicles
List <VehicleAgent> turnVehicles = TacticalDirector.VehicleAreas[this.turn];
// loop vehicles
foreach (VehicleAgent va in turnVehicles)
{
// check if inside turn
LinePath.PointOnPath vaPop = aiSubpath.GetClosestPoint(va.ClosestPosition);
if (!va.IsStopped && this.turn.TurnPolygon.IsInside(va.ClosestPosition) && !vaPop.Equals(aiSubpath.StartPoint) && !vaPop.Equals(aiSubpath.EndPoint))
{
ArbiterOutput.Output("Vehicle seen inside our turn: " + va.ToString() + ", stopping");
return(false);
}
}
}
}
#endregion
// test if this turn is part of an intersection
if (CoreCommon.RoadNetwork.IntersectionLookup.ContainsKey(this.turn.InitialGeneric.AreaSubtypeWaypointId))
{
// intersection
ArbiterIntersection inter = CoreCommon.RoadNetwork.IntersectionLookup[this.turn.InitialGeneric.AreaSubtypeWaypointId];
// check if priority lanes exist for this interconnect
if (inter.PriorityLanes.ContainsKey(this.turn))
{
// get all the default priority lanes
List <IntersectionInvolved> priorities = inter.PriorityLanes[this.turn];
// get the subpath of the interconnect we care about
//LinePath.PointOnPath frontPos = this.turn.InterconnectPath.GetClosestPoint(vs.Front);
LinePath aiSubpath = new LinePath(new List <Coordinates>(new Coordinates[] { vs.Front, this.turn.FinalGeneric.Position })); //this.turn.InterconnectPath.SubPath(frontPos, this.turn.InterconnectPath.EndPoint);
// check if path ended
if (aiSubpath.Count < 2)
{
return(true);
}
// determine all of the new priority lanes
List <IntersectionInvolved> updatedPriorities = new List <IntersectionInvolved>();
#region Determine new priority areas given position
// loop through old priorities
foreach (IntersectionInvolved ii in priorities)
{
// check ii lane
if (ii.Area is ArbiterLane)
{
#region Lane Intersects Turn Path w/ Point of No Return
// check if the waypoint is not the last waypoint in the lane
if (ii.Exit == null || ((ArbiterWaypoint)ii.Exit).NextPartition != null)
{
// check where line intersects path
Coordinates?intersect = this.LaneIntersectsPath(ii, aiSubpath, this.turn.FinalGeneric);
// check for an intersection
if (intersect.HasValue)
{
// distance to intersection
double distanceToIntersection = (intersect.Value.DistanceTo(vs.Front) + ((ArbiterLane)ii.Area).LanePath().GetClosestPoint(vs.Front).Location.DistanceTo(vs.Front)) / 2.0;
// determine if we can stop before or after the intersection
double distanceToStoppage = RoadToolkit.DistanceToStop(CoreCommon.Communications.GetVehicleSpeed().Value);
// check dist to intersection > distance to stoppage
if (distanceToIntersection > distanceToStoppage)
{
// add updated priority
updatedPriorities.Add(new IntersectionInvolved(new ArbiterWaypoint(intersect.Value, new ArbiterWaypointId(0, ((ArbiterLane)ii.Area).LaneId)),
ii.Area, ArbiterTurnDirection.Straight));
}
else
{
ArbiterOutput.Output("Passed point of No Return for Lane: " + ii.Area.ToString());
}
}
}
#endregion
// we know there is an exit and it is the last waypoint of the segment, fuxk!
