private void HandleBehavior(ZoneTravelingBehavior b) { base.HandleBaseBehavior(b); this.recommendedPath = b.RecommendedPath; Services.UIService.PushLineList(b.RecommendedPath, b.TimeStamp, "original path1", false); Services.UIService.PushLineList(null, b.TimeStamp, "original path2", false); }
public override void Initialize(Behavior b) { base.Initialize(b); Services.ObstaclePipeline.ExtraSpacing = 0.5; ZoneTravelingBehavior cb = (ZoneTravelingBehavior)b; HandleBehavior(cb); // set up a bogus speed command HandleSpeedCommand(recommendedSpeed); }
/// <summary> /// Plans over the zone /// </summary> /// <param name="planningState"></param> /// <param name="navigationalPlan"></param> /// <param name="vehicleState"></param> /// <param name="vehicles"></param> /// <param name="obstacles"></param> /// <param name="blockages"></param> /// <returns></returns> public Maneuver Plan(IState planningState, INavigationalPlan navigationalPlan, VehicleState vehicleState, SceneEstimatorTrackedClusterCollection vehicles, SceneEstimatorUntrackedClusterCollection obstacles, List <ITacticalBlockage> blockages) { #region Zone Travelling State if (planningState is ZoneTravelingState) { // check blockages /*if (blockages != null && blockages.Count > 0 && blockages[0] is ZoneBlockage) * { * // 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); * }*/ // cast state ZoneState zs = (ZoneState)planningState; // plan over state and zone ZonePlan zp = (ZonePlan)navigationalPlan; // check zone path does not exist if (zp.RecommendedPath.Count < 2) { // zone startup again ZoneStartupState zss = new ZoneStartupState(zs.Zone, true); return(new Maneuver(new HoldBrakeBehavior(), zss, TurnDecorators.NoDecorators, vehicleState.Timestamp)); } // final path seg LinePath.PointOnPath endBack = zp.RecommendedPath.AdvancePoint(zp.RecommendedPath.EndPoint, -TahoeParams.VL); LinePath lp = zp.RecommendedPath.SubPath(endBack, zp.RecommendedPath.EndPoint); LinePath lB = lp.ShiftLateral(TahoeParams.T); LinePath rB = lp.ShiftLateral(-TahoeParams.T); // add to info CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lB, ArbiterInformationDisplayObjectType.leftBound)); CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rB, ArbiterInformationDisplayObjectType.rightBound)); // get speed command ScalarSpeedCommand sc = new ScalarSpeedCommand(2.24); // Behavior Behavior b = new ZoneTravelingBehavior(zp.Zone.ZoneId, zp.Zone.Perimeter.PerimeterPolygon, zp.Zone.StayOutAreas.ToArray(), sc, zp.RecommendedPath, lB, rB); // maneuver return(new Maneuver(b, CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp)); } #endregion #region Parking State else if (planningState is ParkingState) { // get state ParkingState ps = (ParkingState)planningState; // determine stay out areas to use List <Polygon> stayOuts = new List <Polygon>(); foreach (Polygon p in ps.Zone.StayOutAreas) { if (!p.IsInside(ps.ParkingSpot.NormalWaypoint.Position) && !p.IsInside(ps.ParkingSpot.Checkpoint.Position)) { stayOuts.Add(p); } } LinePath rB = ps.ParkingSpot.GetRightBound(); LinePath lB = ps.ParkingSpot.GetLeftBound(); // add to info CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lB, ArbiterInformationDisplayObjectType.leftBound)); CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rB, ArbiterInformationDisplayObjectType.rightBound)); // create behavior ZoneParkingBehavior zpb = new ZoneParkingBehavior(ps.Zone.ZoneId, ps.Zone.Perimeter.PerimeterPolygon, stayOuts.ToArray(), new ScalarSpeedCommand(2.24), ps.ParkingSpot.GetSpotPath(), lB, rB, ps.ParkingSpot.SpotId, 1.0); // maneuver return(new Maneuver(zpb, ps, TurnDecorators.NoDecorators, vehicleState.Timestamp)); } #endregion #region Pulling Out State else if (planningState