Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2026 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSLane.cpp
15 : /// @author Christian Roessel
16 : /// @author Jakob Erdmann
17 : /// @author Daniel Krajzewicz
18 : /// @author Tino Morenz
19 : /// @author Axel Wegener
20 : /// @author Michael Behrisch
21 : /// @author Christoph Sommer
22 : /// @author Mario Krumnow
23 : /// @author Leonhard Luecken
24 : /// @author Mirko Barthauer
25 : /// @date Mon, 05 Mar 2001
26 : ///
27 : // Representation of a lane in the micro simulation
28 : /****************************************************************************/
29 : #include <config.h>
30 :
31 : #include <cmath>
32 : #include <bitset>
33 : #include <iostream>
34 : #include <cassert>
35 : #include <functional>
36 : #include <algorithm>
37 : #include <iterator>
38 : #include <exception>
39 : #include <climits>
40 : #include <set>
41 : #include <utils/common/UtilExceptions.h>
42 : #include <utils/common/StdDefs.h>
43 : #include <utils/common/MsgHandler.h>
44 : #include <utils/common/ToString.h>
45 : #ifdef HAVE_FOX
46 : #include <utils/common/ScopedLocker.h>
47 : #endif
48 : #include <utils/options/OptionsCont.h>
49 : #include <utils/emissions/HelpersHarmonoise.h>
50 : #include <utils/geom/GeomHelper.h>
51 : #include <libsumo/TraCIConstants.h>
52 : #include <microsim/transportables/MSPModel.h>
53 : #include <microsim/transportables/MSTransportableControl.h>
54 : #include <microsim/traffic_lights/MSRailSignal.h>
55 : #include <microsim/traffic_lights/MSRailSignalControl.h>
56 : #include <microsim/traffic_lights/MSDriveWay.h>
57 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
58 : #include <microsim/devices/MSDevice_Taxi.h>
59 : #include <mesosim/MELoop.h>
60 : #include "MSNet.h"
61 : #include "MSVehicleType.h"
62 : #include "MSEdge.h"
63 : #include "MSEdgeControl.h"
64 : #include "MSJunction.h"
65 : #include "MSLogicJunction.h"
66 : #include "MSLink.h"
67 : #include "MSLane.h"
68 : #include "MSVehicleTransfer.h"
69 : #include "MSGlobals.h"
70 : #include "MSVehicleControl.h"
71 : #include "MSInsertionControl.h"
72 : #include "MSVehicleControl.h"
73 : #include "MSLeaderInfo.h"
74 : #include "MSVehicle.h"
75 : #include "MSStop.h"
76 :
77 : //#define DEBUG_INSERTION
78 : //#define DEBUG_PLAN_MOVE
79 : //#define DEBUG_EXEC_MOVE
80 : //#define DEBUG_CONTEXT
81 : //#define DEBUG_PARTIALS
82 : //#define DEBUG_OPPOSITE
83 : //#define DEBUG_VEHICLE_CONTAINER
84 : //#define DEBUG_COLLISIONS
85 : //#define DEBUG_JUNCTION_COLLISIONS
86 : //#define DEBUG_PEDESTRIAN_COLLISIONS
87 : //#define DEBUG_LANE_SORTER
88 : //#define DEBUG_NO_CONNECTION
89 : //#define DEBUG_SURROUNDING
90 : //#define DEBUG_EXTRAPOLATE_DEPARTPOS
91 : //#define DEBUG_ITERATOR
92 :
93 : //#define DEBUG_COND (false)
94 : //#define DEBUG_COND (true)
95 : #define DEBUG_COND (isSelected())
96 : #define DEBUG_COND2(obj) ((obj != nullptr && (obj)->isSelected()))
97 : //#define DEBUG_COND (getID() == "ego")
98 : //#define DEBUG_COND2(obj) ((obj != 0 && (obj)->getID() == "ego"))
99 : //#define DEBUG_COND2(obj) (true)
100 :
101 :
102 : // ===========================================================================
103 : // static member definitions
104 : // ===========================================================================
105 : MSLane::DictType MSLane::myDict;
106 : MSLane::CollisionAction MSLane::myCollisionAction(MSLane::COLLISION_ACTION_TELEPORT);
107 : MSLane::CollisionAction MSLane::myIntermodalCollisionAction(MSLane::COLLISION_ACTION_WARN);
108 : bool MSLane::myCheckJunctionCollisions(false);
109 : double MSLane::myCheckJunctionCollisionMinGap(0);
110 : SUMOTime MSLane::myCollisionStopTime(0);
111 : SUMOTime MSLane::myIntermodalCollisionStopTime(0);
112 : double MSLane::myCollisionMinGapFactor(1.0);
113 : bool MSLane::myExtrapolateSubstepDepart(false);
114 : std::vector<SumoRNG> MSLane::myRNGs;
115 : DepartSpeedDefinition MSLane::myDefaultDepartSpeedDefinition(DepartSpeedDefinition::DEFAULT);
116 : double MSLane::myDefaultDepartSpeed(0);
117 :
118 :
119 : // ===========================================================================
120 : // internal class method definitions
121 : // ===========================================================================
122 : void
123 1694752 : MSLane::StoringVisitor::add(const MSLane* const l) const {
124 1694752 : switch (myDomain) {
125 682563 : case libsumo::CMD_GET_VEHICLE_VARIABLE: {
126 1366812 : for (const MSVehicle* veh : l->getVehiclesSecure()) {
127 684249 : if (myShape.distance2D(veh->getPosition()) <= myRange) {
128 339666 : myObjects.insert(veh);
129 : }
130 : }
131 682738 : for (const MSBaseVehicle* veh : l->getParkingVehicles()) {
132 175 : if (myShape.distance2D(veh->getPosition()) <= myRange) {
133 35 : myObjects.insert(veh);
134 : }
135 : }
136 682563 : l->releaseVehicles();
137 : }
138 682563 : break;
139 674026 : case libsumo::CMD_GET_PERSON_VARIABLE: {
140 674026 : l->getVehiclesSecure();
141 674026 : std::vector<MSTransportable*> persons = l->getEdge().getSortedPersons(MSNet::getInstance()->getCurrentTimeStep(), true);
142 771441 : for (auto p : persons) {
143 97415 : if (myShape.distance2D(p->getPosition()) <= myRange) {
144 50854 : myObjects.insert(p);
145 : }
146 : }
147 674026 : l->releaseVehicles();
148 674026 : }
149 674026 : break;
150 271122 : case libsumo::CMD_GET_EDGE_VARIABLE: {
151 271122 : if (myShape.size() != 1 || l->getShape().distance2D(myShape[0]) <= myRange) {
152 254276 : myObjects.insert(&l->getEdge());
153 : }
154 : }
155 : break;
156 67041 : case libsumo::CMD_GET_LANE_VARIABLE: {
157 67041 : if (myShape.size() != 1 || l->getShape().distance2D(myShape[0]) <= myRange) {
158 66451 : myObjects.insert(l);
159 : }
160 : }
161 : break;
162 : default:
163 : break;
164 :
165 : }
166 1694752 : }
167 :
168 :
169 : MSLane::AnyVehicleIterator&
170 12443614851 : MSLane::AnyVehicleIterator::operator++() {
171 12443614851 : if (nextIsMyVehicles()) {
172 12065288362 : if (myI1 != myI1End) {
173 8847879571 : myI1 += myDirection;
174 3217408791 : } else if (myI3 != myI3End) {
175 3217408791 : myI3 += myDirection;
176 : }
177 : // else: already at end
178 : } else {
179 378326489 : myI2 += myDirection;
180 : }
181 : //if (DEBUG_COND2(myLane)) std::cout << SIMTIME << " AnyVehicleIterator::operator++ lane=" << myLane->getID() << " myI1=" << myI1 << " myI2=" << myI2 << "\n";
182 12443614851 : return *this;
183 : }
184 :
185 :
186 : const MSVehicle*
187 13173670664 : MSLane::AnyVehicleIterator::operator*() {
188 13173670664 : if (nextIsMyVehicles()) {
189 12787785091 : if (myI1 != myI1End) {
190 8993721305 : return myLane->myVehicles[myI1];
191 3794063786 : } else if (myI3 != myI3End) {
192 3297255101 : return myLane->myTmpVehicles[myI3];
193 : } else {
194 : assert(myI2 == myI2End);
195 : return nullptr;
196 : }
197 : } else {
198 385885573 : return myLane->myPartialVehicles[myI2];
199 : }
200 : }
201 :
202 :
203 : bool
204 25617285515 : MSLane::AnyVehicleIterator::nextIsMyVehicles() const {
205 : #ifdef DEBUG_ITERATOR
206 : if (DEBUG_COND2(myLane)) std::cout << SIMTIME << " AnyVehicleIterator::nextIsMyVehicles lane=" << myLane->getID()
207 : << " myI1=" << myI1
208 : << " myI1End=" << myI1End
209 : << " myI2=" << myI2
210 : << " myI2End=" << myI2End
211 : << " myI3=" << myI3
212 : << " myI3End=" << myI3End
213 : << "\n";
214 : #endif
215 25617285515 : if (myI1 == myI1End && myI3 == myI3End) {
216 738470416 : if (myI2 != myI2End) {
217 : return false;
218 : } else {
219 496808685 : return true; // @note. must be caught
220 : }
221 : } else {
222 24878815099 : if (myI2 == myI2End) {
223 : return true;
224 : } else {
225 7102900850 : MSVehicle* cand = myI1 == myI1End ? myLane->myTmpVehicles[myI3] : myLane->myVehicles[myI1];
226 : #ifdef DEBUG_ITERATOR
227 : if (DEBUG_COND2(myLane)) std::cout << " "
228 : << " veh1=" << cand->getID()
229 : << " isTmp=" << (myI1 == myI1End)
230 : << " veh2=" << myLane->myPartialVehicles[myI2]->getID()
231 : << " pos1=" << cand->getPositionOnLane(myLane)
232 : << " pos2=" << myLane->myPartialVehicles[myI2]->getPositionOnLane(myLane)
233 : << "\n";
234 : #endif
235 7102900850 : if (cand->getPositionOnLane() < myLane->myPartialVehicles[myI2]->getPositionOnLane(myLane)) {
236 6623807391 : return myDownstream;
237 : } else {
238 479093459 : return !myDownstream;
239 : }
240 : }
241 : }
242 : }
243 :
244 :
245 : // ===========================================================================
246 : // member method definitions
247 : // ===========================================================================
248 : #ifdef _MSC_VER
249 : #pragma warning(push)
250 : #pragma warning(disable: 4355) // mask warning about "this" in initializers
251 : #endif
252 2059754 : MSLane::MSLane(const std::string& id, double maxSpeed, double friction, double length, MSEdge* const edge,
253 : int numericalID, const PositionVector& shape, double width,
254 : SVCPermissions permissions,
255 : SVCPermissions changeLeft, SVCPermissions changeRight,
256 : int index, bool isRampAccel,
257 : const std::string& type,
258 2059754 : const PositionVector& outlineShape) :
259 : Named(id),
260 4119508 : myNumericalID(numericalID), myShape(shape), myIndex(index),
261 2059754 : myVehicles(), myLength(length), myWidth(width),
262 2059754 : myEdge(edge), myMaxSpeed(maxSpeed),
263 2059754 : myFrictionCoefficient(friction),
264 2059754 : mySpeedModified(false),
265 2059754 : myPermissions(permissions),
266 2059754 : myChangeLeft(changeLeft),
267 2059754 : myChangeRight(changeRight),
268 2059754 : myOriginalPermissions(permissions),
269 2059754 : myLogicalPredecessorLane(nullptr),
270 2059754 : myCanonicalPredecessorLane(nullptr),
271 2059754 : myCanonicalSuccessorLane(nullptr),
272 2059754 : myBruttoVehicleLengthSum(0), myNettoVehicleLengthSum(0),
273 2059754 : myBruttoVehicleLengthSumToRemove(0), myNettoVehicleLengthSumToRemove(0),
274 2059754 : myRecalculateBruttoSum(false),
275 2059754 : myLeaderInfo(width, nullptr, 0.),
276 2059754 : myFollowerInfo(width, nullptr, 0.),
277 2059754 : myLeaderInfoTime(SUMOTime_MIN),
278 2059754 : myFollowerInfoTime(SUMOTime_MIN),
279 2059754 : myLengthGeometryFactor(MAX2(POSITION_EPS, myShape.length()) / myLength), // factor should not be 0
280 2059754 : myIsRampAccel(isRampAccel),
281 2059754 : myLaneType(type),
282 2059754 : myRightSideOnEdge(0), // initialized in MSEdge::initialize
283 2059754 : myRightmostSublane(0),
284 2059754 : myNeedsCollisionCheck(false),
285 2059754 : myOpposite(nullptr),
286 2059754 : myBidiLane(nullptr),
287 : #ifdef HAVE_FOX
288 : mySimulationTask(*this, 0),
289 : #endif
290 4119508 : myStopWatch(3) {
291 : // initialized in MSEdge::initialize
292 2059754 : initRestrictions();// may be reloaded again from initialized in MSEdge::closeBuilding
293 : assert(myRNGs.size() > 0);
294 2059754 : myRNGIndex = numericalID % myRNGs.size();
295 2059754 : if (outlineShape.size() > 0) {
296 23702 : myOutlineShape = new PositionVector(outlineShape);
297 : }
298 2059754 : }
299 : #ifdef _MSC_VER
300 : #pragma warning(pop)
301 : #endif
302 :
303 :
304 5705890 : MSLane::~MSLane() {
305 4660004 : for (MSLink* const l : myLinks) {
306 2618632 : delete l;
307 : }
308 2041372 : delete myOutlineShape;
309 11830006 : }
310 :
311 :
312 : void
313 2062418 : MSLane::initRestrictions() {
314 : // simplify unit testing without MSNet instance
315 2062418 : myRestrictions = MSGlobals::gUnitTests ? nullptr : MSNet::getInstance()->getRestrictions(myEdge->getEdgeType());
316 2062418 : }
317 :
318 :
319 : void
320 2056733 : MSLane::checkBufferType() {
321 2056733 : if (MSGlobals::gNumSimThreads <= 1) {
322 : myVehBuffer.unsetCondition();
323 : // } else {
324 : // this is an idea for better memory locality, lanes with nearby numerical ids get the same rng and thus the same thread
325 : // first tests show no visible effect though
326 : // myRNGIndex = myNumericalID * myRNGs.size() / dictSize();
327 : }
328 2056733 : }
329 :
330 :
331 : void
332 2643121 : MSLane::addLink(MSLink* link) {
333 2643121 : myLinks.push_back(link);
334 2643121 : }
335 :
336 :
337 : void
338 8034 : MSLane::setOpposite(MSLane* oppositeLane) {
339 8034 : myOpposite = oppositeLane;
340 8034 : if (myOpposite != nullptr && getLength() > myOpposite->getLength()) {
341 15 : WRITE_WARNINGF(TL("Unequal lengths of neigh lane '%' and lane '%' (% != %)."), getID(), myOpposite->getID(), getLength(), myOpposite->getLength());
342 : }
343 8034 : }
344 :
345 : void
346 29072 : MSLane::setBidiLane(MSLane* bidiLane) {
347 29072 : myBidiLane = bidiLane;
348 29072 : if (myBidiLane != nullptr && getLength() > myBidiLane->getLength()) {
349 66 : if (isNormal() || MSGlobals::gUsingInternalLanes) {
350 198 : WRITE_WARNINGF(TL("Unequal lengths of bidi lane '%' and lane '%' (% != %)."), getID(), myBidiLane->getID(), getLength(), myBidiLane->getLength());
351 : }
352 : }
353 29072 : }
354 :
355 :
356 :
357 : // ------ interaction with MSMoveReminder ------
358 : void
359 2609410 : MSLane::addMoveReminder(MSMoveReminder* rem, bool addToVehicles) {
360 2609410 : myMoveReminders.push_back(rem);
361 2609410 : if (addToVehicles) {
362 2617462 : for (MSVehicle* const veh : myVehicles) {
363 15980 : veh->addReminder(rem);
364 : }
365 : }
366 : // XXX: Here, the partial occupators are ignored!? Refs. #3255
367 2609410 : }
368 :
369 :
370 : void
371 0 : MSLane::removeMoveReminder(MSMoveReminder* rem) {
372 0 : auto it = std::find(myMoveReminders.begin(), myMoveReminders.end(), rem);
373 0 : if (it != myMoveReminders.end()) {
374 0 : myMoveReminders.erase(it);
375 0 : for (MSVehicle* const veh : myVehicles) {
376 0 : veh->removeReminder(rem);
377 : }
378 : }
379 0 : }
380 :
381 :
382 : double
383 18192256 : MSLane::setPartialOccupation(MSVehicle* v) {
384 : // multithreading: there are concurrent writes to myNeedsCollisionCheck but all of them should set it to true
385 18192256 : myNeedsCollisionCheck = true; // always check
386 : #ifdef DEBUG_PARTIALS
387 : if (DEBUG_COND2(v)) {
388 : std::cout << SIMTIME << " setPartialOccupation. lane=" << getID() << " veh=" << v->getID() << "\n";
389 : }
390 : #endif
391 : // XXX update occupancy here?
392 : #ifdef HAVE_FOX
393 18192256 : ScopedLocker<> lock(myPartialOccupatorMutex, MSGlobals::gNumSimThreads > 1);
394 : #endif
395 : //assert(std::find(myPartialVehicles.begin(), myPartialVehicles.end(), v) == myPartialVehicles.end());
396 18192256 : myPartialVehicles.push_back(v);
397 20668792 : return myLength;
398 : }
399 :
400 :
401 : void
402 18192306 : MSLane::resetPartialOccupation(MSVehicle* v) {
403 : #ifdef HAVE_FOX
404 18192306 : ScopedLocker<> lock(myPartialOccupatorMutex, MSGlobals::gNumSimThreads > 1);
405 : #endif
406 : #ifdef DEBUG_PARTIALS
407 : if (DEBUG_COND2(v)) {
408 : std::cout << SIMTIME << " resetPartialOccupation. lane=" << getID() << " veh=" << v->getID() << "\n";
409 : }
410 : #endif
411 19400983 : for (VehCont::iterator i = myPartialVehicles.begin(); i != myPartialVehicles.end(); ++i) {
412 19400923 : if (v == *i) {
413 18192246 : myPartialVehicles.erase(i);
414 : // XXX update occupancy here?
415 : //std::cout << " removed from myPartialVehicles\n";
416 : return;
417 : }
418 : }
419 : // bluelight eqipped vehicle can teleport onto the intersection without using a connection
420 : assert(false || MSGlobals::gClearState || v->getLaneChangeModel().hasBlueLight());
421 : }
422 :
423 :
424 : void
425 223501 : MSLane::setManeuverReservation(MSVehicle* v) {
426 : #ifdef DEBUG_CONTEXT
427 : if (DEBUG_COND2(v)) {
428 : std::cout << SIMTIME << " setManeuverReservation. lane=" << getID() << " veh=" << v->getID() << "\n";
429 : }
430 : #endif
431 223501 : myManeuverReservations.push_back(v);
432 223501 : }
433 :
434 :
435 : void
436 223501 : MSLane::resetManeuverReservation(MSVehicle* v) {
437 : #ifdef DEBUG_CONTEXT
438 : if (DEBUG_COND2(v)) {
439 : std::cout << SIMTIME << " resetManeuverReservation(): lane=" << getID() << " veh=" << v->getID() << "\n";
440 : }
441 : #endif
442 275554 : for (VehCont::iterator i = myManeuverReservations.begin(); i != myManeuverReservations.end(); ++i) {
443 275554 : if (v == *i) {
444 223501 : myManeuverReservations.erase(i);
445 : return;
446 : }
447 : }
448 : assert(false);
449 : }
450 :
451 :
452 : // ------ Vehicle emission ------
453 : void
454 3785589 : MSLane::incorporateVehicle(MSVehicle* veh, double pos, double speed, double posLat, const MSLane::VehCont::iterator& at, MSMoveReminder::Notification notification) {
455 3785589 : myNeedsCollisionCheck = true;
456 : assert(pos <= myLength);
457 : bool wasInactive = myVehicles.size() == 0;
458 3785589 : veh->enterLaneAtInsertion(this, pos, speed, posLat, notification);
459 3785587 : if (at == myVehicles.end()) {
460 : // vehicle will be the first on the lane
461 672589 : myVehicles.push_back(veh);
462 : } else {
463 3112998 : myVehicles.insert(at, veh);
464 : }
465 3785587 : myBruttoVehicleLengthSum += veh->getVehicleType().getLengthWithGap();
466 3785587 : myNettoVehicleLengthSum += veh->getVehicleType().getLength();
467 3785587 : myEdge->markDelayed();
468 3785587 : if (wasInactive) {
469 654734 : MSNet::getInstance()->getEdgeControl().gotActive(this);
470 : }
471 3785587 : if (getBidiLane() != nullptr && (!isRailway(veh->getVClass()) || (getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
472 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
473 539 : getBidiLane()->setPartialOccupation(veh);
474 : }
475 3785587 : }
476 :
477 :
478 : bool
479 766012 : MSLane::lastInsertion(MSVehicle& veh, double mspeed, double posLat, bool patchSpeed) {
480 766012 : double pos = getLength() - POSITION_EPS;
481 766012 : MSVehicle* leader = getLastAnyVehicle();
482 : // back position of leader relative to this lane
483 : double leaderBack;
484 766012 : if (leader == nullptr) {
485 : /// look for a leaders on consecutive lanes
486 8715 : veh.setTentativeLaneAndPosition(this, pos, posLat);
487 8715 : veh.updateBestLanes(false, this);
488 8715 : std::pair<MSVehicle* const, double> leaderInfo = getLeader(&veh, pos, veh.getBestLanesContinuation(), veh.getCarFollowModel().brakeGap(mspeed));
489 8715 : leader = leaderInfo.first;
490 8715 : leaderBack = pos + leaderInfo.second + veh.getVehicleType().getMinGap();
491 : } else {
492 757297 : leaderBack = leader->getBackPositionOnLane(this);
493 : //std::cout << " leaderPos=" << leader->getPositionOnLane(this) << " leaderBack=" << leader->getBackPositionOnLane(this) << " leaderLane=" << leader->getLane()->getID() << "\n";
494 : }
495 8715 : if (leader == nullptr) {
496 : // insert at the end of this lane
497 2658 : return isInsertionSuccess(&veh, mspeed, pos, posLat, patchSpeed, MSMoveReminder::NOTIFICATION_DEPARTED);
498 : } else {
499 : // try to insert behind the leader
500 763354 : const double frontGapNeeded = veh.getCarFollowModel().getSecureGap(&veh, leader, mspeed, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel()) + veh.getVehicleType().getMinGap() + POSITION_EPS;
501 763354 : if (leaderBack >= frontGapNeeded) {
502 423076 : pos = MIN2(pos, leaderBack - frontGapNeeded);
503 423076 : bool result = isInsertionSuccess(&veh, mspeed, pos, posLat, patchSpeed, MSMoveReminder::NOTIFICATION_DEPARTED);
504 : //if (!result) std::cout << " insertLast failed for " << veh.getID() << " pos=" << pos << " leaderBack=" << leaderBack << " frontGapNeeded=" << frontGapNeeded << "\n";
505 423076 : return result;
506 : }
507 : //std::cout << " insertLast failed for " << veh.getID() << " pos=" << pos << " leaderBack=" << leaderBack << " frontGapNeeded=" << frontGapNeeded << "\n";
508 : }
509 : return false;
510 : }
511 :
512 :
513 : bool
514 568009 : MSLane::freeInsertion(MSVehicle& veh, double mspeed, double posLat,
515 : MSMoveReminder::Notification notification) {
516 : // try to insert teleporting vehicles fully on this lane
517 568009 : double maxPos = myLength;
518 568009 : if (veh.hasStops() && veh.getNextStop().edge == veh.getCurrentRouteEdge()) {
519 9008 : maxPos = MAX2(0.0, veh.getNextStop().getEndPos(veh));
520 : }
521 568009 : const double minPos = (notification == MSMoveReminder::NOTIFICATION_TELEPORT ?