else
{
#region Turns Intersect
// get point to look at if exists
ArbiterInterconnect interconnect;
Coordinates? intersect = this.TurnIntersects(aiSubpath, ii.Exit, out interconnect);
// check for the intersect
if (intersect.HasValue)
{
ArbiterLane al = (ArbiterLane)ii.Area;
LinePath lp = al.LanePath().SubPath(al.LanePath().StartPoint, al.LanePath().GetClosestPoint(ii.Exit.Position));
lp.Add(interconnect.InterconnectPath.EndPoint.Location);
// get our time to the intersection point
//double ourTime = Math.Min(4.0, Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.001 ? aiSubpath.PathLength / 1.0 : aiSubpath.PathLength / Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value));
// get our time to the intersection point
double ourSpeed = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value);
double stoppedTime = ourSpeed < 1.0 ? 1.5 : 0.0;
double extraTime = 1.5;
double interconnectTime = aiSubpath.PathLength / this.turn.MaximumDefaultSpeed;
double ourTime = Math.Min(6.5, stoppedTime + extraTime + interconnectTime);
// get closest vehicle in that lane to the intersection
List <VehicleAgent> toLook = new List <VehicleAgent>();
if (TacticalDirector.VehicleAreas.ContainsKey(ii.Area))
{
foreach (VehicleAgent tmpVa in TacticalDirector.VehicleAreas[ii.Area])
{
double upstreamDist = al.DistanceBetween(tmpVa.ClosestPosition, ii.Exit.Position);
if (upstreamDist > 0 && tmpVa.PassedDelayedBirth)
{
toLook.Add(tmpVa);
}
}
}
if (TacticalDirector.VehicleAreas.ContainsKey(interconnect))
{
toLook.AddRange(TacticalDirector.VehicleAreas[interconnect]);
}
// check length of stuff to look at
if (toLook.Count > 0)
{
foreach (VehicleAgent va in toLook)
{
// distance along path to location of intersect
double distToIntersect = lp.DistanceBetween(lp.GetClosestPoint(va.ClosestPosition), lp.GetClosestPoint(aiSubpath.GetClosestPoint(va.ClosestPosition).Location));
double speed = va.Speed == 0.0 ? 0.01 : va.Speed;
double vaTime = distToIntersect / Math.Abs(speed);
if (vaTime > 0 && vaTime < ourTime)
{
ArbiterOutput.Output("va: " + va.ToString() + " CollisionTimer: " + vaTime.ToString("f2") + " < TimeUs: " + ourTime.ToString("F2") + ", NOGO");
return(false);
}
}
}
}
#endregion
}
}
}
#endregion
#region Updated Priority Intersection Code
// loop through updated priorities
bool updatedPrioritiesClear = true;
foreach (IntersectionInvolved ii in updatedPriorities)
{
// lane
ArbiterLane al = (ArbiterLane)ii.Area;
// get our time to the intersection point
double ourSpeed = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value);
double stoppedTime = ourSpeed < 1.0 ? 1.5 : 0.0;
double extraTime = 1.5;
double interconnectTime = aiSubpath.PathLength / this.turn.MaximumDefaultSpeed;
double ourTime = Math.Min(6.5, stoppedTime + extraTime + interconnectTime);
// double outTime = Math.Min(4.0, Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.001 ? aiSubpath.PathLength / 1.0 : aiSubpath.PathLength / Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value));
// get closest vehicle in that lane to the intersection
if (TacticalDirector.VehicleAreas.ContainsKey(ii.Area))
{
// get lane vehicles