is PullingOutState) { // get state PullingOutState pos = (PullingOutState)planningState; // plan over state and zone ZonePlan zp = (ZonePlan)navigationalPlan; // final path seg Coordinates endVec = zp.RecommendedPath[0] - zp.RecommendedPath[1]; Coordinates endBack = zp.RecommendedPath[0] + endVec.Normalize(TahoeParams.VL * 2.0); LinePath rp = new LinePath(new Coordinates[] { pos.ParkingSpot.Checkpoint.Position, pos.ParkingSpot.NormalWaypoint.Position, zp.RecommendedPath[0], endBack }); LinePath lp = new LinePath(new Coordinates[] { zp.RecommendedPath[0], endBack }); LinePath lB = lp.ShiftLateral(TahoeParams.T * 2.0); LinePath rB = lp.ShiftLateral(-TahoeParams.T * 2.0); // add to info CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lB, ArbiterInformationDisplayObjectType.leftBound)); CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rB, ArbiterInformationDisplayObjectType.rightBound)); CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rp, ArbiterInformationDisplayObjectType.leftBound)); // determine stay out areas to use List <Polygon> stayOuts = new List <Polygon>(); foreach (Polygon p in pos.Zone.StayOutAreas) { if (!p.IsInside(pos.ParkingSpot.NormalWaypoint.Position) && !p.IsInside(pos.ParkingSpot.Checkpoint.Position)) { stayOuts.Add(p); } } // get speed command ScalarSpeedCommand sc = new ScalarSpeedCommand(2.24); // Behavior Behavior b = new ZoneParkingPullOutBehavior(zp.Zone.ZoneId, zp.Zone.Perimeter.PerimeterPolygon, stayOuts.ToArray(), sc, pos.ParkingSpot.GetSpotPath(), pos.ParkingSpot.GetLeftBound(), pos.ParkingSpot.GetRightBound(), pos.ParkingSpot.SpotId, rp, lB, rB); // maneuver return(new Maneuver(b, pos, TurnDecorators.NoDecorators, vehicleState.Timestamp)); } #endregion #region Zone Startup State else if (planningState is ZoneStartupState) { // state ZoneStartupState zss = (ZoneStartupState)planningState; // get the zone ArbiterZone az = zss.Zone; // navigational edge INavigableNode inn = CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId]; // check over all the parking spaces foreach (ArbiterParkingSpot aps in az.ParkingSpots) { // inside both parts of spot if ((vehicleState.VehiclePolygon.IsInside(aps.NormalWaypoint.Position) && vehicleState.VehiclePolygon.IsInside(aps.Checkpoint.Position)) || (vehicleState.VehiclePolygon.IsInside(aps.NormalWaypoint.Position))) { // want to just park in it again return(new Maneuver(new HoldBrakeBehavior(), new ParkingState(az, aps), TurnDecorators.NoDecorators, vehicleState.Timestamp)); } } Polygon forwardPolygon = vehicleState.ForwardPolygon; Polygon rearPolygon = vehicleState.RearPolygon; Navigator nav = CoreCommon.Navigation; List <ZoneNavigationEdgeSort> forwardForward = new List <ZoneNavigationEdgeSort>(); List <ZoneNavigationEdgeSort> reverseReverse = new List <ZoneNavigationEdgeSort>(); List <ZoneNavigationEdgeSort> perpendicularPerpendicular = new List <ZoneNavigationEdgeSort>(); List <ZoneNavigationEdgeSort> allEdges = new List <ZoneNavigationEdgeSort>(); List <ZoneNavigationEdgeSort> allEdgesNoLimits = new List <ZoneNavigationEdgeSort>(); foreach (NavigableEdge ne in az.NavigableEdges) { if (!(ne.End is ArbiterParkingSpotWaypoint) && !(ne.Start is ArbiterParkingSpotWaypoint)) { // get distance to edge LinePath lp = new LinePath(new Coordinates[] { ne.Start.Position, ne.End.Position }); double distTmp = lp.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front); // get direction along segment DirectionAlong da = vehicleState.DirectionAlongSegment(lp); // check dist reasonable if (distTmp > TahoeParams.VL) { // zone navigation edge sort item ZoneNavigationEdgeSort znes = new ZoneNavigationEdgeSort(distTmp, ne, lp); // add to lists if (da == DirectionAlong.Forwards && (forwardPolygon.IsInside(ne.Start.Position) || forwardPolygon.IsInside(ne.End.Position))) { forwardForward.Add(znes); } /*else if (da == DirectionAlong.Perpendicular && * !