522 287733 : MIN2(maxPos, veh.getVehicleType().getLength()) : 0);
523 568009 : veh.setTentativeLaneAndPosition(this, minPos, 0);
524 568009 : if (myVehicles.size() == 0) {
525 : // ensure sufficient gap to followers on predecessor lanes
526 12918 : const double backOffset = minPos - veh.getVehicleType().getLength();
527 12918 : const double missingRearGap = getMissingRearGap(&veh, backOffset, mspeed);
528 12918 : if (missingRearGap > 0) {
529 1297 : if (minPos + missingRearGap <= maxPos) {
530 : // @note. The rear gap is tailored to mspeed. If it changes due
531 : // to a leader vehicle (on subsequent lanes) insertion will
532 : // still fail. Under the right combination of acceleration and
533 : // deceleration values there might be another insertion
534 : // positions that would be successful be we do not look for it.
535 : //std::cout << SIMTIME << " freeInsertion lane=" << getID() << " veh=" << veh.getID() << " unclear @(340)\n";
536 764 : return isInsertionSuccess(&veh, mspeed, minPos + missingRearGap, posLat, true, notification);
537 : }
538 : return false;
539 : } else {
540 11621 : return isInsertionSuccess(&veh, mspeed, minPos, posLat, true, notification);
541 : }
542 :
543 : } else {
544 : // check whether the vehicle can be put behind the last one if there is such
545 555091 : const MSVehicle* const leader = myVehicles.back(); // @todo reproduction of bogus old behavior. see #1961
546 555091 : const double leaderPos = leader->getBackPositionOnLane(this);
547 555091 : const double speed = leader->getSpeed();
548 555091 : const double frontGapNeeded = veh.getCarFollowModel().getSecureGap(&veh, leader, speed, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel()) + veh.getVehicleType().getMinGap();
549 555091 : if (leaderPos >= frontGapNeeded) {
550 541463 : const double tspeed = MIN2(veh.getCarFollowModel().insertionFollowSpeed(&veh, mspeed, frontGapNeeded, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel(), leader), mspeed);
551 : // check whether we can insert our vehicle behind the last vehicle on the lane
552 541463 : if (isInsertionSuccess(&veh, tspeed, minPos, posLat, true, notification)) {
553 : //std::cout << SIMTIME << " freeInsertion lane=" << getID() << " veh=" << veh.getID() << " pos=" << minPos<< " speed=" << speed << " tspeed=" << tspeed << " frontGapNeeded=" << frontGapNeeded << " lead=" << leader->getID() << " lPos=" << leaderPos << "\n vehsOnLane=" << toString(myVehicles) << " @(358)\n";
554 : return true;
555 : }
556 : }
557 : }
558 : // go through the lane, look for free positions (starting after the last vehicle)
559 : MSLane::VehCont::iterator predIt = myVehicles.begin();
560 12673086 : while (predIt != myVehicles.end()) {
561 : // get leader (may be zero) and follower
562 : // @todo compute secure position in regard to sublane-model
563 12247954 : const MSVehicle* leader = predIt != myVehicles.end() - 1 ? *(predIt + 1) : nullptr;
564 12247954 : if (leader == nullptr && myPartialVehicles.size() > 0) {
565 69677 : leader = myPartialVehicles.front();
566 : }
567 12247954 : const MSVehicle* follower = *predIt;
568 :
569 : // patch speed if allowed
570 : double speed = mspeed;
571 12247954 : if (leader != nullptr) {
572 11889213 : speed = MIN2(leader->getSpeed(), mspeed);
573 : }
574 :
575 : // compute the space needed to not collide with leader
576 : double frontMax = maxPos;
577 : if (leader != nullptr) {
578 11889213 : double leaderRearPos = leader->getBackPositionOnLane(this);
579 11889213 : double frontGapNeeded = veh.getCarFollowModel().getSecureGap(&veh, leader, speed, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel()) + veh.getVehicleType().getMinGap();
580 11889213 : frontMax = MIN2(maxPos, leaderRearPos - frontGapNeeded);
581 : }
582 : // compute the space needed to not let the follower collide
583 12247954 : const double followPos = follower->getPositionOnLane() + follower->getVehicleType().getMinGap();
584 12247954 : const double backGapNeeded = follower->getCarFollowModel().getSecureGap(follower, &veh, follower->getSpeed(), veh.getSpeed(), veh.getCarFollowModel().getMaxDecel());
585 12247954 : const double backMin = followPos + backGapNeeded + veh.getVehicleType().getLength();
586 :
587 : // check whether there is enough room (given some extra space for rounding errors)
588 12247954 : if (frontMax > minPos && backMin + POSITION_EPS < frontMax) {
589 : // try to insert vehicle (should be always ok)
590 24531 : if (isInsertionSuccess(&veh, speed, backMin + POSITION_EPS, posLat, true, notification)) {
591 : //std::cout << SIMTIME << " freeInsertion lane=" << getID() << " veh=" << veh.getID() << " @(393)\n";
592 : return true;
593 : }
594 : }
595 : ++predIt;
596 : }
597 : // first check at lane's begin
598 : //std::cout << SIMTIME << " freeInsertion lane=" << getID() << " veh=" << veh.getID() << " fail final\n";
599 : return false;
600 : }
601 :
602 :
603 : double
604 14621429 : MSLane::getDepartSpeed(const MSVehicle& veh, bool& patchSpeed) {
605 : double speed = 0;
606 14621429 : const SUMOVehicleParameter& pars = veh.getParameter();
607 14621429 : DepartSpeedDefinition dsd = pars.departSpeedProcedure;
608 14621429 : if (dsd == DepartSpeedDefinition::DEFAULT) {
609 8123142 : dsd = myDefaultDepartSpeedDefinition;
610 8123142 : if (dsd == DepartSpeedDefinition::GIVEN) {
611 8122242 : speed = myDefaultDepartSpeed;
612 : }
613 6498287 : } else if (dsd == DepartSpeedDefinition::GIVEN) {
614 1430929 : speed = pars.departSpeed;;
615 : }
616 14621429 : switch (dsd) {
617 9553171 : case DepartSpeedDefinition::GIVEN:
618 9553171 : patchSpeed = false;
619 9553171 : break;
620 53100 : case DepartSpeedDefinition::RANDOM:
621 106200 : speed = roundDecimal(RandHelper::rand(getVehicleMaxSpeed(&veh)), gPrecisionRandom);
622 53100 : patchSpeed = true;
623 53100 : break;
624 2884116 : case DepartSpeedDefinition::MAX:
625 2884116 : speed = getVehicleMaxSpeed(&veh);
626 2884116 : patchSpeed = true;
627 2884116 : break;
628 376386 : case DepartSpeedDefinition::DESIRED:
629 376386 : speed = getVehicleMaxSpeed(&veh);
630 376386 : patchSpeed = false;
631 376386 : break;
632 184497 : case DepartSpeedDefinition::LIMIT:
633 184497 : speed = getVehicleMaxSpeed(&veh) / veh.getChosenSpeedFactor();
634 184497 : patchSpeed = false;
635 184497 : break;
636 8167 : case DepartSpeedDefinition::LAST: {
637 8167 : MSVehicle* last = getLastAnyVehicle();
638 8167 : speed = getVehicleMaxSpeed(&veh);
639 8167 : if (last != nullptr) {
640 7840 : speed = MIN2(speed, last->getSpeed());
641 7840 : patchSpeed = false;
642 : }
643 : break;
644 : }
645 1561992 : case DepartSpeedDefinition::AVG: {
646 1561992 : speed = MIN2(getVehicleMaxSpeed(&veh), getMeanSpeed());
647 1561992 : if (getLastAnyVehicle() != nullptr) {
648 1549288 : patchSpeed = false;
649 : }
650 : break;
651 : }
652 0 : case DepartSpeedDefinition::DEFAULT:
653 : default:
654 : // speed = 0 was set before
655 0 : patchSpeed = false; // @todo check
656 0 : break;
657 : }
658 14621429 : return speed;
659 : }
660 :
661 :
662 : double
663 15118707 : MSLane::getDepartPosLat(const MSVehicle& veh) {
664 15118707 : const SUMOVehicleParameter& pars = veh.getParameter();
665 15118707 : switch (pars.departPosLatProcedure) {
666 223163 : case DepartPosLatDefinition::GIVEN:
667 223163 : return pars.departPosLat;
668 : case DepartPosLatDefinition::RIGHT:
669 39911 : return -getWidth() * 0.5 + veh.getVehicleType().getWidth() * 0.5;
670 : case DepartPosLatDefinition::LEFT:
671 39727 : return getWidth() * 0.5 - veh.getVehicleType().getWidth() * 0.5;
672 : case DepartPosLatDefinition::RANDOM: {
673 247421 : const double raw = RandHelper::rand(getWidth() - veh.getVehicleType().getWidth()) - getWidth() * 0.5 + veh.getVehicleType().getWidth() * 0.5;
674 247421 : return roundDecimal(raw, gPrecisionRandom);
675 : }
676 : case DepartPosLatDefinition::CENTER:
677 : case DepartPosLatDefinition::DEFAULT:
678 : // @note:
679 : // case DepartPosLatDefinition::FREE
680 : // case DepartPosLatDefinition::RANDOM_FREE
681 : // are not handled here because they involve multiple insertion attempts
682 : default:
683 : return 0;
684 : }
685 : }
686 :
687 :
688 : bool
689 14621358 : MSLane::insertVehicle(MSVehicle& veh) {
690 : double pos = 0;
691 14621358 : bool patchSpeed = true; // whether the speed shall be adapted to infrastructure/traffic in front
692 14621358 : const SUMOVehicleParameter& pars = veh.getParameter();
693 14621358 : double speed = getDepartSpeed(veh, patchSpeed);
694 14621358 : double posLat = getDepartPosLat(veh);
695 :
696 : // determine the position
697 14621358 : switch (pars.departPosProcedure) {
698 1107003 : case DepartPosDefinition::GIVEN:
699 1107003 : pos = pars.departPos;
700 1107003 : if (pos < 0.) {
701 209055 : pos += myLength;
702 : }
703 : break;
704 243006 : case DepartPosDefinition::RANDOM:
705 243006 : pos = roundDecimal(RandHelper::rand(getLength()), gPrecisionRandom);
706 : break;
707 : case DepartPosDefinition::RANDOM_FREE: {
708 543048 : for (int i = 0; i < 10; i++) {
709 : // we will try some random positions ...
710 : pos = RandHelper::rand(getLength());
711 497349 : posLat = getDepartPosLat(veh); // could be random as well
712 497349 : if (isInsertionSuccess(&veh, speed, pos, posLat, patchSpeed, MSMoveReminder::NOTIFICATION_DEPARTED)) {
713 13038 : MSNet::getInstance()->getInsertionControl().retractDescheduleDeparture(&veh);
714 13038 : return true;
715 : }
716 : }
717 : // ... and if that doesn't work, we put the vehicle to the free position
718 45699 : bool success = freeInsertion(veh, speed, posLat);
719 45699 : if (success) {
720 10971 : MSNet::getInstance()->getInsertionControl().retractDescheduleDeparture(&veh);
721 : }
722 : return success;
723 : }
724 234577 : case DepartPosDefinition::FREE:
725 234577 : return freeInsertion(veh, speed, posLat);
726 766012 : case DepartPosDefinition::LAST:
727 766012 : return lastInsertion(veh, speed, posLat, patchSpeed);
728 3823 : case DepartPosDefinition::STOP:
729 3823 : if (veh.hasStops() && veh.getNextStop().edge == veh.getCurrentRouteEdge()) {
730 : // getLastFreePos of stopping place could return negative position to avoid blocking the stop
731 3817 : pos = MAX2(0.0, veh.getNextStop().getEndPos(veh));
732 : break;
733 : }
734 : FALLTHROUGH;
735 : case DepartPosDefinition::BASE:
736 : case DepartPosDefinition::DEFAULT:
737 : case DepartPosDefinition::SPLIT_FRONT:
738 : default:
739 12208206 : if (pars.departProcedure == DepartDefinition::SPLIT) {
740 : pos = getLength();
741 : // find the vehicle from which we are splitting off (should only be a single lane to check)
742 : AnyVehicleIterator end = anyVehiclesEnd();
743 3 : for (AnyVehicleIterator it = anyVehiclesBegin(); it != end; ++it) {
744 24 : const MSVehicle* cand = *it;
745 24 : if (cand->isStopped() && cand->getNextStopParameter()->split == veh.getID()) {
746 21 : if (pars.departPosProcedure == DepartPosDefinition::SPLIT_FRONT) {
747 3 : pos = cand->getPositionOnLane() + cand->getVehicleType().getMinGap() + veh.getLength();
748 : } else {
749 18 : pos = cand->getBackPositionOnLane() - veh.getVehicleType().getMinGap();
750 : }
751 : break;
752 : }
753 : }
754 : } else {
755 12208185 : pos = veh.basePos(myEdge);
756 : }
757 : break;
758 : }
759 : // determine the lateral position for special cases
760 13562032 : if (MSGlobals::gLateralResolution > 0) {
761 1406103 : switch (pars.departPosLatProcedure) {
762 : case DepartPosLatDefinition::RANDOM_FREE: {
763 0 : for (int i = 0; i < 10; i++) {
764 : // we will try some random positions ...
765 0 : posLat = RandHelper::rand(getWidth()) - getWidth() * 0.5;
766 0 : if (isInsertionSuccess(&veh, speed, pos, posLat, patchSpeed, MSMoveReminder::NOTIFICATION_DEPARTED)) {
767 : return true;
768 : }
769 : }
770 : FALLTHROUGH;
771 : }
772 : // no break! continue with DepartPosLatDefinition::FREE
773 : case DepartPosLatDefinition::FREE: {
774 : // systematically test all positions until a free lateral position is found
775 5790 : double posLatMin = -getWidth() * 0.5 + veh.getVehicleType().getWidth() * 0.5;
776 5790 : double posLatMax = getWidth() * 0.5 - veh.getVehicleType().getWidth() * 0.5;
777 19291 : for (posLat = posLatMin; posLat < posLatMax; posLat += MSGlobals::gLateralResolution) {
778 17275 : if (isInsertionSuccess(&veh, speed, pos, posLat, patchSpeed, MSMoveReminder::NOTIFICATION_DEPARTED)) {
779 : return true;
780 : }
781 : }
782 : return false;
783 : }
784 : default:
785 : break;
786 : }
787 : }
788 : // try to insert
789 13556242 : const bool success = isInsertionSuccess(&veh, speed, pos, posLat, patchSpeed, MSMoveReminder::NOTIFICATION_DEPARTED);
790 : #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
791 : if (DEBUG_COND2(&veh)) {
792 : std::cout << SIMTIME << " veh=" << veh.getID() << " success=" << success << " extrapolate=" << myExtrapolateSubstepDepart << " delay=" << veh.getDepartDelay() << " speed=" << speed << "\n";
793 : }
794 : #endif
795 13556239 : if (success && myExtrapolateSubstepDepart && veh.getDepartDelay() > 0) {
796 219261 : SUMOTime relevantDelay = MIN2(DELTA_T, veh.getDepartDelay());
797 : // try to compensate sub-step depart delay by moving the vehicle forward
798 219261 : speed = veh.getSpeed(); // may have been adapted in isInsertionSuccess
799 219261 : double dist = speed * STEPS2TIME(relevantDelay);
800 219261 : std::pair<MSVehicle* const, double> leaderInfo = getLeader(&veh, pos, veh.getBestLanesContinuation());
801 219261 : if (leaderInfo.first != nullptr) {
802 : MSVehicle* leader = leaderInfo.first;
803 219005 : const double frontGapNeeded = veh.getCarFollowModel().getSecureGap(&veh, leader, speed, leader->getSpeed(),
804 : leader->getCarFollowModel().getMaxDecel());
805 219005 : dist = MIN2(dist, leaderInfo.second - frontGapNeeded);
806 : }
807 219261 : if (dist > 0) {
808 213669 : veh.executeFractionalMove(dist);
809 : }
810 : }
811 : return success;
812 : }
813 :
814 :
815 : bool
816 7452066 : MSLane::checkFailure(const MSVehicle* aVehicle, double& speed, double& dist, const double nspeed, const bool patchSpeed, const std::string errorMsg, InsertionCheck check) const {
817 7452066 : if (nspeed < speed) {
818 2604434 : if (patchSpeed) {
819 630929 : speed = MIN2(nspeed, speed);
820 630929 : dist = aVehicle->getCarFollowModel().brakeGap(speed) + aVehicle->getVehicleType().getMinGap();
821 1973505 : } else if (speed > 0) {
822 1973505 : if ((aVehicle->getInsertionChecks() & (int)check) == 0) {
823 : return false;
824 : }
825 1973465 : if (MSGlobals::gEmergencyInsert) {
826 : // Check whether vehicle can stop at the given distance when applying emergency braking
827 47 : double emergencyBrakeGap = 0.5 * speed * speed / aVehicle->getCarFollowModel().getEmergencyDecel();
828 47 : if (emergencyBrakeGap <= dist) {
829 : // Vehicle may stop in time with emergency deceleration
830 : // still, emit a warning
831 141 : WRITE_WARNINGF(TL("Vehicle '%' is inserted in an emergency situation, time=%."), aVehicle->getID(), time2string(SIMSTEP));
832 47 : return false;
833 : }
834 : }
835 :
836 1973418 : if (errorMsg != "") {
837 188 : WRITE_ERRORF(TL("Vehicle '%' will not be able to depart on lane '%' with speed % (%), time=%."),
838 : aVehicle->getID(), getID(), speed, errorMsg, time2string(SIMSTEP));
839 47 : MSNet::getInstance()->getInsertionControl().descheduleDeparture(aVehicle);
840 : }
841 1973418 : return true;
842 : }
843 : }
844 : return false;
845 : }
846 :
847 :
848 : bool
849 15200499 : MSLane::isInsertionSuccess(MSVehicle* aVehicle,
850 : double speed, double pos, double posLat, bool patchSpeed,
851 : MSMoveReminder::Notification notification) {
852 15200499 : int insertionChecks = aVehicle->getInsertionChecks();
853 15200499 : if (pos < 0 || pos > myLength) {
854 : // we may not start there
855 9081 : WRITE_WARNINGF(TL("Invalid departPos % given for vehicle '%', time=%. Inserting at lane end instead."),
856 : pos, aVehicle->getID(), time2string(SIMSTEP));
857 3027 : pos = myLength;
858 : }
859 :
860 : #ifdef DEBUG_INSERTION
861 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
862 : std::cout << "\nIS_INSERTION_SUCCESS\n"
863 : << SIMTIME << " lane=" << getID()
864 : << " veh '" << aVehicle->getID()
865 : << " bestLanes=" << toString(aVehicle->getBestLanesContinuation(this))
866 : << " pos=" << pos
867 : << " speed=" << speed
868 : << " patchSpeed=" << patchSpeed
869 : << "'\n";
870 : }
871 : #endif
872 :
873 15200499 : aVehicle->setTentativeLaneAndPosition(this, pos, posLat);
874 15200499 : aVehicle->updateBestLanes(false, this);
875 : const MSCFModel& cfModel = aVehicle->getCarFollowModel();
876 15200499 : const std::vector<MSLane*>& bestLaneConts = aVehicle->getBestLanesContinuation(this);
877 : std::vector<MSLane*>::const_iterator ri = bestLaneConts.begin();
878 15200499 : double seen = getLength() - pos; // == distance from insertion position until the end of the currentLane
879 15200499 : double dist = cfModel.brakeGap(speed) + aVehicle->getVehicleType().getMinGap();
880 15200499 : const bool isRail = aVehicle->isRail();
881 15200499 : if (isRail && insertionChecks != (int)InsertionCheck::NONE
882 58972 : && aVehicle->getParameter().departProcedure != DepartDefinition::SPLIT
883 58948 : && MSRailSignalControl::isSignalized(aVehicle->getVClass())
884 15259282 : && isRailwayOrShared(myPermissions)) {
885 58655 : const MSDriveWay* dw = MSDriveWay::getDepartureDriveway(aVehicle);
886 : MSEdgeVector occupied;
887 : #ifdef DEBUG_INSERTION
888 : gDebugFlag4 = DEBUG_COND2(aVehicle) || DEBUG_COND;
889 : #endif
890 58655 : if (dw->foeDriveWayOccupied(false, aVehicle, occupied)) {
891 50226 : setParameter("insertionBlocked:" + aVehicle->getID(), dw->getID());
892 : #ifdef DEBUG_INSERTION
893 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
894 : std::cout << " foe of driveway " + dw->getID() + " has occupied edges " + toString(occupied) << "\n";
895 : }
896 : gDebugFlag4 = false;
897 : #endif
898 : return false;
899 : }
900 : #ifdef DEBUG_INSERTION
901 : gDebugFlag4 = false;
902 : #endif
903 58655 : }
904 : // do not insert if the bidirectional edge is occupied
905 15150273 : if (getBidiLane() != nullptr && isRail && getBidiLane()->getVehicleNumberWithPartials() > 0) {
906 6 : if ((insertionChecks & (int)InsertionCheck::BIDI) != 0) {
907 : #ifdef DEBUG_INSERTION
908 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
909 : std::cout << " bidi-lane occupied\n";
910 : }
911 : #endif
912 : return false;
913 : }
914 : }
915 : MSLink* firstRailSignal = nullptr;
916 : double firstRailSignalDist = -1;
917 :
918 : // before looping through the continuation lanes, check if a stop is scheduled on this lane
919 : // (the code is duplicated in the loop)
920 15150267 : if (aVehicle->hasStops()) {
921 369138 : const MSStop& nextStop = aVehicle->getNextStop();
922 369138 : if (nextStop.lane == this) {
923 155467 : std::stringstream msg;
924 : double distToStop, safeSpeed;
925 155467 : if (nextStop.pars.speed > 0) {
926 2653 : msg << "scheduled waypoint on lane '" << myID << "' too close";
927 2653 : distToStop = MAX2(0.0, nextStop.pars.startPos - pos);
928 2653 : safeSpeed = cfModel.freeSpeed(aVehicle, speed, distToStop, nextStop.pars.speed, true, MSCFModel::CalcReason::FUTURE);
929 : } else {
930 152814 : msg << "scheduled stop on lane '" << myID << "' too close";
931 152814 : distToStop = nextStop.pars.endPos - pos;
932 152814 : safeSpeed = cfModel.stopSpeed(aVehicle, speed, distToStop, MSCFModel::CalcReason::FUTURE);
933 : }
934 466384 : if (checkFailure(aVehicle, speed, dist, MAX2(0.0, safeSpeed), patchSpeed, msg.str(), InsertionCheck::STOP)) {
935 : // we may not drive with the given velocity - we cannot stop at the stop
936 : return false;
937 : }
938 155467 : }
939 : }
940 : // check leader vehicle first because it could have influenced the departSpeed (for departSpeed=avg)
941 : // get the pointer to the vehicle next in front of the given position
942 15150259 : const MSLeaderInfo leaders = getLastVehicleInformation(aVehicle, 0, pos);
943 : //if (aVehicle->getID() == "disabled") std::cout << " leaders=" << leaders.toString() << "\n";
944 15150259 : const double nspeed = safeInsertionSpeed(aVehicle, -pos, leaders, speed);
945 21977875 : if (nspeed == INVALID_SPEED || checkFailure(aVehicle, speed, dist, nspeed, patchSpeed, "", InsertionCheck::LEADER_GAP)) {
946 : // we may not drive with the given velocity - we crash into the leader
947 : #ifdef DEBUG_INSERTION
948 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
949 : std::cout << SIMTIME << " isInsertionSuccess lane=" << getID()
950 : << " veh=" << aVehicle->getID()
951 : << " pos=" << pos
952 : << " posLat=" << posLat
953 : << " patchSpeed=" << patchSpeed
954 : << " speed=" << speed
955 : << " nspeed=" << nspeed
956 : << " leaders=" << leaders.toString()
957 : << " failed (@700)!\n";
958 : }
959 : #endif
960 : return false;
961 : }
962 : #ifdef DEBUG_INSERTION
963 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
964 : std::cout << SIMTIME << " speed = " << speed << " nspeed = " << nspeed << " leaders=" << leaders.toString() << "\n";
965 : }
966 : #endif
967 :
968 4906548 : const MSRoute& r = aVehicle->getRoute();
969 4906548 : MSRouteIterator ce = r.begin();
970 : int nRouteSuccs = 1;
971 : MSLane* currentLane = this;
972 : MSLane* nextLane = this;
973 7882031 : SUMOTime arrivalTime = MSNet::getInstance()->getCurrentTimeStep() + TIME2STEPS(seen / MAX2(speed, SUMO_const_haltingSpeed));
974 5318329 : while ((seen < dist || (isRail && firstRailSignal == nullptr)) && ri != bestLaneConts.end()) {
975 : // get the next link used...