List <VehicleAgent> vas = TacticalDirector.VehicleAreas[ii.Area];
// determine for all
VehicleAgent closestLaneVa = null;
double closestDistanceVa = Double.MaxValue;
double closestTime = Double.MaxValue;
foreach (VehicleAgent testVa in vas)
{
// check upstream
double distance = al.DistanceBetween(testVa.ClosestPosition, ii.Exit.Position);
// get speed
double speed = testVa.Speed;
double time = testVa.StateMonitor.Observed.speedValid ? distance / Math.Abs(speed) : distance / al.Way.Segment.SpeedLimits.MaximumSpeed;
// check distance > 0
if (distance > 0)
{
// check if closer or none other exists
if (closestLaneVa == null || time < closestTime)
{
closestLaneVa = testVa;
closestDistanceVa = distance;
closestTime = time;
}
}
}
// check if closest exists
if (closestLaneVa != null)
{
// set va
VehicleAgent va = closestLaneVa;
double distance = closestDistanceVa;
// check dist and birth time
if (distance > 0 && va.PassedDelayedBirth)
{
// check time
double speed = va.Speed == 0.0 ? 0.01 : va.Speed;
double time = va.StateMonitor.Observed.speedValid ? distance / Math.Abs(speed) : distance / al.Way.Segment.SpeedLimits.MaximumSpeed;
// too close
if (!al.LanePolygon.IsInside(CoreCommon.Communications.GetVehicleState().Front) &&
distance < 25 && (!va.StateMonitor.Observed.speedValid || !va.StateMonitor.Observed.isStopped) &&
CoreCommon.Communications.GetVehicleState().Front.DistanceTo(va.ClosestPosition) < 20)
{
ArbiterOutput.Output("Turn, NOGO, Lane: " + al.ToString() + " vehicle: " + va.ToString() + " possibly moving to close, stopping");
//return false;
updatedPrioritiesClear = false;
return(false);
}
else if (time > 0 && time < ourTime)
{
ArbiterOutput.Output("Turn, NOGO, Lane: " + al.ToString() + ", va: " + va.ToString() + ", stopped: " + va.IsStopped.ToString() + ", timeUs: " + ourTime.ToString("f2") + ", timeThem: " + time.ToString("f2"));
//return false;
updatedPrioritiesClear = false;
return(false);
}
else
{
ArbiterOutput.Output("Turn, CANGO, Lane: " + al.ToString() + ", va: " + va.ToString() + ", stopped: " + va.IsStopped.ToString() + ", timeUs: " + ourTime.ToString("f2") + ", timeThem: " + time.ToString("f2"));
//return true;
}
}
}
else
{
ArbiterOutput.Output("Turn, CANGO, Lane: " + al.ToString() + " has no traffic vehicles");
}
}
}
return(updatedPrioritiesClear);
#endregion
}
}
// fall through fine to go
ArbiterOutput.Output("In Turn, CAN GO, Clear of vehicles upstream");
return(true);
}
/// <summary>
/// Populates mapping of vehicles we want to track given state
/// </summary>
/// <param name="vehicles"></param>
public void PopulateValidVehicles(SceneEstimatorTrackedClusterCollection vehicles)
{
TacticalDirector.NewVehicles = new List <VehicleAgent>();
TacticalDirector.OccludedVehicles = new Dictionary <int, VehicleAgent>();
if (TacticalDirector.ValidVehicles == null)
{
TacticalDirector.ValidVehicles = new Dictionary <int, VehicleAgent>();
}
List <int> toRemove = new List <int>();
foreach (VehicleAgent va in TacticalDirector.ValidVehicles.Values)
{
bool found = false;
for (int i = 0; i < vehicles.clusters.Length; i++)
{