(forwardPolygon.IsInside(ne.Start.Position) || forwardPolygon.IsInside(ne.End.Position)) && * !(rearPolygon.IsInside(ne.Start.Position) || rearPolygon.IsInside(ne.End.Position))) * perpendicularPerpendicular.Add(znes); * else if (rearPolygon.IsInside(ne.Start.Position) || rearPolygon.IsInside(ne.End.Position)) * reverseReverse.Add(znes);*/ // add to all edges allEdges.Add(znes); } } } // sort by distance forwardForward.Sort(); reverseReverse.Sort(); perpendicularPerpendicular.Sort(); allEdges.Sort(); ZoneNavigationEdgeSort bestZnes = null; for (int i = 0; i < allEdges.Count; i++) { // get line to initial Line toInitial = new Line(vehicleState.Front, allEdges[i].edge.Start.Position); Line toFinal = new Line(vehicleState.Front, allEdges[i].edge.End.Position); bool intersects = false; Coordinates[] interPts; foreach (Polygon sop in az.StayOutAreas) { if (!intersects && (sop.Intersect(toInitial, out interPts) && sop.Intersect(toFinal, out interPts))) { intersects = true; } } if (!intersects) { allEdges[i].zp = nav.PlanZone(az, allEdges[i].edge.End, inn); allEdges[i].zp.Time += vehicleState.Front.DistanceTo(allEdges[i].lp.GetClosestPoint(vehicleState.Front).Location) / 2.24; ZoneNavigationEdgeSort tmpZnes = allEdges[i]; if ((bestZnes == null && tmpZnes.zp.RecommendedPath.Count > 1) || (bestZnes != null && tmpZnes.zp.RecommendedPath.Count > 1 && tmpZnes.zp.Time < bestZnes.zp.Time)) { bestZnes = tmpZnes; } } if (i > allEdges.Count / 2 && bestZnes != null) { break; } } if (bestZnes != null) { ArbiterOutput.Output("Found good edge to start in zone"); return(new Maneuver(new HoldBrakeBehavior(), new ZoneOrientationState(az, bestZnes.edge), TurnDecorators.NoDecorators, vehicleState.Timestamp)); } else { ArbiterOutput.Output("Could not find good edge to start, choosing random not blocked"); List <ZoneNavigationEdgeSort> okZnes = new List <ZoneNavigationEdgeSort>(); foreach (NavigableEdge tmpOk in az.NavigableEdges) { // get line to initial LinePath edgePath = new LinePath(new Coordinates[] { tmpOk.Start.Position, tmpOk.End.Position }); double dist = edgePath.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front); ZoneNavigationEdgeSort tmpZnes = new ZoneNavigationEdgeSort(dist, tmpOk, edgePath); tmpZnes.zp = nav.PlanZone(az, tmpZnes.edge.End, inn); tmpZnes.zp.Time += vehicleState.Front.DistanceTo(tmpZnes.lp.GetClosestPoint(vehicleState.Front).Location) / 2.24; if (tmpZnes.zp.RecommendedPath.Count >= 2) { okZnes.Add(tmpZnes); } } if (okZnes.Count == 0) { okZnes = allEdges; } else { okZnes.Sort(); } // get random close edge Random rand = new Random(); int chosen = rand.Next(Math.Min(5, okZnes.Count)); // get closest edge not part of a parking spot, get on it NavigableEdge closest = okZnes[chosen].edge; //null; //double distance = Double.MaxValue; /*foreach (NavigableEdge ne in az.NavigableEdges) * { * if (!(ne.End is ArbiterParkingSpotWaypoint) && !(ne.Start is ArbiterParkingSpotWaypoint)) * { * // get distance to edge * LinePath lp = new LinePath(new Coordinates[] { ne.Start.Position, ne.End.Position }); * double distTmp = lp.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front); * if (closest == null || distTmp < distance) * { * closest = ne; * distance = distTmp; * } * } * }*/ return(new Maneuver(new HoldBrakeBehavior(), new ZoneOrientationState(az, closest), TurnDecorators.NoDecorators, vehicleState.Timestamp)); } } #endregion #region Unknown else { // non-handled state throw new ArgumentException("Unknown state", "CoreCommon.CorePlanningState"); } #endregion }