976 506083 : std::vector<MSLink*>::const_iterator link = succLinkSec(*aVehicle, nRouteSuccs, *currentLane, bestLaneConts);
977 : // get the next used lane (including internal)
978 506083 : if (currentLane->isLinkEnd(link)) {
979 21666 : if (¤tLane->getEdge() == r.getLastEdge()) {
980 : // reached the end of the route
981 10845 : if (aVehicle->getParameter().arrivalSpeedProcedure == ArrivalSpeedDefinition::GIVEN) {
982 98 : const double remaining = seen + aVehicle->getArrivalPos() - currentLane->getLength();
983 98 : const double fspeed = cfModel.freeSpeed(aVehicle, speed, remaining, aVehicle->getParameter().arrivalSpeed, true, MSCFModel::CalcReason::FUTURE);
984 196 : if (checkFailure(aVehicle, speed, dist, fspeed,
985 : patchSpeed, "arrival speed too low", InsertionCheck::ARRIVAL_SPEED)) {
986 : // we may not drive with the given velocity - we cannot match the specified arrival speed
987 : return false;
988 : }
989 : }
990 : } else {
991 : // lane does not continue
992 10821 : if (checkFailure(aVehicle, speed, dist, cfModel.insertionStopSpeed(aVehicle, speed, seen),
993 21642 : patchSpeed, "junction '" + currentLane->getEdge().getToJunction()->getID() + "' too close", InsertionCheck::JUNCTION)) {
994 : // we may not drive with the given velocity - we cannot stop at the junction
995 : return false;
996 : }
997 : }
998 : break;
999 : }
1000 484417 : if (isRail && firstRailSignal == nullptr) {
1001 : std::string constraintInfo;
1002 : bool isInsertionOrder;
1003 16761 : if (MSRailSignal::hasInsertionConstraint(*link, aVehicle, constraintInfo, isInsertionOrder)) {
1004 6216 : setParameter((isInsertionOrder ? "insertionOrder" : "insertionConstraint:")
1005 9261 : + aVehicle->getID(), constraintInfo);
1006 : #ifdef DEBUG_INSERTION
1007 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1008 : std::cout << " insertion constraint at link " << (*link)->getDescription() << " not cleared \n";
1009 : }
1010 : #endif
1011 : return false;
1012 : }
1013 : }
1014 :
1015 : // might also by a regular traffic_light instead of a rail_signal
1016 481309 : if (firstRailSignal == nullptr && (*link)->getTLLogic() != nullptr) {
1017 : firstRailSignal = *link;
1018 : firstRailSignalDist = seen;
1019 : }
1020 481309 : nextLane = (*link)->getViaLaneOrLane();
1021 481309 : if (!(*link)->opened(arrivalTime, speed, speed, aVehicle->getVehicleType().getLength(), aVehicle->getImpatience(),
1022 : cfModel.getMaxDecel(), 0, posLat, nullptr, false, aVehicle)
1023 459217 : || (*link)->railSignalWasPassed()
1024 940523 : || !(*link)->havePriority()) {
1025 : // have to stop at junction
1026 25937 : std::string errorMsg = "";
1027 25937 : const LinkState state = (*link)->getState();
1028 25937 : if (state == LINKSTATE_MINOR
1029 25937 : || state == LINKSTATE_EQUAL
1030 : || state == LINKSTATE_STOP
1031 : || state == LINKSTATE_ALLWAY_STOP) {
1032 : // no sense in trying later
1033 : errorMsg = "unpriorised junction too close";
1034 23386 : } else if ((*link)->getTLLogic() != nullptr && !(*link)->getTLLogic()->getsMajorGreen((*link)->getTLIndex())) {
1035 : // traffic light never turns 'G'?
1036 18952 : errorMsg = "tlLogic '" + (*link)->getTLLogic()->getID() + "' link " + toString((*link)->getTLIndex()) + " never switches to 'G'";
1037 : }
1038 25937 : const double laneStopOffset = MAX2(getVehicleStopOffset(aVehicle),
1039 25937 : aVehicle->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP) - (*link)->getDistToFoePedCrossing());
1040 25937 : const double remaining = seen - laneStopOffset;
1041 25937 : auto dsp = aVehicle->getParameter().departSpeedProcedure;
1042 25937 : const bool patchSpeedSpecial = patchSpeed || dsp == DepartSpeedDefinition::DESIRED || dsp == DepartSpeedDefinition::LIMIT;
1043 : // patchSpeed depends on the presence of vehicles for these procedures. We never want to abort them here
1044 25937 : if (dsp == DepartSpeedDefinition::LAST || dsp == DepartSpeedDefinition::AVG) {
1045 : errorMsg = "";
1046 : }
1047 51874 : if (checkFailure(aVehicle, speed, dist, cfModel.insertionStopSpeed(aVehicle, speed, remaining),
1048 : patchSpeedSpecial, errorMsg, InsertionCheck::JUNCTION)) {
1049 : // we may not drive with the given velocity - we cannot stop at the junction in time
1050 : #ifdef DEBUG_INSERTION
1051 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1052 : std::cout << SIMTIME << " isInsertionSuccess lane=" << getID()
1053 : << " veh=" << aVehicle->getID()
1054 : << " patchSpeed=" << patchSpeed
1055 : << " speed=" << speed
1056 : << " remaining=" << remaining
1057 : << " leader=" << currentLane->getLastVehicleInformation(aVehicle, 0, 0).toString()
1058 : << " last=" << Named::getIDSecure(getLastAnyVehicle())
1059 : << " meanSpeed=" << getMeanSpeed()
1060 : << " failed (@926)!\n";
1061 : }
1062 : #endif
1063 : return false;
1064 : }
1065 : #ifdef DEBUG_INSERTION
1066 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1067 : std::cout << "trying insertion before minor link: "
1068 : << "insertion speed = " << speed << " dist=" << dist
1069 : << "\n";
1070 : }
1071 : #endif
1072 12699 : if (seen >= aVehicle->getVehicleType().getMinGap()) {
1073 : break;
1074 : }
1075 455372 : } else if (nextLane->isInternal()) {
1076 250941 : double tmp = 0;
1077 250941 : bool dummyReq = true;
1078 : #ifdef DEBUG_INSERTION
1079 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1080 : std::cout << "checking linkLeader for lane '" << nextLane->getID() << "'\n";
1081 : gDebugFlag1 = true;
1082 : }
1083 : #endif
1084 250941 : double nSpeed = speed;
1085 250941 : aVehicle->checkLinkLeader(nextLane->getLinkCont()[0], nextLane, seen + nextLane->getLength(), nullptr, nSpeed, tmp, tmp, dummyReq);
1086 : #ifdef DEBUG_INSERTION
1087 : gDebugFlag1 = false;
1088 : #endif
1089 501882 : if (checkFailure(aVehicle, speed, dist, nSpeed, patchSpeed, "", InsertionCheck::LEADER_GAP)) {
1090 : // we may not drive with the given velocity - there is a junction leader
1091 : #ifdef DEBUG_INSERTION
1092 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1093 : std::cout << " linkLeader nSpeed=" << nSpeed << " failed (@1058)!\n";
1094 : }
1095 : #endif
1096 2907 : return false;
1097 : }
1098 : }
1099 : // check how next lane affects the journey
1100 455305 : if (nextLane != nullptr) {
1101 :
1102 : // do not insert if the bidirectional edge is occupied before a railSignal has been encountered
1103 455305 : if (firstRailSignal == nullptr && nextLane->getBidiLane() != nullptr && nextLane->getBidiLane()->getVehicleNumberWithPartials() > 0) {
1104 0 : if ((insertionChecks & (int)InsertionCheck::ONCOMING_TRAIN) != 0) {
1105 : #ifdef DEBUG_INSERTION
1106 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1107 : std::cout << " nextLane=" << nextLane->getID() << " occupiedBidi\n";
1108 : }
1109 : #endif
1110 43523 : return false;
1111 : }
1112 : }
1113 :
1114 : // check if there are stops on the next lane that should be regarded
1115 : // (this block is duplicated before the loop to deal with the insertion lane)
1116 455305 : if (aVehicle->hasStops()) {
1117 8299 : const MSStop& nextStop = aVehicle->getNextStop();
1118 8299 : if (nextStop.lane == nextLane) {
1119 531 : std::stringstream msg;
1120 531 : msg << "scheduled stop on lane '" << nextStop.lane->getID() << "' too close";
1121 531 : const double distToStop = seen + nextStop.pars.endPos;
1122 531 : if (checkFailure(aVehicle, speed, dist, cfModel.insertionStopSpeed(aVehicle, speed, distToStop),
1123 531 : patchSpeed, msg.str(), InsertionCheck::STOP)) {
1124 : // we may not drive with the given velocity - we cannot stop at the stop
1125 : return false;
1126 : }
1127 531 : }
1128 : }
1129 :
1130 : // check leader on next lane
1131 455305 : const MSLeaderInfo nextLeaders = nextLane->getLastVehicleInformation(aVehicle, 0, 0);
1132 455305 : if (nextLeaders.hasVehicles()) {
1133 160060 : const double nextLaneSpeed = nextLane->safeInsertionSpeed(aVehicle, seen, nextLeaders, speed);
1134 : #ifdef DEBUG_INSERTION
1135 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1136 : std::cout << SIMTIME << " leader on lane '" << nextLane->getID() << "': " << nextLeaders.toString() << " nspeed=" << nextLaneSpeed << "\n";
1137 : }
1138 : #endif
1139 312983 : if (nextLaneSpeed == INVALID_SPEED || checkFailure(aVehicle, speed, dist, nextLaneSpeed, patchSpeed, "", InsertionCheck::LEADER_GAP)) {
1140 : // we may not drive with the given velocity - we crash into the leader
1141 : #ifdef DEBUG_INSERTION
1142 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1143 : std::cout << " isInsertionSuccess lane=" << getID()
1144 : << " veh=" << aVehicle->getID()
1145 : << " pos=" << pos
1146 : << " posLat=" << posLat
1147 : << " patchSpeed=" << patchSpeed
1148 : << " speed=" << speed
1149 : << " nspeed=" << nextLaneSpeed
1150 : << " nextLane=" << nextLane->getID()
1151 : << " lead=" << nextLeaders.toString()
1152 : << " failed (@641)!\n";
1153 : }
1154 : #endif
1155 : return false;
1156 : }
1157 : }
1158 414285 : if (!nextLane->checkForPedestrians(aVehicle, speed, dist, -seen, patchSpeed)) {
1159 : return false;
1160 : }
1161 : // check next lane's maximum velocity
1162 414261 : const double freeSpeed = cfModel.freeSpeed(aVehicle, speed, seen, nextLane->getVehicleMaxSpeed(aVehicle), true, MSCFModel::CalcReason::FUTURE);
1163 414260 : if (freeSpeed < speed) {
1164 61412 : if (patchSpeed || aVehicle->getParameter().departSpeedProcedure != DepartSpeedDefinition::GIVEN) {
1165 61002 : speed = freeSpeed;
1166 61002 : dist = cfModel.brakeGap(speed) + aVehicle->getVehicleType().getMinGap();
1167 : } else {
1168 410 : if ((insertionChecks & (int)InsertionCheck::SPEED_LIMIT) != 0) {
1169 410 : if (!MSGlobals::gCheckRoutes) {
1170 15 : WRITE_WARNINGF(TL("Vehicle '%' is inserted too fast and will violate the speed limit on a lane '%', time=%."),
1171 : aVehicle->getID(), nextLane->getID(), time2string(SIMSTEP));
1172 : } else {
1173 : // we may not drive with the given velocity - we would be too fast on the next lane
1174 1215 : WRITE_ERRORF(TL("Vehicle '%' will not be able to depart using the given velocity (slow lane ahead), time=%."), aVehicle->getID(), time2string(SIMSTEP));
1175 405 : MSNet::getInstance()->getInsertionControl().descheduleDeparture(aVehicle);
1176 : return false;
1177 : }
1178 : }
1179 : }
1180 : }
1181 : // check traffic on next junction
1182 : // we cannot use (*link)->opened because a vehicle without priority
1183 : // may already be comitted to blocking the link and unable to stop
1184 413855 : const SUMOTime leaveTime = (*link)->getLeaveTime(arrivalTime, speed, speed, aVehicle->getVehicleType().getLength());
1185 413855 : if ((*link)->hasApproachingFoe(arrivalTime, leaveTime, speed, cfModel.getMaxDecel())) {
1186 10082 : if (checkFailure(aVehicle, speed, dist, cfModel.insertionStopSpeed(aVehicle, speed, seen), patchSpeed, "", InsertionCheck::JUNCTION)) {
1187 : // we may not drive with the given velocity - we crash at the junction
1188 : return false;
1189 : }
1190 : }
1191 447860 : arrivalTime += TIME2STEPS(nextLane->getLength() / MAX2(speed, NUMERICAL_EPS));
1192 411781 : seen += nextLane->getLength();
1193 : currentLane = nextLane;
1194 411781 : if ((*link)->getViaLane() == nullptr) {
1195 190972 : nRouteSuccs++;
1196 : ++ce;
1197 : ++ri;
1198 : }
1199 455305 : }
1200 : }
1201 :
1202 4843757 : const MSLeaderDistanceInfo& followers = getFollowersOnConsecutive(aVehicle, aVehicle->getBackPositionOnLane(), false);
1203 10325914 : for (int i = 0; i < followers.numSublanes(); ++i) {
1204 6589142 : const MSVehicle* follower = followers[i].first;
1205 6589142 : if (follower != nullptr) {
1206 1464434 : const double backGapNeeded = follower->getCarFollowModel().getSecureGap(follower, aVehicle, follower->getSpeed(), speed, cfModel.getMaxDecel());
1207 1464434 : if (followers[i].second < backGapNeeded
1208 1464434 : && ((insertionChecks & (int)InsertionCheck::FOLLOWER_GAP) != 0
1209 80 : || (followers[i].second < 0 && (insertionChecks & (int)InsertionCheck::COLLISION) != 0))) {
1210 : // too close to the follower on this lane
1211 : #ifdef DEBUG_INSERTION
1212 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1213 : std::cout << SIMTIME << " isInsertionSuccess lane=" << getID()
1214 : << " veh=" << aVehicle->getID()
1215 : << " pos=" << pos
1216 : << " posLat=" << posLat
1217 : << " speed=" << speed
1218 : << " nspeed=" << nspeed
1219 : << " follower=" << follower->getID()
1220 : << " backGapNeeded=" << backGapNeeded
1221 : << " gap=" << followers[i].second
1222 : << " failure (@719)!\n";
1223 : }
1224 : #endif
1225 1106985 : return false;
1226 : }
1227 : }
1228 : }
1229 :
1230 3736772 : if (!checkForPedestrians(aVehicle, speed, dist, pos, patchSpeed)) {
1231 : return false;
1232 : }
1233 :
1234 3736266 : MSLane* shadowLane = aVehicle->getLaneChangeModel().getShadowLane(this);
1235 : #ifdef DEBUG_INSERTION
1236 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1237 : std::cout << " shadowLane=" << Named::getIDSecure(shadowLane) << "\n";
1238 : }
1239 : #endif
1240 3736266 : if (shadowLane != nullptr) {
1241 10204 : const MSLeaderDistanceInfo& shadowFollowers = shadowLane->getFollowersOnConsecutive(aVehicle, aVehicle->getBackPositionOnLane(), false);
1242 22099 : for (int i = 0; i < shadowFollowers.numSublanes(); ++i) {
1243 12306 : const MSVehicle* follower = shadowFollowers[i].first;
1244 12306 : if (follower != nullptr) {
1245 419 : const double backGapNeeded = follower->getCarFollowModel().getSecureGap(follower, aVehicle, follower->getSpeed(), speed, cfModel.getMaxDecel());
1246 419 : if (shadowFollowers[i].second < backGapNeeded
1247 419 : && ((insertionChecks & (int)InsertionCheck::FOLLOWER_GAP) != 0
1248 0 : || (shadowFollowers[i].second < 0 && (insertionChecks & (int)InsertionCheck::COLLISION) != 0))) {
1249 : // too close to the follower on this lane
1250 : #ifdef DEBUG_INSERTION
1251 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1252 : std::cout << SIMTIME
1253 : << " isInsertionSuccess shadowlane=" << shadowLane->getID()
1254 : << " veh=" << aVehicle->getID()
1255 : << " pos=" << pos
1256 : << " posLat=" << posLat
1257 : << " speed=" << speed
1258 : << " nspeed=" << nspeed
1259 : << " follower=" << follower->getID()
1260 : << " backGapNeeded=" << backGapNeeded
1261 : << " gap=" << shadowFollowers[i].second
1262 : << " failure (@812)!\n";
1263 : }
1264 : #endif
1265 411 : return false;
1266 : }
1267 : }
1268 : }
1269 9793 : const MSLeaderInfo& ahead = shadowLane->getLastVehicleInformation(nullptr, 0, aVehicle->getPositionOnLane(), false);
1270 20720 : for (int i = 0; i < ahead.numSublanes(); ++i) {
1271 11022 : const MSVehicle* veh = ahead[i];
1272 11022 : if (veh != nullptr) {
1273 344 : const double gap = veh->getBackPositionOnLane(shadowLane) - aVehicle->getPositionOnLane() - aVehicle->getVehicleType().getMinGap();
1274 344 : const double gapNeeded = aVehicle->getCarFollowModel().getSecureGap(aVehicle, veh, speed, veh->getSpeed(), veh->getCarFollowModel().getMaxDecel());
1275 344 : if (gap < gapNeeded
1276 95 : && ((insertionChecks & (int)InsertionCheck::LEADER_GAP) != 0