if (vehicles.clusters[i].id.Equals(va.VehicleId))
{
found = true;
}
}
if (!found)
{
toRemove.Add(va.VehicleId);
}
}
foreach (int r in toRemove)
{
TacticalDirector.ValidVehicles.Remove(r);
}
for (int i = 0; i < vehicles.clusters.Length; i++)
{
SceneEstimatorTrackedCluster ov = vehicles.clusters[i];
bool clusterStopped = ov.isStopped;
if (ov.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE ||
(ov.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_PART && !clusterStopped) ||
(ov.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_FULL && !clusterStopped))
{
if (ov.targetClass == SceneEstimatorTargetClass.TARGET_CLASS_CARLIKE)
{
if (TacticalDirector.ValidVehicles.ContainsKey(ov.id))
{
TacticalDirector.ValidVehicles[ov.id].StateMonitor.Observed = ov;
}
else
{
VehicleAgent ovNew = new VehicleAgent(ov);
TacticalDirector.ValidVehicles.Add(ovNew.VehicleId, ovNew);
TacticalDirector.NewVehicles.Add(ovNew);
}
}
else
{
if (TacticalDirector.ValidVehicles.ContainsKey(ov.id))
{
TacticalDirector.ValidVehicles.Remove(ov.id);
}
}
}
else
{
if (TacticalDirector.ValidVehicles.ContainsKey(ov.id))
{
TacticalDirector.ValidVehicles.Remove(ov.id);
}
}
if ((ov.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_PART && clusterStopped) ||
(ov.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_FULL && clusterStopped))
{
TacticalDirector.OccludedVehicles.Add(ov.id, new VehicleAgent(ov));
}
}
}
void Start()
{
vehicle = gameObject.GetComponent <VehicleAgent>();
}
// Use this for initialization
void Awake()
{
vehicle = gameObject.GetComponent <VehicleAgent>();
navigator = gameObject.GetComponent <NavigationAgent>();
}
/// <summary>
/// Updates this monitor
/// </summary>
public void Update(VehicleState ourState)
{
// make sure not our vehicle
if (!isOurs)
{
// get a list of vehicles possibly in the exit
List <VehicleAgent> stopVehicles = new List <VehicleAgent>();
// check all valid vehicles
foreach (VehicleAgent va in TacticalDirector.ValidVehicles.Values)
{
// check if any of the point inside the polygon
for (int i = 0; i < va.StateMonitor.Observed.relativePoints.Length; i++)
{
// get abs coord
Coordinates c = va.TransformCoordAbs(va.StateMonitor.Observed.relativePoints[i], ourState);
// check if inside poly
if (this.stoppedExit.ExitPolygon.IsInside(c) && !stopVehicles.Contains(va))
{
// add vehicle
stopVehicles.Add(va);
}
}
}
// check occluded
foreach (VehicleAgent va in TacticalDirector.OccludedVehicles.Values)
{
// check if any of the point inside the polygon
for (int i = 0; i < va.StateMonitor.Observed.relativePoints.Length; i++)
{
// get abs coord
Coordinates c = va.TransformCoordAbs(va.StateMonitor.Observed.relativePoints[i], ourState);
// check if inside poly
if (this.stoppedExit.ExitPolygon.IsInside(c) && !stopVehicles.Contains(va))
{
// add vehicle
ArbiterOutput.Output("Added occluded vehicle: " + va.ToString() + " to SEM: " + this.stoppedExit.ToString());
stopVehicles.Add(va);
}
}
}
// check if we already have a vehicle we are referencing
if (this.currentVehicle != null && !stopVehicles.Contains(this.currentVehicle))
{
// get the polygon of the current vehicle and inflate a tiny bit?