1277 0 : || (gap < 0 && (insertionChecks & (int)InsertionCheck::COLLISION) != 0))) {
1278 : // too close to the shadow leader
1279 : #ifdef DEBUG_INSERTION
1280 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1281 : std::cout << SIMTIME
1282 : << " isInsertionSuccess shadowlane=" << shadowLane->getID()
1283 : << " veh=" << aVehicle->getID()
1284 : << " pos=" << pos
1285 : << " posLat=" << posLat
1286 : << " speed=" << speed
1287 : << " nspeed=" << nspeed
1288 : << " leader=" << veh->getID()
1289 : << " gapNeeded=" << gapNeeded
1290 : << " gap=" << gap
1291 : << " failure (@842)!\n";
1292 : }
1293 : #endif
1294 : return false;
1295 : }
1296 : }
1297 : }
1298 10204 : }
1299 3735760 : if (followers.numFreeSublanes() > 0) {
1300 : // check approaching vehicles to prevent rear-end collisions
1301 3516331 : const double backOffset = pos - aVehicle->getVehicleType().getLength();
1302 3516331 : const double missingRearGap = getMissingRearGap(aVehicle, backOffset, speed);
1303 3516331 : if (missingRearGap > 0
1304 0 : && (insertionChecks & (int)InsertionCheck::LEADER_GAP) != 0) {
1305 : // too close to a follower
1306 : #ifdef DEBUG_INSERTION
1307 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1308 : std::cout << SIMTIME
1309 : << " isInsertionSuccess lane=" << getID()
1310 : << " veh=" << aVehicle->getID()
1311 : << " pos=" << pos
1312 : << " posLat=" << posLat
1313 : << " speed=" << speed
1314 : << " nspeed=" << nspeed
1315 : << " missingRearGap=" << missingRearGap
1316 : << " failure (@728)!\n";
1317 : }
1318 : #endif
1319 : return false;
1320 : }
1321 : }
1322 3735760 : if (insertionChecks == (int)InsertionCheck::NONE) {
1323 2332 : speed = MAX2(0.0, speed);
1324 : }
1325 : // may got negative while adaptation
1326 3735760 : if (speed < 0) {
1327 : #ifdef DEBUG_INSERTION
1328 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1329 : std::cout << SIMTIME
1330 : << " isInsertionSuccess lane=" << getID()
1331 : << " veh=" << aVehicle->getID()
1332 : << " pos=" << pos
1333 : << " posLat=" << posLat
1334 : << " speed=" << speed
1335 : << " nspeed=" << nspeed
1336 : << " failed (@733)!\n";
1337 : }
1338 : #endif
1339 : return false;
1340 : }
1341 3735759 : const int bestLaneOffset = aVehicle->getBestLaneOffset();
1342 3735759 : const double extraReservation = aVehicle->getLaneChangeModel().getExtraReservation(bestLaneOffset);
1343 3735759 : if (extraReservation > 0) {
1344 23680 : std::stringstream msg;
1345 23680 : msg << "too many lane changes required on lane '" << myID << "'";
1346 : // we need to take into acount one extra actionStep of delay due to #3665
1347 23680 : double distToStop = aVehicle->getBestLaneDist() - pos - extraReservation - speed * aVehicle->getActionStepLengthSecs();
1348 23680 : if (distToStop >= 0) {
1349 : double stopSpeed = cfModel.stopSpeed(aVehicle, speed, distToStop, MSCFModel::CalcReason::FUTURE);
1350 : #ifdef DEBUG_INSERTION
1351 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1352 : std::cout << "\nIS_INSERTION_SUCCESS\n"
1353 : << SIMTIME << " veh=" << aVehicle->getID() << " bestLaneOffset=" << bestLaneOffset << " bestLaneDist=" << aVehicle->getBestLaneDist() << " extraReservation=" << extraReservation
1354 : << " distToStop=" << distToStop << " v=" << speed << " v2=" << stopSpeed << "\n";
1355 : }
1356 : #endif
1357 22203 : if (checkFailure(aVehicle, speed, distToStop, MAX2(0.0, stopSpeed),
1358 22203 : patchSpeed, msg.str(), InsertionCheck::LANECHANGE)) {
1359 : // we may not drive with the given velocity - we cannot reserve enough space for lane changing
1360 : return false;
1361 : }
1362 : }
1363 23680 : }
1364 : // enter
1365 3735747 : incorporateVehicle(aVehicle, pos, speed, posLat, find_if(myVehicles.begin(), myVehicles.end(), [&](MSVehicle * const v) {
1366 3196869 : return v->getPositionOnLane() >= pos;
1367 : }), notification);
1368 : #ifdef DEBUG_INSERTION
1369 : if (DEBUG_COND2(aVehicle) || DEBUG_COND) {
1370 : std::cout << SIMTIME
1371 : << " isInsertionSuccess lane=" << getID()
1372 : << " veh=" << aVehicle->getID()
1373 : << " pos=" << pos
1374 : << " posLat=" << posLat
1375 : << " speed=" << speed
1376 : << " nspeed=" << nspeed
1377 : << "\n myVehicles=" << toString(myVehicles)
1378 : << " myPartial=" << toString(myPartialVehicles)
1379 : << " myManeuverReservations=" << toString(myManeuverReservations)
1380 : << "\n success!\n";
1381 : }
1382 : #endif
1383 3735745 : if (isRail) {
1384 5301 : unsetParameter("insertionConstraint:" + aVehicle->getID());
1385 5301 : unsetParameter("insertionOrder:" + aVehicle->getID());
1386 5301 : unsetParameter("insertionBlocked:" + aVehicle->getID());
1387 : // rail_signal (not traffic_light) requires approach information for
1388 : // switching correctly at the start of the next simulation step
1389 5301 : if (firstRailSignal != nullptr && firstRailSignal->getJunction()->getType() == SumoXMLNodeType::RAIL_SIGNAL) {
1390 1718 : aVehicle->registerInsertionApproach(firstRailSignal, firstRailSignalDist);
1391 : }
1392 : }
1393 : return true;
1394 15150261 : }
1395 :
1396 :
1397 : void
1398 48304 : MSLane::forceVehicleInsertion(MSVehicle* veh, double pos, MSMoveReminder::Notification notification, double posLat) {
1399 48304 : veh->updateBestLanes(true, this);
1400 : bool dummy;
1401 48304 : const double speed = veh->hasDeparted() ? veh->getSpeed() : getDepartSpeed(*veh, dummy);
1402 48304 : incorporateVehicle(veh, pos, speed, posLat, find_if(myVehicles.begin(), myVehicles.end(), [&](MSVehicle * const v) {
1403 126047 : return v->getPositionOnLane() >= pos;
1404 : }), notification);
1405 48304 : }
1406 :
1407 :
1408 : double
1409 15310319 : MSLane::safeInsertionSpeed(const MSVehicle* veh, double seen, const MSLeaderInfo& leaders, double speed) {
1410 : double nspeed = speed;
1411 : #ifdef DEBUG_INSERTION
1412 : if (DEBUG_COND2(veh)) {
1413 : std::cout << SIMTIME << " safeInsertionSpeed veh=" << veh->getID() << " speed=" << speed << "\n";
1414 : }
1415 : #endif
1416 25733568 : for (int i = 0; i < leaders.numSublanes(); ++i) {
1417 18753029 : const MSVehicle* leader = leaders[i];
1418 18753029 : if (leader != nullptr) {
1419 16514633 : double gap = leader->getBackPositionOnLane(this) + seen - veh->getVehicleType().getMinGap();
1420 16514633 : if (leader->getLane() == getBidiLane()) {
1421 : // use distance to front position and account for movement
1422 270 : gap -= (leader->getLength() + leader->getBrakeGap(true));
1423 : }
1424 16514633 : if (gap < 0) {
1425 : #ifdef DEBUG_INSERTION
1426 : if (DEBUG_COND2(veh)) {
1427 : std::cout << " leader=" << leader->getID() << " bPos=" << leader->getBackPositionOnLane(this) << " gap=" << gap << "\n";
1428 : }
1429 : #endif
1430 8329780 : if ((veh->getInsertionChecks() & (int)InsertionCheck::COLLISION) != 0) {
1431 : return INVALID_SPEED;
1432 : } else {
1433 0 : return 0;
1434 : }
1435 : }
1436 8184853 : nspeed = MIN2(nspeed,
1437 8184853 : veh->getCarFollowModel().insertionFollowSpeed(veh, speed, gap, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel(), leader));
1438 : #ifdef DEBUG_INSERTION
1439 : if (DEBUG_COND2(veh)) {
1440 : std::cout << " leader=" << leader->getID() << " bPos=" << leader->getBackPositionOnLane(this) << " gap=" << gap << " nspeed=" << nspeed << "\n";
1441 : }
1442 : #endif
1443 : }
1444 : }
1445 : return nspeed;
1446 : }
1447 :
1448 :
1449 : // ------ Handling vehicles lapping into lanes ------
1450 : const MSLeaderInfo
1451 732848707 : MSLane::getLastVehicleInformation(const MSVehicle* ego, double latOffset, double minPos, bool allowCached) const {
1452 732848707 : if (myLeaderInfoTime < MSNet::getInstance()->getCurrentTimeStep() || ego != nullptr || minPos > 0 || !allowCached) {
1453 258282035 : MSLeaderInfo leaderTmp(myWidth, ego, latOffset);
1454 : AnyVehicleIterator last = anyVehiclesBegin();
1455 : int freeSublanes = 1; // number of sublanes for which no leader was found
1456 : //if (ego->getID() == "disabled" && SIMTIME == 58) {
1457 : // std::cout << "DEBUG\n";
1458 : //}
1459 258282035 : const MSVehicle* veh = *last;
1460 1955544051 : while (freeSublanes > 0 && veh != nullptr) {
1461 : #ifdef DEBUG_PLAN_MOVE
1462 : if (DEBUG_COND2(ego) || DEBUG_COND) {
1463 : gDebugFlag1 = true;
1464 : std::cout << " getLastVehicleInformation lane=" << getID() << " minPos=" << minPos << " veh=" << veh->getID() << " pos=" << veh->getPositionOnLane(this) << "\n";
1465 : }
1466 : #endif
1467 3392080381 : if (veh != ego && MAX2(0.0, veh->getPositionOnLane(this)) >= minPos) {
1468 269890613 : const double vehLatOffset = veh->getLatOffset(this);
1469 269890613 : freeSublanes = leaderTmp.addLeader(veh, true, vehLatOffset);
1470 : #ifdef DEBUG_PLAN_MOVE
1471 : if (DEBUG_COND2(ego) || DEBUG_COND) {
1472 : std::cout << " latOffset=" << vehLatOffset << " newLeaders=" << leaderTmp.toString() << "\n";
1473 : }
1474 : #endif
1475 : }
1476 1697262016 : veh = *(++last);
1477 : }
1478 258282035 : if (ego == nullptr && minPos == 0) {
1479 : #ifdef HAVE_FOX
1480 114928930 : ScopedLocker<> lock(myLeaderInfoMutex, MSGlobals::gNumSimThreads > 1);
1481 : #endif
1482 : // update cached value
1483 : myLeaderInfo = leaderTmp;
1484 114928930 : myLeaderInfoTime = MSNet::getInstance()->getCurrentTimeStep();
1485 : }
1486 : #ifdef DEBUG_PLAN_MOVE
1487 : //if (DEBUG_COND2(ego)) std::cout << SIMTIME
1488 : // << " getLastVehicleInformation lane=" << getID()
1489 : // << " ego=" << Named::getIDSecure(ego)
1490 : // << "\n"
1491 : // << " vehicles=" << toString(myVehicles)
1492 : // << " partials=" << toString(myPartialVehicles)
1493 : // << "\n"
1494 : // << " result=" << leaderTmp.toString()
1495 : // << " cached=" << myLeaderInfo.toString()
1496 : // << " myLeaderInfoTime=" << myLeaderInfoTime
1497 : // << "\n";
1498 : gDebugFlag1 = false;
1499 : #endif
1500 : return leaderTmp;
1501 258282035 : }
1502 : return myLeaderInfo;
1503 : }
1504 :
1505 :
1506 : const MSLeaderInfo
1507 458785758 : MSLane::getFirstVehicleInformation(const MSVehicle* ego, double latOffset, bool onlyFrontOnLane, double maxPos, bool allowCached) const {
1508 : #ifdef HAVE_FOX
1509 458785758 : ScopedLocker<> lock(myFollowerInfoMutex, MSGlobals::gNumSimThreads > 1);
1510 : #endif
1511 458785758 : if (myFollowerInfoTime < MSNet::getInstance()->getCurrentTimeStep() || ego != nullptr || maxPos < myLength || !allowCached || onlyFrontOnLane) {
1512 : // XXX separate cache for onlyFrontOnLane = true
1513 458785758 : MSLeaderInfo followerTmp(myWidth, ego, latOffset);
1514 : AnyVehicleIterator first = anyVehiclesUpstreamBegin();
1515 : int freeSublanes = 1; // number of sublanes for which no leader was found
1516 458785758 : const MSVehicle* veh = *first;
1517 729925706 : while (freeSublanes > 0 && veh != nullptr) {
1518 : #ifdef DEBUG_PLAN_MOVE
1519 : if (DEBUG_COND2(ego)) {
1520 : std::cout << " veh=" << veh->getID() << " pos=" << veh->getPositionOnLane(this) << " maxPos=" << maxPos << "\n";
1521 : }
1522 : #endif
1523 271139948 : if (veh != ego && veh->getPositionOnLane(this) <= maxPos
1524 542279896 : && (!onlyFrontOnLane || veh->isFrontOnLane(this))) {
1525 : //const double vehLatOffset = veh->getLane()->getRightSideOnEdge() - getRightSideOnEdge();
1526 247729401 : const double vehLatOffset = veh->getLatOffset(this);
1527 : #ifdef DEBUG_PLAN_MOVE
1528 : if (DEBUG_COND2(ego)) {
1529 : std::cout << " veh=" << veh->getID() << " latOffset=" << vehLatOffset << "\n";
1530 : }
1531 : #endif
1532 247729401 : freeSublanes = followerTmp.addLeader(veh, true, vehLatOffset);
1533 : }
1534 271139948 : veh = *(++first);
1535 : }
1536 458785758 : if (ego == nullptr && maxPos == std::numeric_limits<double>::max()) {
1537 : // update cached value
1538 : myFollowerInfo = followerTmp;
1539 458785758 : myFollowerInfoTime = MSNet::getInstance()->getCurrentTimeStep();
1540 : }
1541 : #ifdef DEBUG_PLAN_MOVE
1542 : //if (DEBUG_COND2(ego)) std::cout << SIMTIME
1543 : // << " getFirstVehicleInformation lane=" << getID()
1544 : // << " ego=" << Named::getIDSecure(ego)
1545 : // << "\n"
1546 : // << " vehicles=" << toString(myVehicles)
1547 : // << " partials=" << toString(myPartialVehicles)
1548 : // << "\n"
1549 : // << " result=" << followerTmp.toString()
1550 : // //<< " cached=" << myFollowerInfo.toString()
1551 : // << " myLeaderInfoTime=" << myLeaderInfoTime
1552 : // << "\n";
1553 : #endif
1554 : return followerTmp;
1555 458785758 : }
1556 : return myFollowerInfo;
1557 : }
1558 :
1559 :
1560 : // ------ ------
1561 : void
1562 100169482 : MSLane::planMovements(SUMOTime t) {
1563 : assert(myVehicles.size() != 0);
1564 : double cumulatedVehLength = 0.;
1565 100169482 : MSLeaderInfo leaders(myWidth);
1566 :
1567 : // iterate over myVehicles, myPartialVehicles, and myManeuverReservations merge-sort style
1568 : VehCont::reverse_iterator veh = myVehicles.rbegin();
1569 : VehCont::reverse_iterator vehPart = myPartialVehicles.rbegin();
1570 : VehCont::reverse_iterator vehRes = myManeuverReservations.rbegin();
1571 : #ifdef DEBUG_PLAN_MOVE
1572 : if (DEBUG_COND) std::cout
1573 : << "\n"
1574 : << SIMTIME
1575 : << " planMovements() lane=" << getID()
1576 : << "\n vehicles=" << toString(myVehicles)
1577 : << "\n partials=" << toString(myPartialVehicles)
1578 : << "\n reservations=" << toString(myManeuverReservations)
1579 : << "\n";
1580 : #endif
1581 : assert(MSGlobals::gLateralResolution || myManeuverReservations.size() == 0);
1582 803351188 : for (; veh != myVehicles.rend(); ++veh) {
1583 : #ifdef DEBUG_PLAN_MOVE
1584 : if (DEBUG_COND2((*veh))) {
1585 : std::cout << " plan move for: " << (*veh)->getID();
1586 : }
1587 : #endif
1588 703181706 : updateLeaderInfo(*veh, vehPart, vehRes, leaders); // 36ns with 8 threads, 9ns with 1
1589 : #ifdef DEBUG_PLAN_MOVE
1590 : if (DEBUG_COND2((*veh))) {
1591 : std::cout << " leaders=" << leaders.toString() << "\n";
1592 : }
1593 : #endif
1594 703181706 : (*veh)->planMove(t, leaders, cumulatedVehLength); // 4800ns with 8 threads, 3100 with 1
1595 703181706 : cumulatedVehLength += (*veh)->getVehicleType().getLengthWithGap();
1596 703181706 : leaders.addLeader(*veh, false, 0);
1597 : }
1598 100169482 : }
1599 :
1600 :
1601 : void
1602 100169482 : MSLane::setJunctionApproaches() const {
1603 803351188 : for (MSVehicle* const veh : myVehicles) {
1604 703181706 : veh->setApproachingForAllLinks();
1605 : }
1606 100169482 : }
1607 :
1608 :
1609 : void
1610 703181706 : MSLane::updateLeaderInfo(const MSVehicle* veh, VehCont::reverse_iterator& vehPart, VehCont::reverse_iterator& vehRes, MSLeaderInfo& ahead) const {
1611 : bool morePartialVehsAhead = vehPart != myPartialVehicles.rend();
1612 : bool moreReservationsAhead = vehRes != myManeuverReservations.rend();
1613 : bool nextToConsiderIsPartial;
1614 :
1615 : // Determine relevant leaders for veh
1616 713483072 : while (moreReservationsAhead || morePartialVehsAhead) {
1617 1251076 : if ((!moreReservationsAhead || (*vehRes)->getPositionOnLane(this) <= veh->getPositionOnLane())
1618 20499138 : && (!morePartialVehsAhead || (*vehPart)->getPositionOnLane(this) <= veh->getPositionOnLane())) {
1619 : // All relevant downstream vehicles have been collected.
1620 : break;
1621 : }
1622 :
1623 : // Check whether next farthest relevant vehicle downstream is a partial vehicle or a maneuver reservation
1624 10301366 : if (moreReservationsAhead && !morePartialVehsAhead) {
1625 : nextToConsiderIsPartial = false;
1626 10211282 : } else if (morePartialVehsAhead && !moreReservationsAhead) {
1627 : nextToConsiderIsPartial = true;
1628 : } else {
1629 : assert(morePartialVehsAhead && moreReservationsAhead);
1630 : // Add farthest downstream vehicle first
1631 166865 : nextToConsiderIsPartial = (*vehPart)->getPositionOnLane(this) > (*vehRes)->getPositionOnLane(this);
1632 : }
1633 : // Add appropriate leader information
1634 166865 : if (nextToConsiderIsPartial) {
1635 10162204 : const double latOffset = (*vehPart)->getLatOffset(this);
1636 : #ifdef DEBUG_PLAN_MOVE
1637 : if (DEBUG_COND) {
1638 : std::cout << " partial ahead: " << (*vehPart)->getID() << " latOffset=" << latOffset << "\n";
1639 : }
1640 : #endif
1641 10229205 : if (!(MSGlobals::gLaneChangeDuration > 0 && (*vehPart)->getLaneChangeModel().isOpposite()
1642 67001 : && !(*vehPart)->getLaneChangeModel().isChangingLanes())) {
1643 10112325 : ahead.addLeader(*vehPart, false, latOffset);
1644 : }
1645 : ++vehPart;
1646 : morePartialVehsAhead = vehPart != myPartialVehicles.rend();
1647 : } else {
1648 139162 : const double latOffset = (*vehRes)->getLatOffset(this);
1649 : #ifdef DEBUG_PLAN_MOVE
1650 : if (DEBUG_COND) {
1651 : std::cout << " reservation ahead: " << (*vehRes)->getID() << " latOffset=" << latOffset << "\n";
1652 : }
1653 : #endif
1654 139162 : ahead.addLeader(*vehRes, false, latOffset);
1655 : ++vehRes;
1656 : moreReservationsAhead = vehRes != myManeuverReservations.rend();
1657 : }
1658 : }
1659 703181706 : }
1660 :
1661 :
1662 : void
1663 108203811 : MSLane::detectCollisions(SUMOTime timestep, const std::string& stage) {
1664 108203811 : myNeedsCollisionCheck = false;
1665 : #ifdef DEBUG_COLLISIONS
1666 : if (DEBUG_COND) {
1667 : std::vector<const MSVehicle*> all;
1668 : for (AnyVehicleIterator last = anyVehiclesBegin(); last != anyVehiclesEnd(); ++last) {
1669 : all.push_back(*last);
1670 : }
1671 : std::cout << SIMTIME << " detectCollisions stage=" << stage << " lane=" << getID() << ":\n"
1672 : << " vehs=" << toString(myVehicles) << "\n"
1673 : << " part=" << toString(myPartialVehicles) << "\n"
1674 : << " all=" << toString(all) << "\n"
1675 : << "\n";
1676 : }
1677 : #endif
1678 :
1679 108203811 : if (myCollisionAction == COLLISION_ACTION_NONE) {
1680 705029 : return;
1681 : }
1682 :
1683 : std::set<const MSVehicle*, ComparatorNumericalIdLess> toRemove;
1684 : std::set<const MSVehicle*, ComparatorNumericalIdLess> toTeleport;
1685 108190889 : if (mustCheckJunctionCollisions()) {
1686 1349380 : myNeedsCollisionCheck = true; // always check
1687 : #ifdef DEBUG_JUNCTION_COLLISIONS
1688 : if (DEBUG_COND) {
1689 : std::cout << SIMTIME << " detect junction Collisions stage=" << stage << " lane=" << getID() << ":\n"
1690 : << " vehs=" << toString(myVehicles) << "\n"
1691 : << " part=" << toString(myPartialVehicles) << "\n"
1692 : << "\n";
1693 : }
1694 : #endif
1695 : assert(myLinks.size() == 1);
1696 1349380 : const std::vector<const MSLane*>& foeLanes = myLinks.front()->getFoeLanes();
1697 : // save the iterator, it might get modified, see #8842
1698 : MSLane::AnyVehicleIterator end = anyVehiclesEnd();
1699 2475852 : for (AnyVehicleIterator veh = anyVehiclesBegin(); veh != end; ++veh) {
1700 2475852 : const MSVehicle* const collider = *veh;
1701 : //std::cout << " collider " << collider->getID() << "\n";
1702 2475852 : PositionVector colliderBoundary = collider->getBoundingBox(myCheckJunctionCollisionMinGap);
1703 34780426 : for (const MSLane* const foeLane : foeLanes) {
1704 : #ifdef DEBUG_JUNCTION_COLLISIONS
1705 : if (DEBUG_COND) {
1706 : std::cout << " foeLane " << foeLane->getID()
1707 : << " foeVehs=" << toString(foeLane->myVehicles)
1708 : << " foePart=" << toString(foeLane->myPartialVehicles) << "\n";
1709 : }
1710 : #endif
1711 : MSLane::AnyVehicleIterator foeEnd = foeLane->anyVehiclesEnd();
1712 4258065 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != foeEnd; ++it_veh) {
1713 4258065 : const MSVehicle* const victim = *it_veh;
1714 4258065 : if (victim == collider) {
1715 : // may happen if the vehicles lane and shadow lane are siblings
1716 1553 : continue;
1717 : }
1718 : #ifdef DEBUG_JUNCTION_COLLISIONS
1719 : if (DEBUG_COND && DEBUG_COND2(collider)) {
1720 : std::cout << SIMTIME << " foe=" << victim->getID()
1721 : << " bound=" << colliderBoundary << " foeBound=" << victim->getBoundingBox()
1722 : << " overlaps=" << colliderBoundary.overlapsWith(victim->getBoundingBox())
1723 : << " poly=" << collider->getBoundingPoly()
1724 : << " foePoly=" << victim->getBoundingPoly()
1725 : << " overlaps2=" << collider->getBoundingPoly().overlapsWith(victim->getBoundingPoly())
1726 : << "\n";
1727 : }
1728 : #endif
1729 4256512 : if (MSGlobals::gIgnoreJunctionBlocker < std::numeric_limits<SUMOTime>::max()) {
1730 7280 : if (collider->getWaitingTime() >= MSGlobals::gIgnoreJunctionBlocker
1731 7280 : || victim->getWaitingTime() >= MSGlobals::gIgnoreJunctionBlocker) {
1732 : // ignored vehicles should not tigger collision
1733 5904 : continue;
1734 : }
1735 : }
1736 :
1737 4250608 : if (colliderBoundary.overlapsWith(victim->getBoundingBox())) {
1738 : // make a detailed check
1739 22976 : PositionVector boundingPoly = collider->getBoundingPoly();
1740 22976 : if (collider->getBoundingPoly(myCheckJunctionCollisionMinGap).overlapsWith(victim->getBoundingPoly())) {
1741 : // junction leader is the victim (collider must still be on junction)
1742 : assert(isInternal());
1743 14458 : if (victim->getLane()->isInternal() && victim->isLeader(myLinks.front(), collider, -1)) {
1744 6427 : foeLane->handleCollisionBetween(timestep, stage, victim, collider, -1, 0, toRemove, toTeleport);
1745 : } else {
1746 8031 : handleCollisionBetween(timestep, stage, collider, victim, -1, 0, toRemove, toTeleport);
1747 : }
1748 : }
1749 22976 : }
1750 : }
1751 32304574 : detectPedestrianJunctionCollision(collider, colliderBoundary, foeLane, timestep, stage, toRemove, toTeleport);
1752 : }
1753 2475852 : if (myLinks.front()->getWalkingAreaFoe() != nullptr) {
1754 59508 : detectPedestrianJunctionCollision(collider, colliderBoundary, myLinks.front()->getWalkingAreaFoe(), timestep, stage, toRemove, toTeleport);
1755 : }
1756 2475852 : if (myLinks.front()->getWalkingAreaFoeExit() != nullptr) {
1757 55556 : detectPedestrianJunctionCollision(collider, colliderBoundary, myLinks.front()->getWalkingAreaFoeExit(), timestep, stage, toRemove, toTeleport);
1758 : }
1759 2475852 : }
1760 : }
1761 :
1762 :
1763 108190889 : if (myIntermodalCollisionAction != COLLISION_ACTION_NONE && myEdge->getPersons().size() > 0 && hasPedestrians()) {
1764 : #ifdef DEBUG_PEDESTRIAN_COLLISIONS
1765 : if (DEBUG_COND) {
1766 : std::cout << SIMTIME << " detect pedestrian collisions stage=" << stage << " lane=" << getID() << "\n";
1767 : }
1768 : #endif
1769 : AnyVehicleIterator v_end = anyVehiclesEnd();
1770 148124 : for (AnyVehicleIterator it_v = anyVehiclesBegin(); it_v != v_end; ++it_v) {
1771 148124 : const MSVehicle* v = *it_v;
1772 148124 : double back = v->getBackPositionOnLane(this);
1773 148124 : const double length = v->getVehicleType().getLength();
1774 148124 : const double right = v->getRightSideOnEdge(this) - getRightSideOnEdge();
1775 148124 : if (v->getLane() == getBidiLane()) {
1776 : // use the front position for checking
1777 611 : back -= length;
1778 : }
1779 148124 : PersonDist leader = nextBlocking(back, right, right + v->getVehicleType().getWidth());
1780 : #ifdef DEBUG_PEDESTRIAN_COLLISIONS
1781 : if (DEBUG_COND && DEBUG_COND2(v)) {
1782 : std::cout << SIMTIME << " back=" << back << " right=" << right << " person=" << Named::getIDSecure(leader.first)
1783 : << " dist=" << leader.second << " jammed=" << (leader.first == nullptr ? false : leader.first->isJammed()) << "\n";
1784 : }
1785 : #endif
1786 148124 : if (leader.first != 0 && leader.second < length && !leader.first->isJammed()) {
1787 99 : if (v->getVehicleType().getGuiShape() == SUMOVehicleShape::AIRCRAFT) {
1788 : // aircraft wings and body are above walking level
1789 : continue;
1790 : }
1791 99 : const double gap = leader.second - length;
1792 198 : handleIntermodalCollisionBetween(timestep, stage, v, leader.first, gap, "sharedLane", toRemove, toTeleport);
1793 : }
1794 : }
1795 : }
1796 :
1797 108190889 : if (myVehicles.size() == 0) {
1798 : return;
1799 : }
1800 107498782 : if (!MSGlobals::gSublane) {
1801 : // no sublanes
1802 : VehCont::reverse_iterator lastVeh = myVehicles.rend() - 1;
1803 639595359 : for (VehCont::reverse_iterator pred = myVehicles.rbegin(); pred != lastVeh; ++pred) {
1804 : VehCont::reverse_iterator veh = pred + 1;
1805 552560917 : detectCollisionBetween(timestep, stage, *veh, *pred, toRemove, toTeleport);
1806 : }
1807 87034442 : if (myPartialVehicles.size() > 0) {
1808 7045447 : detectCollisionBetween(timestep, stage, *lastVeh, myPartialVehicles.front(), toRemove, toTeleport);
1809 : }
1810 87034442 : if (getBidiLane() != nullptr) {
1811 : // bidirectional railway
1812 455230 : MSLane* bidiLane = getBidiLane();
1813 455230 : if (bidiLane->getVehicleNumberWithPartials() > 0) {
1814 331168 : for (auto veh = myVehicles.begin(); veh != myVehicles.end(); ++veh) {
1815 232550 : double high = (*veh)->getPositionOnLane(this);
1816 232550 : double low = (*veh)->getBackPositionOnLane(this);
1817 232550 : if (stage == MSNet::STAGE_MOVEMENTS) {
1818 : // use previous back position to catch trains that
1819 : // "jump" through each other
1820 210275 : low -= SPEED2DIST((*veh)->getSpeed());
1821 : }
1822 1047902 : for (AnyVehicleIterator veh2 = bidiLane->anyVehiclesBegin(); veh2 != bidiLane->anyVehiclesEnd(); ++veh2) {
1823 : // self-collisions might legitemately occur when a long train loops back on itself
1824 1047902 : if (*veh == *veh2 && !(*veh)->isRail()) {
1825 231696 : continue;
1826 : }
1827 933478 : if ((*veh)->getLane() == (*veh2)->getLane() ||
1828 902050 : (*veh)->getLane() == (*veh2)->getBackLane() ||
1829 85844 : (*veh)->getBackLane() == (*veh2)->getLane()) {
1830 : // vehicles are not in a bidi relation
1831 730362 : continue;
1832 : }
1833 85844 : double low2 = myLength - (*veh2)->getPositionOnLane(bidiLane);
1834 85844 : double high2 = myLength - (*veh2)->getBackPositionOnLane(bidiLane);
1835 85844 : if (stage == MSNet::STAGE_MOVEMENTS) {
1836 : // use previous back position to catch trains that
1837 : // "jump" through each other
1838 72593 : high2 += SPEED2DIST((*veh2)->getSpeed());
1839 : }
1840 85844 : if (!(high < low2 || high2 < low)) {
1841 : #ifdef DEBUG_COLLISIONS
1842 : if (DEBUG_COND) {
1843 : std::cout << SIMTIME << " bidi-collision veh=" << (*veh)->getID() << " bidiVeh=" << (*veh2)->getID()
1844 : << " vehFurther=" << toString((*veh)->getFurtherLanes())
1845 : << " high=" << high << " low=" << low << " high2=" << high2 << " low2=" << low2 << "\n";
1846 : }
1847 : #endif
1848 : // the faster vehicle is at fault
1849 41 : MSVehicle* collider = const_cast<MSVehicle*>(*veh);
1850 41 : MSVehicle* victim = const_cast<MSVehicle*>(*veh2);
1851 41 : if (collider->getSpeed() < victim->getSpeed()) {
1852 : std::swap(victim, collider);
1853 : }
1854 41 : handleCollisionBetween(timestep, stage, collider, victim, -1, 0, toRemove, toTeleport);
1855 : }
1856 : }
1857 : }
1858 : }
1859 : }
1860 : } else {
1861 : // in the sublane-case it is insufficient to check the vehicles ordered
1862 : // by their front position as there might be more than 2 vehicles next to each
1863 : // other on the same lane
1864 : // instead, a moving-window approach is used where all vehicles that
1865 : // overlap in the longitudinal direction receive pairwise checks
1866 : // XXX for efficiency, all lanes of an edge should be checked together
1867 : // (lanechanger-style)
1868 :
1869 : // XXX quick hack: check each in myVehicles against all others
1870 141664202 : for (AnyVehicleIterator veh = anyVehiclesBegin(); veh != anyVehiclesEnd(); ++veh) {
1871 141664202 : MSVehicle* follow = (MSVehicle*)*veh;
1872 3870647459 : for (AnyVehicleIterator veh2 = anyVehiclesBegin(); veh2 != anyVehiclesEnd(); ++veh2) {
1873 3870745688 : MSVehicle* lead = (MSVehicle*)*veh2;
1874 3870745688 : if (lead == follow) {
1875 141641669 : continue;
1876 : }
1877 3729104019 : if (lead->getPositionOnLane(this) < follow->getPositionOnLane(this)) {
1878 1863546523 : continue;
1879 : }
1880 1865557496 : if (detectCollisionBetween(timestep, stage, follow, lead, toRemove, toTeleport)) {
1881 : // XXX what about collisions with multiple leaders at once?
1882 : break;
1883 : }
1884 : }
1885 : }
1886 : }
1887 :
1888 :
1889 107502766 : for (std::set<const MSVehicle*, ComparatorNumericalIdLess>::iterator it = toRemove.begin(); it != toRemove.end(); ++it) {
1890 3984 : MSVehicle* veh = const_cast<MSVehicle*>(*it);
1891 : MSLane* vehLane = veh->getMutableLane();
1892 3984 : vehLane->removeVehicle(veh, MSMoveReminder::NOTIFICATION_TELEPORT, false);
1893 : if (toTeleport.count(veh) > 0) {
1894 3599 : MSVehicleTransfer::getInstance()->add(timestep, veh);
1895 : } else {
1896 385 : veh->onRemovalFromNet(MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION);
1897 385 : MSNet::getInstance()->getVehicleControl().scheduleVehicleRemoval(veh);
1898 : }
1899 : }
1900 : }
1901 :
1902 :
1903 : void
1904 32419638 : MSLane::detectPedestrianJunctionCollision(const MSVehicle* collider, const PositionVector& colliderBoundary, const MSLane* foeLane,
1905 : SUMOTime timestep, const std::string& stage,
1906 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toRemove,
1907 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toTeleport) {
1908 32419638 : if (myIntermodalCollisionAction != COLLISION_ACTION_NONE && foeLane->getEdge().getPersons().size() > 0 && foeLane->hasPedestrians()) {
1909 : #ifdef DEBUG_PEDESTRIAN_COLLISIONS
1910 : if (DEBUG_COND) {
1911 : std::cout << SIMTIME << " detect pedestrian junction collisions stage=" << stage << " lane=" << getID() << " foeLane=" << foeLane->getID() << "\n";
1912 : }
1913 : #endif
1914 112332 : const std::vector<MSTransportable*>& persons = foeLane->getEdge().getSortedPersons(timestep);
1915 1267437 : for (std::vector<MSTransportable*>::const_iterator it_p = persons.begin(); it_p != persons.end(); ++it_p) {
1916 : #ifdef DEBUG_PEDESTRIAN_COLLISIONS
1917 : if (DEBUG_COND) {
1918 : std::cout << " collider=" << collider->getID()
1919 : << " ped=" << (*it_p)->getID()
1920 : << " jammed=" << (*it_p)->isJammed()
1921 : << " colliderBoundary=" << colliderBoundary
1922 : << " pedBoundary=" << (*it_p)->getBoundingBox()
1923 : << "\n";
1924 : }
1925 : #endif
1926 1155105 : if ((*it_p)->isJammed()) {
1927 876 : continue;
1928 : }
1929 2308458 : if (colliderBoundary.overlapsWith((*it_p)->getBoundingBox())
1930 1154229 : && collider->getBoundingPoly().overlapsWith((*it_p)->getBoundingBox())) {
1931 3874 : std::string collisionType = "junctionPedestrian";
1932 3874 : if (foeLane->isCrossing()) {
1933 : collisionType = "crossing";
1934 3654 : } else if (foeLane->isWalkingArea()) {
1935 : collisionType = "walkingarea";
1936 : }
1937 3874 : handleIntermodalCollisionBetween(timestep, stage, collider, *it_p, 0, collisionType, toRemove, toTeleport);
1938 : }
1939 : }
1940 112332 : }
1941 32419638 : }
1942 :
1943 :
1944 : bool
1945 2425163860 : MSLane::detectCollisionBetween(SUMOTime timestep, const std::string& stage, MSVehicle* collider, MSVehicle* victim,
1946 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toRemove,
1947 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toTeleport) const {
1948 4825807614 : if (myCollisionAction == COLLISION_ACTION_TELEPORT && ((victim->hasInfluencer() && victim->getInfluencer().isRemoteAffected(timestep)) ||
1949 2400904816 : (collider->hasInfluencer() && collider->getInfluencer().isRemoteAffected(timestep)))) {
1950 17 : return false;
1951 : }
1952 :
1953 : // No self-collisions! (This is assumed to be ensured at caller side)
1954 2425163843 : if (collider == victim) {
1955 : return false;
1956 : }
1957 :
1958 2425163780 : const bool colliderOpposite = collider->getLaneChangeModel().isOpposite() || collider->isBidiOn(this);
1959 2425163780 : const bool victimOpposite = victim->getLaneChangeModel().isOpposite() || victim->isBidiOn(this);
1960 2425163780 : const bool bothOpposite = victimOpposite && colliderOpposite;
1961 2425163780 : if (bothOpposite) {
1962 : std::swap(victim, collider);
1963 : }
1964 2425163780 : const double colliderPos = colliderOpposite && !bothOpposite ? collider->getBackPositionOnLane(this) : collider->getPositionOnLane(this);
1965 2425163780 : const double minGapFactor = myCollisionMinGapFactor >= 0 ? myCollisionMinGapFactor : collider->getCarFollowModel().getCollisionMinGapFactor();
1966 2425163780 : double victimBack = victimOpposite && !bothOpposite ? victim->getPositionOnLane(this) : victim->getBackPositionOnLane(this);
1967 2425163780 : if (victim->getLateralOverlap() > 0 || collider->getLateralOverlap() > 0) {
1968 145091183 : if (&collider->getLane()->getEdge() == myEdge && collider->getLane()->getLength() > getLength()) {
1969 : // interpret victim position on the longer lane
1970 836 : victimBack *= collider->getLane()->getLength() / getLength();
1971 : }
1972 : }
1973 2425163780 : double gap = victimBack - colliderPos - minGapFactor * collider->getVehicleType().getMinGap();
1974 2425163780 : if (bothOpposite) {
1975 1297357 : gap = colliderPos - victimBack - minGapFactor * collider->getVehicleType().getMinGap();
1976 2423866423 : } else if (colliderOpposite) {
1977 : // vehicles are back to back so (frontal) minGap doesn't apply
1978 3602915 : gap += minGapFactor * collider->getVehicleType().getMinGap();
1979 : }
1980 : #ifdef DEBUG_COLLISIONS
1981 : if (DEBUG_COND && (DEBUG_COND2(collider) || DEBUG_COND2(victim))) {
1982 : std::cout << SIMTIME
1983 : << " thisLane=" << getID()
1984 : << " collider=" << collider->getID()
1985 : << " victim=" << victim->getID()
1986 : << " colOpposite=" << colliderOpposite
1987 : << " vicOpposite=" << victimOpposite
1988 : << " colLane=" << collider->getLane()->getID()
1989 : << " vicLane=" << victim->getLane()->getID()
1990 : << " colPos=" << colliderPos
1991 : << " vicBack=" << victimBack
1992 : << " colLat=" << collider->getCenterOnEdge(this)
1993 : << " vicLat=" << victim->getCenterOnEdge(this)
1994 : << " minGap=" << collider->getVehicleType().getMinGap()
1995 : << " minGapFactor=" << minGapFactor
1996 : << " gap=" << gap
1997 : << "\n";
1998 : }
1999 : #endif
2000 2425163780 : if (victimOpposite && gap < -(collider->getLength() + victim->getLength())) {
2001 : // already past each other
2002 : return false;
2003 : }
2004 2425147320 : if (gap < -NUMERICAL_EPS) {
2005 : double latGap = 0;
2006 12093182 : if (MSGlobals::gSublane) {
2007 12086754 : latGap = (fabs(victim->getCenterOnEdge(this) - collider->getCenterOnEdge(this))
2008 12086754 : - 0.5 * fabs(victim->getVehicleType().getWidth() + collider->getVehicleType().getWidth()));
2009 12086754 : if (latGap + NUMERICAL_EPS > 0) {
2010 : return false;
2011 : }
2012 : // account for ambiguous gap computation related to partial
2013 : // occupation of lanes with different lengths
2014 98229 : if (isInternal() && getEdge().getNumLanes() > 1 && victim->getLane() != collider->getLane()) {
2015 : double gapDelta = 0;
2016 1739 : const MSVehicle* otherLaneVeh = collider->getLane() == this ? victim : collider;
2017 1739 : if (otherLaneVeh->getLaneChangeModel().getShadowLane() == this) {
2018 653 : gapDelta = getLength() - otherLaneVeh->getLane()->getLength();
2019 : } else {
2020 1086 : for (const MSLane* cand : otherLaneVeh->getFurtherLanes()) {
2021 1086 : if (&cand->getEdge() == &getEdge()) {
2022 1086 : gapDelta = getLength() - cand->getLength();
2023 1086 : break;
2024 : }
2025 : }
2026 : }
2027 1739 : if (gap + gapDelta >= 0) {
2028 : return false;
2029 : }
2030 : }
2031 : }
2032 104657 : if (MSGlobals::gLaneChangeDuration > DELTA_T
2033 37 : && collider->getLaneChangeModel().isChangingLanes()
2034 31 : && victim->getLaneChangeModel().isChangingLanes()
2035 104657 : && victim->getLane() != this) {
2036 : // synchroneous lane change maneuver
2037 : return false;
2038 : }
2039 : #ifdef DEBUG_COLLISIONS
2040 : if (DEBUG_COND && (DEBUG_COND2(collider) || DEBUG_COND2(victim))) {
2041 : std::cout << SIMTIME << " detectedCollision gap=" << gap << " latGap=" << latGap << "\n";
2042 : }
2043 : #endif
2044 104657 : handleCollisionBetween(timestep, stage, collider, victim, gap, latGap, toRemove, toTeleport);
2045 104657 : return true;
2046 : }
2047 : return false;
2048 : }
2049 :
2050 :
2051 : void
2052 119156 : MSLane::handleCollisionBetween(SUMOTime timestep, const std::string& stage, const MSVehicle* collider, const MSVehicle* victim,
2053 : double gap, double latGap, std::set<const MSVehicle*, ComparatorNumericalIdLess>& toRemove,
2054 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toTeleport) const {
2055 119156 : if (collider->ignoreCollision() || victim->ignoreCollision()) {
2056 108905 : return;
2057 : }
2058 : std::string collisionType;
2059 : std::string collisionText;
2060 116238 : if (isFrontalCollision(collider, victim)) {
2061 : collisionType = "frontal";
2062 59 : collisionText = TL("frontal collision");
2063 116179 : } else if (stage == MSNet::STAGE_LANECHANGE) {
2064 : collisionType = "side";
2065 13183 : collisionText = TL("side collision");
2066 102996 : } else if (isInternal()) {
2067 : collisionType = "junction";
2068 14168 : collisionText = TL("junction collision");
2069 : } else {
2070 : collisionType = "collision";
2071 88828 : collisionText = TL("collision");
2072 : }
2073 :
2074 : // in frontal collisions the opposite vehicle is the collider
2075 116238 : if (victim->getLaneChangeModel().isOpposite() && !collider->getLaneChangeModel().isOpposite()) {
2076 : std::swap(collider, victim);
2077 : }
2078 464952 : std::string prefix = TLF("Vehicle '%'; % with vehicle '%", collider->getID(), collisionText, victim->getID());
2079 116238 : if (myCollisionStopTime > 0) {
2080 108099 : if (collider->collisionStopTime() >= 0 && victim->collisionStopTime() >= 0) {
2081 105987 : return;
2082 : }
2083 : std::string dummyError;
2084 2112 : SUMOVehicleParameter::Stop stop;
2085 2112 : stop.duration = myCollisionStopTime;
2086 2112 : stop.parametersSet |= STOP_DURATION_SET;
2087 2112 : const double collisionAngle = RAD2DEG(fabs(GeomHelper::angleDiff(victim->getAngle(), collider->getAngle())));
2088 : // determine new speeds from collision angle (@todo account for vehicle mass)
2089 2112 : double victimSpeed = victim->getSpeed();
2090 2112 : double colliderSpeed = collider->getSpeed();
2091 : // double victimOrigSpeed = victim->getSpeed();
2092 : // double colliderOrigSpeed = collider->getSpeed();
2093 2112 : if (collisionAngle < 45) {
2094 : // rear-end collisions
2095 : colliderSpeed = MIN2(colliderSpeed, victimSpeed);
2096 337 : } else if (collisionAngle < 135) {
2097 : // side collision
2098 326 : colliderSpeed /= 2;
2099 326 : victimSpeed /= 2;
2100 : } else {
2101 : // frontal collision
2102 : colliderSpeed = 0;
2103 : victimSpeed = 0;
2104 : }
2105 2112 : const double victimStopPos = MIN2(victim->getLane()->getLength(),
2106 2112 : victim->getPositionOnLane() + victim->getCarFollowModel().brakeGap(victimSpeed, victim->getCarFollowModel().getEmergencyDecel(), 0));
2107 2112 : if (victim->collisionStopTime() < 0) {
2108 1428 : stop.collision = true;
2109 1428 : stop.lane = victim->getLane()->getID();
2110 : // @todo: push victim forward?