Polygon p = this.currentVehicle.GetAbsolutePolygon(ourState);
p = p.Inflate(1.0);
// Vehicle agent to switch to if exists
VehicleAgent newer = null;
double distance = Double.MaxValue;
// check for closest vehicle to exist in that polygon
foreach (VehicleAgent va in TacticalDirector.ValidVehicles.Values)
{
// check if vehicle is stopped
if (stopVehicles.Contains(va))
{
// get distance to stop
double stopLineDist;
va.ClosestPointTo(this.stoppedExit.Waypoint.Position, ourState, out stopLineDist);
// check all vehicle points
foreach (Coordinates rel in va.StateMonitor.Observed.relativePoints)
{
Coordinates abs = va.TransformCoordAbs(rel, ourState);
double tmpDist = stopLineDist;
// check for the clsoest with points inside vehicle
if (p.IsInside(abs) && (newer == null || tmpDist < distance))
{
newer = va;
distance = tmpDist;
}
}
}
}
// check if we can switch vehicles
if (newer != null)
{
ArbiterOutput.Output("For StopLine: " + this.stoppedExit.ToString() + " switched vehicleId: " + this.currentVehicle.VehicleId.ToString() + " for vehicleId: " + newer.VehicleId.ToString());
this.currentVehicle = newer;
this.NotFoundPrevious = notFoundDefault;
}
else if (NotFoundPrevious == 0)
{
// set this as not having a vehicle
this.currentVehicle = null;
// set not found before
this.NotFoundPrevious = this.notFoundDefault;
// stop timers
this.timer.Stop();
this.timer.Reset();
}
else
{
// set not found before
this.NotFoundPrevious--;
ArbiterOutput.Output("current not found, not found previous: " + this.NotFoundPrevious.ToString() + ", at stopped exit: " + this.stoppedExit.Waypoint.ToString());
}
}
// update the current vehicle
else if (this.currentVehicle != null && stopVehicles.Contains(this.currentVehicle))
{
// udpate current
this.currentVehicle = stopVehicles[stopVehicles.IndexOf(this.currentVehicle)];
// set as found previous
this.NotFoundPrevious = this.notFoundDefault;
// check if need to update timer
if (this.currentVehicle.IsStopped && !this.timer.IsRunning)
{
this.timer.Stop();
this.timer.Reset();
this.timer.Start();
}
// otherwise check if moving
else if (!this.currentVehicle.IsStopped && this.timer.IsRunning)
{
this.timer.Stop();
this.timer.Reset();
}
}
// otherwise if we have no vehicle and exist vehicles in stop area
else if (this.currentVehicle == null && stopVehicles.Count > 0)
{
// get closest vehicle to the stop
VehicleAgent toTrack = null;
double distance = Double.MaxValue;
// set as found previous
this.NotFoundPrevious = this.notFoundDefault;
// loop through
foreach (VehicleAgent va in stopVehicles)
{
// check if vehicle is stopped
if (va.IsStopped)
{
// distance of vehicle to stop line
double distanceToStop;
Coordinates closestToStop = va.ClosestPointTo(this.stoppedExit.Waypoint.Position, ourState, out distanceToStop).Value;
// check if we don't have one or tmp closer than tracked
if (toTrack == null || distanceToStop < distance)
{
toTrack = va;
distance = distanceToStop;
}
}
}
// check if we have one to track
if (toTrack != null)
{
this.currentVehicle = toTrack;
}
}
}
}
private void Awake()
{
_timer = new Timer(() => Time.time);
_vehicleAgent = GetComponent <VehicleAgent>();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="reason"></param>
/// <param name="forwardVehicle"></param>
public LaneChangeInformation(LaneChangeReason reason, VehicleAgent forwardVehicle)
{
this.Reason = reason;
this.ForwardVehicle = forwardVehicle;
}
/// <summary>
/// Given vehicles and there locations determines if the lane adjacent to us is occupied adjacent to the vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public bool Occupied(ArbiterLane lane, VehicleState state)
{
// check stopwatch time for proper elapsed
if (this.LateralClearStopwatch.ElapsedMilliseconds / 1000.0 > 10)
{
this.Reset();
}
if (TacticalDirector.VehicleAreas.ContainsKey(lane))
{
// vehicles in the lane
List <VehicleAgent> laneVehicles = TacticalDirector.VehicleAreas[lane];