2111 1428 : stop.startPos = victimStopPos;
2112 1428 : stop.endPos = stop.startPos;
2113 1428 : stop.parametersSet |= STOP_START_SET | STOP_END_SET;
2114 1428 : ((MSBaseVehicle*)victim)->addStop(stop, dummyError, 0);
2115 : }
2116 2112 : if (collider->collisionStopTime() < 0) {
2117 1654 : stop.collision = true;
2118 1654 : stop.lane = collider->getLane()->getID();
2119 1654 : stop.startPos = MIN2(collider->getPositionOnLane() + collider->getCarFollowModel().brakeGap(colliderSpeed, collider->getCarFollowModel().getEmergencyDecel(), 0),
2120 1654 : MAX3(0.0, victimStopPos - 0.75 * victim->getVehicleType().getLength(),
2121 1654 : collider->getPositionOnLane() - SPEED2DIST(collider->getSpeed())));
2122 1654 : stop.endPos = stop.startPos;
2123 1654 : stop.parametersSet |= STOP_START_SET | STOP_END_SET;
2124 1654 : ((MSBaseVehicle*)collider)->addStop(stop, dummyError, 0);
2125 : }
2126 : //std::cout << " collisionAngle=" << collisionAngle
2127 : // << "\n vPos=" << victim->getPositionOnLane() << " vStop=" << victimStopPos << " vSpeed=" << victimOrigSpeed << " vSpeed2=" << victimSpeed << " vSpeed3=" << victim->getSpeed()
2128 : // << "\n cPos=" << collider->getPositionOnLane() << " cStop=" << stop.startPos << " cSpeed=" << colliderOrigSpeed << " cSpeed2=" << colliderSpeed << " cSpeed3=" << collider->getSpeed()
2129 : // << "\n";
2130 2112 : } else {
2131 8139 : switch (myCollisionAction) {
2132 : case COLLISION_ACTION_WARN:
2133 : break;
2134 3588 : case COLLISION_ACTION_TELEPORT:
2135 7176 : prefix = TLF("Teleporting vehicle '%'; % with vehicle '%", collider->getID(), collisionText, victim->getID());
2136 : toRemove.insert(collider);
2137 : toTeleport.insert(collider);
2138 : break;
2139 210 : case COLLISION_ACTION_REMOVE: {
2140 420 : prefix = TLF("Removing % participants: vehicle '%', vehicle '%", collisionText, collider->getID(), victim->getID());
2141 : bool removeCollider = true;
2142 : bool removeVictim = true;
2143 210 : removeVictim = !(victim->hasInfluencer() && victim->getInfluencer()->isRemoteAffected(timestep));
2144 210 : removeCollider = !(collider->hasInfluencer() && collider->getInfluencer()->isRemoteAffected(timestep));
2145 210 : if (removeVictim) {
2146 : toRemove.insert(victim);
2147 : }
2148 210 : if (removeCollider) {
2149 : toRemove.insert(collider);
2150 : }
2151 210 : if (!removeVictim) {
2152 0 : if (!removeCollider) {
2153 0 : prefix = TLF("Keeping remote-controlled % participants: vehicle '%', vehicle '%", collisionText, collider->getID(), victim->getID());
2154 : } else {
2155 0 : prefix = TLF("Removing % participant: vehicle '%', keeping remote-controlled vehicle '%", collisionText, collider->getID(), victim->getID());
2156 : }
2157 210 : } else if (!removeCollider) {
2158 0 : prefix = TLF("Keeping remote-controlled % participant: vehicle '%', removing vehicle '%", collisionText, collider->getID(), victim->getID());
2159 : }
2160 : break;
2161 : }
2162 : default:
2163 : break;
2164 : }
2165 : }
2166 10251 : const bool newCollision = MSNet::getInstance()->registerCollision(collider, victim, collisionType, this, collider->getPositionOnLane(this));
2167 10251 : if (newCollision) {
2168 30216 : WRITE_WARNINGF(prefix + "', lane='%', gap=%%, time=%, stage=%.",
2169 : getID(), toString(gap), (MSGlobals::gSublane ? TL(", latGap=") + toString(latGap) : ""),
2170 : time2string(timestep), stage);
2171 6122 : MSNet::getInstance()->informVehicleStateListener(victim, MSNet::VehicleState::COLLISION);
2172 6122 : MSNet::getInstance()->informVehicleStateListener(collider, MSNet::VehicleState::COLLISION);
2173 6122 : MSNet::getInstance()->getVehicleControl().countCollision(myCollisionAction == COLLISION_ACTION_TELEPORT);
2174 : }
2175 : #ifdef DEBUG_COLLISIONS
2176 : if (DEBUG_COND2(collider)) {
2177 : toRemove.erase(collider);
2178 : toTeleport.erase(collider);
2179 : }
2180 : if (DEBUG_COND2(victim)) {
2181 : toRemove.erase(victim);
2182 : toTeleport.erase(victim);
2183 : }
2184 : #endif
2185 : }
2186 :
2187 :
2188 : void
2189 3973 : MSLane::handleIntermodalCollisionBetween(SUMOTime timestep, const std::string& stage, const MSVehicle* collider, const MSTransportable* victim,
2190 : double gap, const std::string& collisionType,
2191 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toRemove,
2192 : std::set<const MSVehicle*, ComparatorNumericalIdLess>& toTeleport) const {
2193 3973 : if (collider->ignoreCollision()) {
2194 3304 : return;
2195 : }
2196 7946 : std::string prefix = TLF("Vehicle '%'", collider->getID());
2197 3973 : if (myIntermodalCollisionStopTime > 0) {
2198 3344 : if (collider->collisionStopTime() >= 0) {
2199 3304 : return;
2200 : }
2201 : std::string dummyError;
2202 40 : SUMOVehicleParameter::Stop stop;
2203 40 : stop.duration = myIntermodalCollisionStopTime;
2204 40 : stop.parametersSet |= STOP_DURATION_SET;
2205 : // determine new speeds from collision angle (@todo account for vehicle mass)
2206 40 : double colliderSpeed = collider->getSpeed();
2207 40 : const double victimStopPos = victim->getEdgePos();
2208 : // double victimOrigSpeed = victim->getSpeed();
2209 : // double colliderOrigSpeed = collider->getSpeed();
2210 40 : if (collider->collisionStopTime() < 0) {
2211 40 : stop.collision = true;
2212 40 : stop.lane = collider->getLane()->getID();
2213 40 : stop.startPos = MIN2(collider->getPositionOnLane() + collider->getCarFollowModel().brakeGap(colliderSpeed, collider->getCarFollowModel().getEmergencyDecel(), 0),
2214 40 : MAX3(0.0, victimStopPos - 0.75 * victim->getVehicleType().getLength(),
2215 40 : collider->getPositionOnLane() - SPEED2DIST(collider->getSpeed())));
2216 40 : stop.endPos = stop.startPos;
2217 40 : stop.parametersSet |= STOP_START_SET | STOP_END_SET;
2218 40 : ((MSBaseVehicle*)collider)->addStop(stop, dummyError, 0);
2219 : }
2220 40 : } else {
2221 629 : switch (myIntermodalCollisionAction) {
2222 : case COLLISION_ACTION_WARN:
2223 : break;
2224 15 : case COLLISION_ACTION_TELEPORT:
2225 30 : prefix = TLF("Teleporting vehicle '%' after", collider->getID());
2226 : toRemove.insert(collider);
2227 : toTeleport.insert(collider);
2228 : break;
2229 15 : case COLLISION_ACTION_REMOVE: {
2230 30 : prefix = TLF("Removing vehicle '%' after", collider->getID());
2231 : bool removeCollider = true;
2232 15 : removeCollider = !(collider->hasInfluencer() && collider->getInfluencer()->isRemoteAffected(timestep));
2233 : if (!removeCollider) {
2234 0 : prefix = TLF("Keeping remote-controlled vehicle '%' after", collider->getID());
2235 : } else {
2236 : toRemove.insert(collider);
2237 : }
2238 : break;
2239 : }
2240 : default:
2241 : break;
2242 : }
2243 : }
2244 669 : const bool newCollision = MSNet::getInstance()->registerCollision(collider, victim, collisionType, this, victim->getEdgePos());
2245 669 : if (newCollision) {
2246 276 : if (gap != 0) {
2247 470 : WRITE_WARNING(prefix + TLF(" collision with person '%', lane='%', gap=%, time=%, stage=%.",
2248 : victim->getID(), getID(), gap, time2string(timestep), stage));
2249 : } else {
2250 910 : WRITE_WARNING(prefix + TLF(" collision with person '%', lane='%', time=%, stage=%.",
2251 : victim->getID(), getID(), time2string(timestep), stage));
2252 : }
2253 276 : MSNet::getInstance()->informVehicleStateListener(collider, MSNet::VehicleState::COLLISION);
2254 276 : MSNet::getInstance()->getVehicleControl().countCollision(myIntermodalCollisionAction == COLLISION_ACTION_TELEPORT);
2255 : }
2256 : #ifdef DEBUG_COLLISIONS
2257 : if (DEBUG_COND2(collider)) {
2258 : toRemove.erase(collider);
2259 : toTeleport.erase(collider);
2260 : }
2261 : #endif
2262 : }
2263 :
2264 :
2265 : bool
2266 116238 : MSLane::isFrontalCollision(const MSVehicle* collider, const MSVehicle* victim) {
2267 116238 : if (collider->getLaneChangeModel().isOpposite() != victim->getLaneChangeModel().isOpposite()) {
2268 : return true;
2269 : } else {
2270 116220 : const MSEdge* victimBidi = victim->getLane()->getEdge().getBidiEdge();
2271 116220 : if (&collider->getLane()->getEdge() == victimBidi) {
2272 : return true;
2273 : } else {
2274 154087 : for (MSLane* further : collider->getFurtherLanes()) {
2275 37908 : if (&further->getEdge() == victimBidi) {
2276 : return true;
2277 : }
2278 : }
2279 : }
2280 : }
2281 : return false;
2282 : }
2283 :
2284 : void
2285 100169482 : MSLane::executeMovements(const SUMOTime t) {
2286 : // multithreading: there are concurrent writes to myNeedsCollisionCheck but all of them should set it to true
2287 100169482 : myNeedsCollisionCheck = true;
2288 100169482 : MSLane* bidi = getBidiLane();
2289 100169482 : if (bidi != nullptr && bidi->getVehicleNumber() == 0) {
2290 488488 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(bidi);
2291 : }
2292 100169482 : MSVehicle* firstNotStopped = nullptr;
2293 : // iterate over vehicles in reverse so that move reminders will be called in the correct order
2294 799038457 : for (VehCont::reverse_iterator i = myVehicles.rbegin(); i != myVehicles.rend();) {
2295 703181688 : MSVehicle* veh = *i;
2296 : // length is needed later when the vehicle may not exist anymore
2297 703181688 : const double length = veh->getVehicleType().getLengthWithGap();
2298 703181688 : const double nettoLength = veh->getVehicleType().getLength();
2299 703181688 : const bool moved = veh->executeMove();
2300 : MSLane* const target = veh->getMutableLane();
2301 698868975 : if (veh->hasArrived()) {
2302 : // vehicle has reached its arrival position
2303 : #ifdef DEBUG_EXEC_MOVE
2304 : if DEBUG_COND2(veh) {
2305 : std::cout << SIMTIME << " veh " << veh->getID() << " has arrived." << std::endl;
2306 : }
2307 : #endif
2308 3571647 : veh->onRemovalFromNet(MSMoveReminder::NOTIFICATION_ARRIVED);
2309 3571647 : MSNet::getInstance()->getVehicleControl().scheduleVehicleRemoval(veh);
2310 695297328 : } else if (target != nullptr && moved) {
2311 17670064 : if (target->getEdge().isVaporizing()) {
2312 : // vehicle has reached a vaporizing edge
2313 756 : veh->onRemovalFromNet(MSMoveReminder::NOTIFICATION_VAPORIZED_VAPORIZER);
2314 756 : MSNet::getInstance()->getVehicleControl().scheduleVehicleRemoval(veh);
2315 : } else {
2316 : // vehicle has entered a new lane (leaveLane and workOnMoveReminders were already called in MSVehicle::executeMove)
2317 17669308 : target->myVehBuffer.push_back(veh);
2318 17669308 : MSNet::getInstance()->getEdgeControl().needsVehicleIntegration(target);
2319 17669308 : if (MSGlobals::gSublane && veh->getLaneChangeModel().getShadowLane() != nullptr) {
2320 : // trigger sorting of partial vehicles as their order may have changed (lane might not be active and only contain partial vehicles)
2321 56806 : MSNet::getInstance()->getEdgeControl().needsVehicleIntegration(veh->getLaneChangeModel().getShadowLane());
2322 : }
2323 : }
2324 677627264 : } else if (veh->isParking()) {
2325 : // vehicle started to park
2326 15714 : MSVehicleTransfer::getInstance()->add(t, veh);
2327 15714 : myParkingVehicles.insert(veh);
2328 677611550 : } else if (veh->brokeDown()) {
2329 12 : veh->resumeFromStopping();
2330 36 : WRITE_WARNINGF(TL("Removing vehicle '%' after breaking down, lane='%', time=%."),
2331 : veh->getID(), veh->getLane()->getID(), time2string(t));
2332 12 : veh->onRemovalFromNet(MSMoveReminder::NOTIFICATION_VAPORIZED_BREAKDOWN);
2333 12 : MSNet::getInstance()->getVehicleControl().scheduleVehicleRemoval(veh);
2334 677611538 : } else if (veh->isJumping()) {
2335 : // vehicle jumps to next route edge
2336 953 : MSVehicleTransfer::getInstance()->add(t, veh);
2337 677610585 : } else if (veh->getPositionOnLane() > getLength()) {
2338 : // for any reasons the vehicle is beyond its lane...
2339 : // this should never happen because it is handled in MSVehicle::executeMove
2340 : assert(false);
2341 0 : WRITE_WARNINGF(TL("Teleporting vehicle '%'; beyond end of lane, target lane='%', time=%."),
2342 : veh->getID(), getID(), time2string(t));
2343 0 : MSNet::getInstance()->getVehicleControl().countCollision(true);
2344 0 : MSVehicleTransfer::getInstance()->add(t, veh);
2345 :
2346 677610585 : } else if (veh->collisionStopTime() == 0) {
2347 3303 : veh->resumeFromStopping();
2348 3303 : if (getCollisionAction() == COLLISION_ACTION_REMOVE) {
2349 531 : WRITE_WARNINGF(TL("Removing vehicle '%' after earlier collision, lane='%', time=%."),
2350 : veh->getID(), veh->getLane()->getID(), time2string(t));
2351 177 : veh->onRemovalFromNet(MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION);
2352 177 : MSNet::getInstance()->getVehicleControl().scheduleVehicleRemoval(veh);
2353 3126 : } else if (getCollisionAction() == COLLISION_ACTION_TELEPORT) {
2354 6879 : WRITE_WARNINGF(TL("Teleporting vehicle '%' after earlier collision, lane='%', time=%."),
2355 : veh->getID(), veh->getLane()->getID(), time2string(t));
2356 2293 : MSVehicleTransfer::getInstance()->add(t, veh);
2357 : } else {
2358 833 : if (firstNotStopped == nullptr && !(*i)->isStopped() && (*i)->getLane() == this) {
2359 557 : firstNotStopped = *i;
2360 : }
2361 : ++i;
2362 833 : continue;
2363 : }
2364 : } else {
2365 677607282 : if (firstNotStopped == nullptr && !(*i)->isStopped() && (*i)->getLane() == this) {
2366 83512926 : firstNotStopped = *i;
2367 : }
2368 : ++i;
2369 677607282 : continue;
2370 : }
2371 21260860 : myBruttoVehicleLengthSumToRemove += length;
2372 21260860 : myNettoVehicleLengthSumToRemove += nettoLength;
2373 : ++i;
2374 21260860 : i = VehCont::reverse_iterator(myVehicles.erase(i.base()));
2375 : }
2376 95856769 : if (firstNotStopped != nullptr) {
2377 83513483 : const SUMOTime ttt = firstNotStopped->getVehicleType().getParameter().getTimeToTeleport(MSGlobals::gTimeToGridlock);
2378 83513483 : const SUMOTime tttb = firstNotStopped->getVehicleType().getParameter().getTimeToTeleportBidi(MSGlobals::gTimeToTeleportBidi);
2379 83513483 : if (ttt > 0 || MSGlobals::gTimeToGridlockHighways > 0 || MSGlobals::gTimeToTeleportDisconnected >= 0 || tttb > 0 || MSGlobals::gTimeToTeleportRSDeadlock > 0) {
2380 80437176 : const bool wrongLane = !appropriate(firstNotStopped);
2381 80437176 : const bool disconnected = (MSGlobals::gTimeToTeleportDisconnected >= 0
2382 40716 : && firstNotStopped->succEdge(1) != nullptr
2383 80474059 : && firstNotStopped->getEdge()->allowedLanes(*firstNotStopped->succEdge(1), firstNotStopped->getVClass()) == nullptr);
2384 :
2385 80437176 : const bool r1 = ttt > 0 && firstNotStopped->getWaitingTime() > ttt && !disconnected
2386 : // never teleport a taxi on the last edge of it's route (where it would exit the simulation)
2387 80445015 : && (firstNotStopped->getDevice(typeid(MSDevice_Taxi)) == nullptr || firstNotStopped->getRoutePosition() < (firstNotStopped->getRoute().size() - 1));
2388 80429721 : const bool r2 = !r1 && MSGlobals::gTimeToGridlockHighways > 0
2389 1025 : && firstNotStopped->getWaitingTime() > MSGlobals::gTimeToGridlockHighways
2390 602 : && getSpeedLimit() > MSGlobals::gGridlockHighwaysSpeed && wrongLane
2391 602 : && !disconnected;
2392 80437164 : const bool r3 = disconnected && firstNotStopped->getWaitingTime() > MSGlobals::gTimeToTeleportDisconnected;
2393 80429709 : const bool r4 = !r1 && !r2 && !r3 && tttb > 0
2394 80437620 : && firstNotStopped->getWaitingTime() > tttb && getBidiLane() && !disconnected;
2395 478884 : const bool r5 = MSGlobals::gTimeToTeleportRSDeadlock > 0 && MSRailSignalControl::hasInstance() && !r1 && !r2 && !r3 && !r4
2396 80868713 : && firstNotStopped->getWaitingTime() > MSGlobals::gTimeToTeleportRSDeadlock && MSRailSignalControl::getInstance().haveDeadlock(firstNotStopped);
2397 80437176 : if (r1 || r2 || r3 || r4 || r5) {
2398 7567 : const std::vector<MSLink*>::const_iterator link = succLinkSec(*firstNotStopped, 1, *this, firstNotStopped->getBestLanesContinuation());
2399 7567 : const bool minorLink = !wrongLane && (link != myLinks.end()) && !((*link)->havePriority());
2400 9387 : std::string reason = (wrongLane ? " (wrong lane" : (minorLink ? " (yield" : " (jam"));
2401 7567 : myBruttoVehicleLengthSumToRemove += firstNotStopped->getVehicleType().getLengthWithGap();
2402 7567 : myNettoVehicleLengthSumToRemove += firstNotStopped->getVehicleType().getLength();
2403 7567 : if (firstNotStopped == myVehicles.back()) {
2404 : myVehicles.pop_back();
2405 : } else {
2406 305 : myVehicles.erase(std::find(myVehicles.begin(), myVehicles.end(), firstNotStopped));
2407 : reason = " (blocked";
2408 : }
2409 67991 : WRITE_WARNINGF("Teleporting vehicle '%'; waited too long" + reason
2410 : + (r2 ? ", highway" : "")
2411 : + (r3 ? ", disconnected" : "")
2412 : + (r4 ? ", bidi" : "")
2413 : + (r5 ? ", railSignal" : "")
2414 : + "), lane='%', time=%.", firstNotStopped->getID(), getID(), time2string(t));
2415 7567 : if (wrongLane) {
2416 1005 : MSNet::getInstance()->getVehicleControl().registerTeleportWrongLane();
2417 6562 : } else if (minorLink) {
2418 4742 : MSNet::getInstance()->getVehicleControl().registerTeleportYield();
2419 : } else {
2420 1820 : MSNet::getInstance()->getVehicleControl().registerTeleportJam();
2421 : }
2422 7567 : if (MSGlobals::gRemoveGridlocked) {
2423 14 : firstNotStopped->onRemovalFromNet(MSMoveReminder::NOTIFICATION_TELEPORT_ARRIVED);
2424 14 : MSNet::getInstance()->getVehicleControl().scheduleVehicleRemoval(firstNotStopped);
2425 : } else {
2426 7553 : MSVehicleTransfer::getInstance()->add(t, firstNotStopped);
2427 : }
2428 : }
2429 : }
2430 : }
2431 95856769 : if (MSGlobals::gSublane) {
2432 : // trigger sorting of vehicles as their order may have changed
2433 16707418 : MSNet::getInstance()->getEdgeControl().needsVehicleIntegration(this);
2434 : }
2435 95856769 : }
2436 :
2437 :
2438 : void
2439 251 : MSLane::markRecalculateBruttoSum() {
2440 251 : myRecalculateBruttoSum = true;
2441 251 : }
2442 :
2443 :
2444 : void
2445 100169479 : MSLane::updateLengthSum() {
2446 100169479 : myBruttoVehicleLengthSum -= myBruttoVehicleLengthSumToRemove;
2447 100169479 : myNettoVehicleLengthSum -= myNettoVehicleLengthSumToRemove;
2448 100169479 : myBruttoVehicleLengthSumToRemove = 0;
2449 100169479 : myNettoVehicleLengthSumToRemove = 0;
2450 100169479 : if (myVehicles.empty()) {
2451 : // avoid numerical instability
2452 8424248 : myBruttoVehicleLengthSum = 0;
2453 8424248 : myNettoVehicleLengthSum = 0;
2454 91745231 : } else if (myRecalculateBruttoSum) {
2455 185 : myBruttoVehicleLengthSum = 0;
2456 680 : for (VehCont::const_iterator i = myVehicles.begin(); i != myVehicles.end(); ++i) {
2457 495 : myBruttoVehicleLengthSum += (*i)->getVehicleType().getLengthWithGap();
2458 : }
2459 185 : myRecalculateBruttoSum = false;
2460 : }
2461 100169479 : }
2462 :
2463 :
2464 : void
2465 0 : MSLane::changeLanes(const SUMOTime t) {
2466 0 : myEdge->changeLanes(t);
2467 0 : }
2468 :
2469 :
2470 : const MSEdge*
2471 5825804 : MSLane::getNextNormal() const {
2472 5825804 : return myEdge->getNormalSuccessor();
2473 : }
2474 :
2475 :
2476 : const MSLane*
2477 129842 : MSLane::getFirstInternalInConnection(double& offset) const {
2478 129842 : if (!this->isInternal()) {
2479 : return nullptr;
2480 : }
2481 129842 : offset = 0.;
2482 : const MSLane* firstInternal = this;
2483 129842 : MSLane* pred = getCanonicalPredecessorLane();
2484 129890 : while (pred != nullptr && pred->isInternal()) {
2485 : firstInternal = pred;
2486 48 : offset += pred->getLength();
2487 48 : pred = firstInternal->getCanonicalPredecessorLane();
2488 : }
2489 : return firstInternal;
2490 : }
2491 :
2492 :
2493 : // ------ Static (sic!) container methods ------
2494 : bool
2495 2059752 : MSLane::dictionary(const std::string& id, MSLane* ptr) {
2496 : const DictType::iterator it = myDict.lower_bound(id);
2497 2059752 : if (it == myDict.end() || it->first != id) {
2498 : // id not in myDict
2499 2059744 : myDict.emplace_hint(it, id, ptr);
2500 2059744 : return true;
2501 : }
2502 : return false;
2503 : }
2504 :
2505 :
2506 : MSLane*
2507 8673587 : MSLane::dictionary(const std::string& id) {
2508 : const DictType::iterator it = myDict.find(id);
2509 8673587 : if (it == myDict.end()) {
2510 : // id not in myDict
2511 : return nullptr;
2512 : }
2513 8671867 : return it->second;
2514 : }
2515 :
2516 :
2517 : void
2518 41084 : MSLane::clear() {
2519 2082448 : for (DictType::iterator i = myDict.begin(); i != myDict.end(); ++i) {
2520 2041364 : delete (*i).second;
2521 : }
2522 : myDict.clear();
2523 41084 : }
2524 :
2525 :
2526 : void
2527 266 : MSLane::insertIDs(std::vector<std::string>& into) {
2528 9036 : for (DictType::iterator i = myDict.begin(); i != myDict.end(); ++i) {
2529 8770 : into.push_back((*i).first);
2530 : }
2531 266 : }
2532 :
2533 :
2534 : template<class RTREE> void
2535 559 : MSLane::fill(RTREE& into) {
2536 25114 : for (DictType::iterator i = myDict.begin(); i != myDict.end(); ++i) {
2537 24555 : MSLane* l = (*i).second;
2538 24555 : Boundary b = l->getShape().getBoxBoundary();
2539 24555 : b.grow(3.);
2540 24555 : const float cmin[2] = {(float) b.xmin(), (float) b.ymin()};
2541 24555 : const float cmax[2] = {(float) b.xmax(), (float) b.ymax()};
2542 24555 : into.Insert(cmin, cmax, l);
2543 : }
2544 559 : }
2545 :
2546 : template void MSLane::fill<NamedRTree>(NamedRTree& into);
2547 : template void MSLane::fill<LANE_RTREE_QUAL>(LANE_RTREE_QUAL& into);
2548 :
2549 : // ------ ------
2550 : bool
2551 80437176 : MSLane::appropriate(const MSVehicle* veh) const {
2552 80437176 : if (veh->getLaneChangeModel().isOpposite()) {
2553 : return false;
2554 : }
2555 80327134 : if (myEdge->isInternal()) {
2556 : return true;
2557 : }
2558 75226406 : if (veh->succEdge(1) == nullptr) {
2559 : assert((int)veh->getBestLanes().size() > veh->getLaneIndex());
2560 20504709 : if (veh->getBestLanes()[veh->getLaneIndex()].bestLaneOffset == 0) {
2561 : return true;
2562 : } else {
2563 : return false;
2564 : }
2565 : }
2566 54721697 : std::vector<MSLink*>::const_iterator link = succLinkSec(*veh, 1, *this, veh->getBestLanesContinuation());
2567 : return (link != myLinks.end());
2568 : }
2569 :
2570 :
2571 : void
2572 34433532 : MSLane::integrateNewVehicles() {
2573 34433532 : myNeedsCollisionCheck = true;
2574 : std::vector<MSVehicle*>& buffered = myVehBuffer.getContainer();
2575 34433532 : sort(buffered.begin(), buffered.end(), vehicle_position_sorter(this));
2576 52102840 : for (MSVehicle* const veh : buffered) {
2577 : assert(veh->getLane() == this);
2578 17669308 : myVehicles.insert(myVehicles.begin(), veh);
2579 17669308 : myBruttoVehicleLengthSum += veh->getVehicleType().getLengthWithGap();
2580 17669308 : myNettoVehicleLengthSum += veh->getVehicleType().getLength();
2581 : //if (true) std::cout << SIMTIME << " integrateNewVehicle lane=" << getID() << " veh=" << veh->getID() << " (on lane " << veh->getLane()->getID() << ") into lane=" << getID() << " myBrutto=" << myBruttoVehicleLengthSum << "\n";
2582 17669308 : myEdge->markDelayed();
2583 : }
2584 : buffered.clear();
2585 : myVehBuffer.unlock();
2586 : //std::cout << SIMTIME << " integrateNewVehicle lane=" << getID() << " myVehicles1=" << toString(myVehicles);
2587 34433532 : if (MSGlobals::gLateralResolution > 0 || myOpposite != nullptr) {
2588 19311925 : sort(myVehicles.begin(), myVehicles.end(), vehicle_natural_position_sorter(this));
2589 : }
2590 34433532 : sortPartialVehicles();
2591 : #ifdef DEBUG_VEHICLE_CONTAINER
2592 : if (DEBUG_COND) std::cout << SIMTIME << " integrateNewVehicle lane=" << getID()
2593 : << " vehicles=" << toString(myVehicles) << " partials=" << toString(myPartialVehicles) << "\n";
2594 : #endif
2595 34433532 : }
2596 :
2597 :
2598 : void
2599 126165447 : MSLane::sortPartialVehicles() {
2600 126165447 : if (myPartialVehicles.size() > 1) {
2601 1567268 : sort(myPartialVehicles.begin(), myPartialVehicles.end(), vehicle_natural_position_sorter(this));
2602 : }
2603 126165447 : }
2604 :
2605 :
2606 : void
2607 20003034 : MSLane::sortManeuverReservations() {
2608 20003034 : if (myManeuverReservations.size() > 1) {
2609 : #ifdef DEBUG_CONTEXT
2610 : if (DEBUG_COND) {
2611 : std::cout << "sortManeuverReservations on lane " << getID()
2612 : << "\nBefore sort: " << toString(myManeuverReservations) << std::endl;
2613 : }
2614 : #endif
2615 23222 : sort(myManeuverReservations.begin(), myManeuverReservations.end(), vehicle_natural_position_sorter(this));
2616 : #ifdef DEBUG_CONTEXT
2617 : if (DEBUG_COND) {
2618 : std::cout << "After sort: " << toString(myManeuverReservations) << std::endl;
2619 : }
2620 : #endif
2621 : }
2622 20003034 : }
2623 :
2624 :
2625 : bool
2626 6877280237 : MSLane::isInternal() const {
2627 6877280237 : return myEdge->isInternal();
2628 : }
2629 :
2630 :
2631 : bool
2632 52728178 : MSLane::isNormal() const {
2633 52728178 : return myEdge->isNormal();
2634 : }
2635 :
2636 :
2637 : bool
2638 131444654 : MSLane::isCrossing() const {
2639 131444654 : return myEdge->isCrossing();
2640 : }
2641 :
2642 :
2643 : bool
2644 882904 : MSLane::isPriorityCrossing() const {
2645 882904 : return isCrossing() && getIncomingLanes()[0].viaLink->getOffState() == LINKSTATE_MAJOR;
2646 : }
2647 :
2648 :
2649 : bool
2650 135869790 : MSLane::isWalkingArea() const {
2651 135869790 : return myEdge->isWalkingArea();
2652 : }
2653 :
2654 :
2655 : MSVehicle*
2656 614062497 : MSLane::getLastFullVehicle() const {
2657 614062497 : if (myVehicles.size() == 0) {
2658 : return nullptr;
2659 : }
2660 544205705 : return myVehicles.front();
2661 : }
2662 :
2663 :
2664 : MSVehicle*
2665 75785 : MSLane::getFirstFullVehicle() const {
2666 75785 : if (myVehicles.size() == 0) {
2667 : return nullptr;
2668 : }
2669 24164 : return myVehicles.back();
2670 : }
2671 :
2672 :
2673 : MSVehicle*
2674 408283281 : MSLane::getLastAnyVehicle() const {
2675 : // all vehicles in myVehicles should have positions smaller or equal to
2676 : // those in myPartialVehicles (unless we're on a bidi-lane)
2677 408283281 : if (myVehicles.size() > 0) {
2678 322560445 : if (myBidiLane != nullptr && myPartialVehicles.size() > 0) {
2679 24099 : if (myVehicles.front()->getPositionOnLane() > myPartialVehicles.front()->getPositionOnLane(this)) {
2680 7238 : return myPartialVehicles.front();
2681 : }
2682 : }
2683 322553207 : return myVehicles.front();
2684 : }
2685 85722836 : if (myPartialVehicles.size() > 0) {
2686 5397985 : return myPartialVehicles.front();
2687 : }
2688 : return nullptr;
2689 : }
2690 :
2691 :
2692 : MSVehicle*
2693 136525 : MSLane::getFirstAnyVehicle() const {
2694 : MSVehicle* result = nullptr;
2695 136525 : if (myVehicles.size() > 0) {
2696 136525 : result = myVehicles.back();
2697 : }
2698 : if (myPartialVehicles.size() > 0
2699 136525 : && (result == nullptr || result->getPositionOnLane(this) < myPartialVehicles.back()->getPositionOnLane(this))) {
2700 139 : result = myPartialVehicles.back();
2701 : }
2702 136525 : return result;
2703 : }
2704 :
2705 :
2706 : std::vector<MSLink*>::const_iterator
2707 2005783213 : MSLane::succLinkSec(const SUMOVehicle& veh, int nRouteSuccs,
2708 : const MSLane& succLinkSource, const std::vector<MSLane*>& conts) {
2709 2005783213 : const MSEdge* nRouteEdge = veh.succEdge(nRouteSuccs);
2710 : // check whether the vehicle tried to look beyond its route
2711 2005783213 : if (nRouteEdge == nullptr) {
2712 : // return end (no succeeding link) if so
2713 : return succLinkSource.myLinks.end();
2714 : }
2715 : // if we are on an internal lane there should only be one link and it must be allowed
2716 1407352928 : if (succLinkSource.isInternal()) {
2717 : assert(succLinkSource.myLinks.size() == 1);
2718 : // could have been disallowed dynamically with a rerouter or via TraCI
2719 : // assert(succLinkSource.myLinks[0]->getLane()->allowsVehicleClass(veh.getVehicleType().getVehicleClass()));
2720 : return succLinkSource.myLinks.begin();
2721 : }
2722 : // a link may be used if
2723 : // 1) there is a destination lane ((*link)->getLane()!=0)
2724 : // 2) the destination lane belongs to the next edge in route ((*link)->getLane()->myEdge == nRouteEdge)
2725 : // 3) the destination lane allows the vehicle's class ((*link)->getLane()->allowsVehicleClass(veh.getVehicleClass()))
2726 :
2727 : // there should be a link which leads to the next desired lane our route in "conts" (built in "getBestLanes")
2728 : // "conts" stores the best continuations of our current lane
2729 : // we should never return an arbitrary link since this may cause collisions
2730 :
2731 1107759414 : if (nRouteSuccs < (int)conts.size()) {
2732 : // we go through the links in our list and return the matching one
2733 1224224015 : for (std::vector<MSLink*>::const_iterator link = succLinkSource.myLinks.begin(); link != succLinkSource.myLinks.end(); ++link) {
2734 1223490535 : if ((*link)->getLane() != nullptr && (*link)->getLane()->myEdge == nRouteEdge
2735 1093121303 : && (*link)->getLane()->allowsVehicleClass(veh.getVClass())
2736 2316180022 : && ((*link)->getViaLane() == nullptr || (*link)->getViaLane()->allowsVehicleClass(veh.getVClass()))) {
2737 : // we should use the link if it connects us to the best lane
2738 1092685410 : if ((*link)->getLane() == conts[nRouteSuccs]) {
2739 1081070549 : return link;
2740 : }
2741 : }
2742 : }
2743 : } else {
2744 : // the source lane is a dead end (no continuations exist)
2745 : return succLinkSource.myLinks.end();
2746 : }
2747 : // the only case where this should happen is for a disconnected route (deliberately ignored)
2748 : #ifdef DEBUG_NO_CONNECTION
2749 : // the "'" around the ids are missing intentionally in the message below because it slows messaging down, resulting in test timeouts
2750 : WRITE_WARNING("Could not find connection between lane " + succLinkSource.getID() + " and lane " + conts[nRouteSuccs]->getID() +
2751 : " for vehicle " + veh.getID() + ", time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
2752 : #endif
2753 : return succLinkSource.myLinks.end();
2754 : }
2755 :
2756 :
2757 : const MSLink*
2758 613378099 : MSLane::getLinkTo(const MSLane* const target) const {
2759 613378099 : const bool internal = target->isInternal();
2760 816127063 : for (const MSLink* const l : myLinks) {
2761 782846248 : if ((internal && l->getViaLane() == target) || (!internal && l->getLane() == target)) {
2762 : return l;
2763 : }
2764 : }
2765 : return nullptr;
2766 : }
2767 :
2768 :
2769 : const MSLane*
2770 77252 : MSLane::getInternalFollowingLane(const MSLane* const target) const {
2771 126731 : for (const MSLink* const l : myLinks) {
2772 117749 : if (l->getLane() == target) {
2773 : return l->getViaLane();
2774 : }
2775 : }
2776 : return nullptr;
2777 : }
2778 :
2779 :
2780 : const MSLink*
2781 112445764 : MSLane::getEntryLink() const {
2782 112445764 : if (!isInternal()) {
2783 : return nullptr;
2784 : }
2785 : const MSLane* internal = this;
2786 112146106 : const MSLane* lane = this->getCanonicalPredecessorLane();
2787 : assert(lane != nullptr);
2788 113385053 : while (lane->isInternal()) {
2789 : internal = lane;
2790 1238947 : lane = lane->getCanonicalPredecessorLane();
2791 : assert(lane != nullptr);
2792 : }
2793 112146106 : return lane->getLinkTo(internal);
2794 : }
2795 :
2796 :
2797 : void
2798 1032 : MSLane::setMaxSpeed(const double val, const bool modified, const double jamThreshold) {
2799 1032 : myMaxSpeed = val;
2800 1032 : mySpeedModified = modified;
2801 1032 : myEdge->recalcCache();
2802 1032 : if (MSGlobals::gUseMesoSim) {
2803 211 : MESegment* first = MSGlobals::gMesoNet->getSegmentForEdge(*myEdge);
2804 1242 : while (first != nullptr) {
2805 1031 : first->setSpeed(val, SIMSTEP, jamThreshold, myIndex);
2806 : first = first->getNextSegment();
2807 : }
2808 : }
2809 1032 : }
2810 :
2811 :
2812 : void
2813 85 : MSLane::setFrictionCoefficient(double val) {
2814 85 : myFrictionCoefficient = val;
2815 85 : myEdge->recalcCache();
2816 85 : }
2817 :
2818 :
2819 : void
2820 15 : MSLane::setLength(double val) {
2821 15 : myLength = val;
2822 15 : myEdge->recalcCache();
2823 15 : }
2824 :
2825 :
2826 : void
2827 90965426 : MSLane::swapAfterLaneChange(SUMOTime) {
2828 : //if (getID() == "disabled_lane") std::cout << SIMTIME << " swapAfterLaneChange lane=" << getID() << " myVehicles=" << toString(myVehicles) << " myTmpVehicles=" << toString(myTmpVehicles) << "\n";
2829 90965426 : myVehicles = myTmpVehicles;
2830 : myTmpVehicles.clear();
2831 : // this needs to be done after finishing lane-changing for all lanes on the
2832 : // current edge (MSLaneChanger::updateLanes())
2833 90965426 : sortPartialVehicles();
2834 90965426 : if (MSGlobals::gSublane && getOpposite() != nullptr) {