// position of the center of our vehicle
Coordinates center = state.Front - state.Heading.Normalize(TahoeParams.VL / 2.0);
// cutoff for allowing vehicles outside this range
double dCutOff = TahoeParams.VL * 1.5;
// loop through vehicles
foreach (VehicleAgent va in laneVehicles)
{
// vehicle high level distance
double d = Math.Abs(lane.DistanceBetween(center, va.ClosestPosition));
// check less than distance cutoff
if (d < dCutOff)
{
this.Reset();
this.CurrentVehicle = va;
ArbiterOutput.Output("Opposing Lateral: " + this.VehicleSide.ToString() + " filled with vehicle: " + va.ToString());
return(true);
}
}
}
// now check the lateral sensor for being occupied
if (this.SideSickObstacleDetected(lane, state))
{
this.CurrentVehicle = new VehicleAgent(true, true);
this.Reset();
ArbiterOutput.Output("Opposing Lateral: " + this.VehicleSide.ToString() + " SIDE OBSTACLE DETECTED");
return(true);
}
// none found
this.CurrentVehicle = null;
// if none found, tiemr not running start timer
if (!this.LateralClearStopwatch.IsRunning)
{
this.Reset();
this.LateralClearStopwatch.Start();
ArbiterOutput.Output("Opposing Lateral: " + this.VehicleSide.ToString() + " Clear, starting cooldown");
return(true);
}
// enough time
else if (this.LateralClearStopwatch.IsRunning && this.LateralClearStopwatch.ElapsedMilliseconds / 1000.0 > 1.0)
{
ArbiterOutput.Output("Opposing Lateral: " + this.VehicleSide.ToString() + " Clear, cooldown complete");
return(false);
}
// not enough time
else
{
double timer = this.LateralClearStopwatch.ElapsedMilliseconds / 1000.0;
ArbiterOutput.Output("Opposing Lateral: " + this.VehicleSide.ToString() + " Clear, cooldown timer: " + timer.ToString("F2"));
return(true);
}
}
protected override void Start()
{
base.Start();
vehicleAgent = GetComponentInChildren <VehicleAgent>();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="vehicle"></param>
public IntersectionVehicleMonitor(IntersectionMonitor global, VehicleAgent vehicle)
{
this.stopwatch = new Stopwatch();
this.intersectionVehicle = vehicle;
this.globalMonitor = global;
}
public void Update(UrbanChallenge.Common.Vehicle.VehicleState ourState)
{
// get lane
ArbiterLane lane = this.turnFinalWaypoint.Lane;
// get the possible vehicles that could be in this stop
if (TacticalDirector.VehicleAreas.ContainsKey(lane))
{
// get vehicles in the the lane of the exit
List <VehicleAgent> possibleVehicles = TacticalDirector.VehicleAreas[lane];
// get the point we are looking from
LinePath.PointOnPath referencePoint = lane.LanePath().GetClosestPoint(this.turnFinalWaypoint.Position);
// tmp
VehicleAgent tmp = null;
double tmpDist = Double.MaxValue;
// check over all possible vehicles
foreach (VehicleAgent possible in possibleVehicles)
{
// get vehicle point on lane
LinePath.PointOnPath vehiclePoint = lane.LanePath().GetClosestPoint(possible.ClosestPosition);
// check if the vehicle is in front of the reference point
double vehicleDist = lane.LanePath().DistanceBetween(referencePoint, vehiclePoint);
if (vehicleDist >= 0 && vehicleDist < TahoeParams.VL * 2.0)
{
tmp = possible;
tmpDist = vehicleDist;
}
}
if (tmp != null)
{
if (this.currentVehicle == null || !this.currentVehicle.Equals(tmp))
{
this.timer.Stop();
this.timer.Reset();
this.currentVehicle = tmp;
}
else
{
this.currentVehicle = tmp;
}
if (this.currentVehicle.IsStopped && !this.timer.IsRunning)
{
this.timer.Stop();
this.timer.Reset();
this.timer.Start();
}
else if (!this.currentVehicle.IsStopped && this.timer.IsRunning)
{
this.timer.Stop();
this.timer.Reset();
}
}
else
{
this.currentVehicle = null;
this.timer.Stop();
this.timer.Reset();
}
}
else
{
this.timer.Stop();
this.timer.Reset();
this.currentVehicle = null;
}
}
/// <summary>
/// Resets values held over time
/// </summary>
public void Reset()
{
this.CurrentVehicle = null;
this.currentDistance = 0.0;
this.ResetTiming();
}