2835 425754 : getOpposite()->sortPartialVehicles();
2836 : }
2837 90965426 : if (myBidiLane != nullptr) {
2838 340735 : myBidiLane->sortPartialVehicles();
2839 : }
2840 90965426 : }
2841 :
2842 :
2843 : MSVehicle*
2844 25798 : MSLane::removeVehicle(MSVehicle* remVehicle, MSMoveReminder::Notification notification, bool notify) {
2845 : assert(remVehicle->getLane() == this);
2846 54921 : for (MSLane::VehCont::iterator it = myVehicles.begin(); it < myVehicles.end(); it++) {
2847 54905 : if (remVehicle == *it) {
2848 25782 : if (notify) {
2849 17565 : remVehicle->leaveLane(notification);
2850 : }
2851 25782 : myVehicles.erase(it);
2852 25782 : myBruttoVehicleLengthSum -= remVehicle->getVehicleType().getLengthWithGap();
2853 25782 : myNettoVehicleLengthSum -= remVehicle->getVehicleType().getLength();
2854 25782 : break;
2855 : }
2856 : }
2857 25798 : return remVehicle;
2858 : }
2859 :
2860 :
2861 : MSLane*
2862 88447840 : MSLane::getParallelLane(int offset, bool includeOpposite) const {
2863 88447840 : return myEdge->parallelLane(this, offset, includeOpposite);
2864 : }
2865 :
2866 :
2867 : void
2868 2643121 : MSLane::addIncomingLane(MSLane* lane, MSLink* viaLink) {
2869 : IncomingLaneInfo ili;
2870 2643121 : ili.lane = lane;
2871 2643121 : ili.viaLink = viaLink;
2872 2643121 : ili.length = lane->getLength();
2873 2643121 : myIncomingLanes.push_back(ili);
2874 2643121 : }
2875 :
2876 :
2877 : void
2878 2643121 : MSLane::addApproachingLane(MSLane* lane, bool warnMultiCon) {
2879 2643121 : MSEdge* approachingEdge = &lane->getEdge();
2880 2643121 : if (myApproachingLanes.find(approachingEdge) == myApproachingLanes.end()) {
2881 2611603 : myApproachingLanes[approachingEdge] = std::vector<MSLane*>();
2882 31518 : } else if (!approachingEdge->isInternal() && warnMultiCon) {
2883 : // whenever a normal edge connects twice, there is a corresponding
2884 : // internal edge wich connects twice, one warning is sufficient
2885 18 : WRITE_WARNINGF(TL("Lane '%' is approached multiple times from edge '%'. This may cause collisions."),
2886 : getID(), approachingEdge->getID());
2887 : }
2888 2643121 : myApproachingLanes[approachingEdge].push_back(lane);
2889 2643121 : }
2890 :
2891 :
2892 : bool
2893 101193380 : MSLane::isApproachedFrom(MSEdge* const edge, MSLane* const lane) {
2894 : std::map<MSEdge*, std::vector<MSLane*> >::const_iterator i = myApproachingLanes.find(edge);
2895 101193380 : if (i == myApproachingLanes.end()) {
2896 : return false;
2897 : }
2898 : const std::vector<MSLane*>& lanes = (*i).second;
2899 98908643 : return std::find(lanes.begin(), lanes.end(), lane) != lanes.end();
2900 : }
2901 :
2902 :
2903 3529249 : double MSLane::getMissingRearGap(const MSVehicle* leader, double backOffset, double leaderSpeed) const {
2904 : // this follows the same logic as getFollowerOnConsecutive. we do a tree
2905 : // search and check for the vehicle with the largest missing rear gap within
2906 : // relevant range
2907 : double result = 0;
2908 : const double leaderDecel = leader->getCarFollowModel().getMaxDecel();
2909 3529249 : CLeaderDist followerInfo = getFollowersOnConsecutive(leader, backOffset, false)[0];
2910 3529249 : const MSVehicle* v = followerInfo.first;
2911 3529249 : if (v != nullptr) {
2912 5505 : result = v->getCarFollowModel().getSecureGap(v, leader, v->getSpeed(), leaderSpeed, leaderDecel) - followerInfo.second;
2913 : }
2914 3529249 : return result;
2915 : }
2916 :
2917 :
2918 : double
2919 367364524 : MSLane::getMaximumBrakeDist() const {
2920 367364524 : const MSVehicleControl& vc = MSNet::getInstance()->getVehicleControl();
2921 367364524 : const double maxSpeed = getSpeedLimit() * vc.getMaxSpeedFactor();
2922 : // NOTE: For the euler update this is an upper bound on the actual braking distance (see ticket #860)
2923 : // impose a hard bound due to visibility / common sense to avoid unnecessary computation if there are strange vehicles in the fleet
2924 367364524 : const double minDecel = isRailway(myPermissions) ? vc.getMinDecelerationRail() : vc.getMinDeceleration();
2925 367364524 : return MIN2(maxSpeed * maxSpeed * 0.5 / minDecel,
2926 367364524 : myPermissions == SVC_SHIP ? 10000.0 : 1000.0);
2927 : }
2928 :
2929 :
2930 : std::pair<MSVehicle* const, double>
2931 39836417 : MSLane::getLeader(const MSVehicle* veh, const double vehPos, const std::vector<MSLane*>& bestLaneConts, double dist, bool checkTmpVehicles) const {
2932 : // get the leading vehicle for (shadow) veh
2933 : // XXX this only works as long as all lanes of an edge have equal length
2934 : #ifdef DEBUG_CONTEXT
2935 : if (DEBUG_COND2(veh)) {
2936 : std::cout << " getLeader lane=" << getID() << " ego=" << veh->getID() << " vehs=" << toString(myVehicles) << " tmpVehs=" << toString(myTmpVehicles) << "\n";
2937 : }
2938 : #endif
2939 39836417 : if (checkTmpVehicles) {
2940 241819407 : for (VehCont::const_iterator last = myTmpVehicles.begin(); last != myTmpVehicles.end(); ++last) {
2941 : // XXX refactor leaderInfo to use a const vehicle all the way through the call hierarchy
2942 239455689 : MSVehicle* pred = (MSVehicle*)*last;
2943 239455689 : if (pred == veh) {
2944 : continue;
2945 : }
2946 : #ifdef DEBUG_CONTEXT
2947 : if (DEBUG_COND2(veh)) {
2948 : std::cout << std::setprecision(gPrecision) << " getLeader lane=" << getID() << " ego=" << veh->getID() << " egoPos=" << vehPos << " pred=" << pred->getID() << " predPos=" << pred->getPositionOnLane() << "\n";
2949 : }
2950 : #endif
2951 204545610 : if (pred->getPositionOnLane() >= vehPos) {
2952 32614079 : return std::pair<MSVehicle* const, double>(pred, pred->getBackPositionOnLane(this) - veh->getVehicleType().getMinGap() - vehPos);
2953 : }
2954 : }
2955 : } else {
2956 47028153 : for (AnyVehicleIterator last = anyVehiclesBegin(); last != anyVehiclesEnd(); ++last) {
2957 : // XXX refactor leaderInfo to use a const vehicle all the way through the call hierarchy
2958 51005536 : MSVehicle* pred = (MSVehicle*)*last;
2959 51005536 : if (pred == veh) {
2960 3838359 : continue;
2961 : }
2962 : #ifdef DEBUG_CONTEXT
2963 : if (DEBUG_COND2(veh)) {
2964 : std::cout << " getLeader lane=" << getID() << " ego=" << veh->getID() << " egoPos=" << vehPos
2965 : << " pred=" << pred->getID() << " predPos=" << pred->getPositionOnLane(this) << " predBack=" << pred->getBackPositionOnLane(this) << "\n";
2966 : }
2967 : #endif
2968 47167177 : if (pred->getPositionOnLane(this) >= vehPos) {
2969 4095319 : if (MSGlobals::gLaneChangeDuration > 0
2970 333962 : && pred->getLaneChangeModel().isOpposite()
2971 89706 : && !pred->getLaneChangeModel().isChangingLanes()
2972 4107828 : && pred->getLaneChangeModel().getShadowLane() == this) {
2973 : // skip non-overlapping shadow
2974 58968 : continue;
2975 : }
2976 3977383 : return std::pair<MSVehicle* const, double>(pred, pred->getBackPositionOnLane(this) - veh->getVehicleType().getMinGap() - vehPos);
2977 : }
2978 : }
2979 : }
2980 : // XXX from here on the code mirrors MSLaneChanger::getRealLeader
2981 3244955 : if (bestLaneConts.size() > 0) {
2982 2919119 : double seen = getLength() - vehPos;
2983 2919119 : double speed = veh->getSpeed();
2984 2919119 : if (dist < 0) {
2985 31808 : dist = veh->getCarFollowModel().brakeGap(speed) + veh->getVehicleType().getMinGap();
2986 : }
2987 : #ifdef DEBUG_CONTEXT
2988 : if (DEBUG_COND2(veh)) {
2989 : std::cout << " getLeader lane=" << getID() << " seen=" << seen << " dist=" << dist << "\n";
2990 : }
2991 : #endif
2992 2919119 : if (seen > dist) {
2993 1106725 : return std::pair<MSVehicle* const, double>(static_cast<MSVehicle*>(nullptr), -1);
2994 : }
2995 1812394 : return getLeaderOnConsecutive(dist, seen, speed, *veh, bestLaneConts);
2996 : } else {
2997 325836 : return std::make_pair(static_cast<MSVehicle*>(nullptr), -1);
2998 : }
2999 : }
3000 :
3001 :
3002 : std::pair<MSVehicle* const, double>
3003 40768399 : MSLane::getLeaderOnConsecutive(double dist, double seen, double speed, const MSVehicle& veh,
3004 : const std::vector<MSLane*>& bestLaneConts, bool considerCrossingFoes) const {
3005 : #ifdef DEBUG_CONTEXT
3006 : if (DEBUG_COND2(&veh)) {
3007 : std::cout << " getLeaderOnConsecutive lane=" << getID() << " ego=" << veh.getID() << " seen=" << seen << " dist=" << dist << " conts=" << toString(bestLaneConts) << "\n";
3008 : }
3009 : #endif
3010 40768399 : if (seen > dist && !isInternal()) {
3011 114146 : return std::make_pair(static_cast<MSVehicle*>(nullptr), -1);
3012 : }
3013 : int view = 1;
3014 : // loop over following lanes
3015 40654253 : if (myPartialVehicles.size() > 0) {
3016 : // XXX
3017 1132021 : MSVehicle* pred = myPartialVehicles.front();
3018 1132021 : const double gap = seen - (getLength() - pred->getBackPositionOnLane(this)) - veh.getVehicleType().getMinGap();
3019 : #ifdef DEBUG_CONTEXT
3020 : if (DEBUG_COND2(&veh)) {
3021 : std::cout << " predGap=" << gap << " partials=" << toString(myPartialVehicles) << "\n";
3022 : }
3023 : #endif
3024 : // make sure pred is really a leader and not doing continous lane-changing behind ego
3025 1132021 : if (gap > 0) {
3026 770701 : return std::pair<MSVehicle* const, double>(pred, gap);
3027 : }
3028 : }
3029 : #ifdef DEBUG_CONTEXT
3030 : if (DEBUG_COND2(&veh)) {
3031 : gDebugFlag1 = true;
3032 : }
3033 : #endif
3034 : const MSLane* nextLane = this;
3035 : do {
3036 57180424 : nextLane->getVehiclesSecure(); // lock against running sim when called from GUI for time gap coloring
3037 : // get the next link used
3038 57180424 : std::vector<MSLink*>::const_iterator link = succLinkSec(veh, view, *nextLane, bestLaneConts);
3039 57180424 : if (nextLane->isLinkEnd(link) && view < veh.getRoute().size() - veh.getRoutePosition()) {
3040 4986278 : const MSEdge* nextEdge = *(veh.getCurrentRouteEdge() + view);
3041 4986278 : if (nextEdge->getNumLanes() == 1) {
3042 : // lanes are unambiguous on the next route edge, continue beyond bestLaneConts
3043 5214193 : for (link = nextLane->getLinkCont().begin(); link < nextLane->getLinkCont().end(); link++) {
3044 3303677 : if ((*link)->getLane() == nextEdge->getLanes().front()) {
3045 : break;
3046 : }
3047 : }
3048 : }
3049 : }
3050 57180424 : if (nextLane->isLinkEnd(link)) {
3051 : #ifdef DEBUG_CONTEXT
3052 : if (DEBUG_COND2(&veh)) {
3053 : std::cout << " cannot continue after nextLane=" << nextLane->getID() << "\n";
3054 : }
3055 : #endif
3056 14917751 : nextLane->releaseVehicles();
3057 14917751 : break;
3058 : }
3059 : // check for link leaders
3060 42262673 : const bool laneChanging = veh.getLane() != this;
3061 42262673 : const MSLink::LinkLeaders linkLeaders = (*link)->getLeaderInfo(&veh, seen);
3062 42262668 : nextLane->releaseVehicles();
3063 42262668 : if (linkLeaders.size() > 0) {
3064 : std::pair<MSVehicle*, double> result;
3065 : double shortestGap = std::numeric_limits<double>::max();
3066 2278318 : for (auto ll : linkLeaders) {
3067 : double gap = ll.vehAndGap.second;
3068 : MSVehicle* lVeh = ll.vehAndGap.first;
3069 1260520 : if (lVeh != nullptr) {
3070 : // leader is a vehicle, not a pedestrian
3071 1164767 : gap += lVeh->getCarFollowModel().brakeGap(lVeh->getSpeed(), lVeh->getCarFollowModel().getMaxDecel(), 0);
3072 : }
3073 : #ifdef DEBUG_CONTEXT
3074 : if (DEBUG_COND2(&veh)) {
3075 : std::cout << " linkLeader candidate " << Named::getIDSecure(lVeh)
3076 : << " isLeader=" << veh.isLeader(*link, lVeh, ll.vehAndGap.second)
3077 : << " gap=" << ll.vehAndGap.second
3078 : << " gap+brakeing=" << gap
3079 : << "\n";
3080 : }
3081 : #endif
3082 : // skip vehicles which do not share the outgoing edge (to get only real leader vehicles in TraCI #13842)
3083 1260520 : if (!considerCrossingFoes && !ll.sameTarget()) {
3084 36 : continue;
3085 : }
3086 : // in the context of lane-changing, all candidates are leaders
3087 1260484 : if (lVeh != nullptr && !laneChanging && !veh.isLeader(*link, lVeh, ll.vehAndGap.second)) {
3088 9076 : continue;
3089 : }
3090 1251408 : if (gap < shortestGap) {
3091 : shortestGap = gap;
3092 1060728 : if (ll.vehAndGap.second < 0 && !MSGlobals::gComputeLC) {
3093 : // can always continue up to the stop line or crossing point
3094 : // @todo: figure out whether this should also impact lane changing
3095 74321 : ll.vehAndGap.second = MAX2(seen - nextLane->getLength(), ll.distToCrossing);
3096 : }
3097 : result = ll.vehAndGap;
3098 : }
3099 : }
3100 1017798 : if (shortestGap != std::numeric_limits<double>::max()) {
3101 : #ifdef DEBUG_CONTEXT
3102 : if (DEBUG_COND2(&veh)) {
3103 : std::cout << " found linkLeader after nextLane=" << nextLane->getID() << "\n";
3104 : gDebugFlag1 = false;
3105 : }
3106 : #endif
3107 1010407 : return result;
3108 : }
3109 : }
3110 41252261 : bool nextInternal = (*link)->getViaLane() != nullptr;
3111 : nextLane = (*link)->getViaLaneOrLane();
3112 20203345 : if (nextLane == nullptr) {
3113 : break;
3114 : }
3115 41252261 : nextLane->getVehiclesSecure(); // lock against running sim when called from GUI for time gap coloring
3116 41252261 : MSVehicle* leader = nextLane->getLastAnyVehicle();
3117 41252261 : if (leader != nullptr) {
3118 : #ifdef DEBUG_CONTEXT
3119 : if (DEBUG_COND2(&veh)) {
3120 : std::cout << " found leader " << leader->getID() << " on nextLane=" << nextLane->getID() << "\n";
3121 : }
3122 : #endif
3123 16802975 : const double leaderDist = seen + leader->getBackPositionOnLane(nextLane) - veh.getVehicleType().getMinGap();
3124 16802975 : nextLane->releaseVehicles();
3125 16802975 : return std::make_pair(leader, leaderDist);
3126 : }
3127 24449286 : nextLane->releaseVehicles();
3128 24449286 : if (nextLane->getVehicleMaxSpeed(&veh) < speed) {
3129 3159713 : dist = veh.getCarFollowModel().brakeGap(nextLane->getVehicleMaxSpeed(&veh));
3130 : }
3131 24449286 : seen += nextLane->getLength();
3132 24449286 : if (!nextInternal) {
3133 7907777 : view++;
3134 : }
3135 59559540 : } while (seen <= dist || nextLane->isInternal());
3136 : #ifdef DEBUG_CONTEXT
3137 : gDebugFlag1 = false;
3138 : #endif
3139 22070165 : return std::make_pair(static_cast<MSVehicle*>(nullptr), -1);
3140 : }
3141 :
3142 :
3143 : std::pair<MSVehicle* const, double>
3144 105119 : MSLane::getCriticalLeader(double dist, double seen, double speed, const MSVehicle& veh) const {
3145 : #ifdef DEBUG_CONTEXT
3146 : if (DEBUG_COND2(&veh)) {
3147 : std::cout << SIMTIME << " getCriticalLeader. lane=" << getID() << " veh=" << veh.getID() << "\n";
3148 : }
3149 : #endif
3150 105119 : const std::vector<MSLane*>& bestLaneConts = veh.getBestLanesContinuation(this);
3151 : std::pair<MSVehicle*, double> result = std::make_pair(static_cast<MSVehicle*>(nullptr), -1);
3152 : double safeSpeed = std::numeric_limits<double>::max();
3153 : int view = 1;
3154 : // loop over following lanes
3155 : // @note: we don't check the partial occupator for this lane since it was
3156 : // already checked in MSLaneChanger::getRealLeader()
3157 : const MSLane* nextLane = this;
3158 210238 : SUMOTime arrivalTime = MSNet::getInstance()->getCurrentTimeStep() + TIME2STEPS(seen / MAX2(speed, NUMERICAL_EPS));
3159 : do {
3160 : // get the next link used
3161 187662 : std::vector<MSLink*>::const_iterator link = succLinkSec(veh, view, *nextLane, bestLaneConts);
3162 184945 : if (nextLane->isLinkEnd(link) || !(*link)->opened(arrivalTime, speed, speed, veh.getVehicleType().getLength(),
3163 367601 : veh.getImpatience(), veh.getCarFollowModel().getMaxDecel(), 0, veh.getLateralPositionOnLane(), nullptr, false, &veh) || (*link)->haveRed()) {
3164 7723 : return result;
3165 : }
3166 : // check for link leaders
3167 : #ifdef DEBUG_CONTEXT
3168 : if (DEBUG_COND2(&veh)) {
3169 : gDebugFlag1 = true; // See MSLink::getLeaderInfo
3170 : }
3171 : #endif
3172 179939 : const MSLink::LinkLeaders linkLeaders = (*link)->getLeaderInfo(&veh, seen);
3173 : #ifdef DEBUG_CONTEXT
3174 : if (DEBUG_COND2(&veh)) {
3175 : gDebugFlag1 = false; // See MSLink::getLeaderInfo
3176 : }
3177 : #endif
3178 210883 : for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3179 30944 : const MSVehicle* leader = (*it).vehAndGap.first;
3180 30944 : if (leader != nullptr && leader != result.first) {
3181 : // XXX ignoring pedestrians here!
3182 : // XXX ignoring the fact that the link leader may alread by following us
3183 : // XXX ignoring the fact that we may drive up to the crossing point
3184 30856 : double tmpSpeed = safeSpeed;
3185 30856 : veh.adaptToJunctionLeader((*it).vehAndGap, seen, nullptr, nextLane, tmpSpeed, tmpSpeed, (*it).distToCrossing);
3186 : #ifdef DEBUG_CONTEXT
3187 : if (DEBUG_COND2(&veh)) {
3188 : std::cout << " linkLeader=" << leader->getID() << " gap=" << result.second << " tmpSpeed=" << tmpSpeed << " safeSpeed=" << safeSpeed << "\n";
3189 : }
3190 : #endif
3191 30856 : if (tmpSpeed < safeSpeed) {
3192 : safeSpeed = tmpSpeed;
3193 : result = (*it).vehAndGap;
3194 : }
3195 : }
3196 : }
3197 179939 : bool nextInternal = (*link)->getViaLane() != nullptr;
3198 : nextLane = (*link)->getViaLaneOrLane();
3199 101227 : if (nextLane == nullptr) {
3200 : break;
3201 : }
3202 179939 : MSVehicle* leader = nextLane->getLastAnyVehicle();
3203 179939 : if (leader != nullptr && leader != result.first) {
3204 102215 : const double gap = seen + leader->getBackPositionOnLane(nextLane) - veh.getVehicleType().getMinGap();
3205 102215 : const double tmpSpeed = veh.getCarFollowModel().insertionFollowSpeed(&veh, speed, gap, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel(), leader);
3206 102215 : if (tmpSpeed < safeSpeed) {
3207 : safeSpeed = tmpSpeed;
3208 : result = std::make_pair(leader, gap);
3209 : }
3210 : }
3211 179939 : if (nextLane->getVehicleMaxSpeed(&veh) < speed) {
3212 27670 : dist = veh.getCarFollowModel().brakeGap(nextLane->getVehicleMaxSpeed(&veh));
3213 : }
3214 179939 : seen += nextLane->getLength();
3215 179939 : if (seen <= dist) {
3216 : // delaying the update of arrivalTime and making it conditional to avoid possible integer overflows
3217 37302 : arrivalTime += TIME2STEPS(nextLane->getLength() / MAX2(speed, NUMERICAL_EPS));
3218 : }
3219 179939 : if (!nextInternal) {
3220 101227 : view++;
3221 : }
3222 262482 : } while (seen <= dist || nextLane->isInternal());
3223 97396 : return result;
3224 : }
3225 :
3226 :
3227 : MSLane*
3228 1202164199 : MSLane::getLogicalPredecessorLane() const {
3229 1202164199 : if (myLogicalPredecessorLane == nullptr) {
3230 5294404 : MSEdgeVector pred = myEdge->getPredecessors();
3231 : // get only those edges which connect to this lane
3232 10941644 : for (MSEdgeVector::iterator i = pred.begin(); i != pred.end();) {
3233 5647240 : std::vector<IncomingLaneInfo>::const_iterator j = find_if(myIncomingLanes.begin(), myIncomingLanes.end(), edge_finder(*i));
3234 5647240 : if (j == myIncomingLanes.end()) {
3235 : i = pred.erase(i);
3236 : } else {
3237 : ++i;
3238 : }
3239 : }
3240 : // get the lane with the "straightest" connection
3241 5294404 : if (pred.size() != 0) {
3242 1676778 : std::sort(pred.begin(), pred.end(), by_connections_to_sorter(&getEdge()));
3243 838389 : MSEdge* best = *pred.begin();
3244 838389 : std::vector<IncomingLaneInfo>::const_iterator j = find_if(myIncomingLanes.begin(), myIncomingLanes.end(), edge_finder(best));
3245 838389 : myLogicalPredecessorLane = j->lane;
3246 : }
3247 5294404 : }
3248 1202164199 : return myLogicalPredecessorLane;
3249 : }
3250 :
3251 :
3252 : const MSLane*
3253 896521588 : MSLane::getNormalPredecessorLane() const {
3254 1936123435 : if (isInternal()) {
3255 1039601847 : return getLogicalPredecessorLane()->getNormalPredecessorLane();
3256 : } else {
3257 : return this;
3258 : }
3259 : }
3260 :
3261 :
3262 : const MSLane*
3263 454344 : MSLane::getNormalSuccessorLane() const {
3264 621396 : if (isInternal()) {
3265 167052 : return getCanonicalSuccessorLane()->getNormalSuccessorLane();
3266 : } else {
3267 : return this;
3268 : }
3269 : }
3270 :
3271 :
3272 : MSLane*
3273 80625 : MSLane::getLogicalPredecessorLane(const MSEdge& fromEdge) const {
3274 142350 : for (const IncomingLaneInfo& cand : myIncomingLanes) {
3275 95705 : if (&(cand.lane->getEdge()) == &fromEdge) {
3276 : return cand.lane;
3277 : }
3278 : }
3279 : return nullptr;
3280 : }
3281 :
3282 :
3283 : MSLane*
3284 115151545 : MSLane::getCanonicalPredecessorLane() const {
3285 115151545 : if (myCanonicalPredecessorLane != nullptr) {
3286 : return myCanonicalPredecessorLane;
3287 : }
3288 807509 : if (myIncomingLanes.empty()) {
3289 : return nullptr;
3290 : }
3291 : // myCanonicalPredecessorLane has not yet been determined and there exist incoming lanes
3292 : // get the lane with the priorized (or if this does not apply the "straightest") connection
3293 807181 : const auto bestLane = std::min_element(myIncomingLanes.begin(), myIncomingLanes.end(), incoming_lane_priority_sorter(this));
3294 : {
3295 : #ifdef HAVE_FOX
3296 807181 : ScopedLocker<> lock(myLeaderInfoMutex, MSGlobals::gNumSimThreads > 1);
3297 : #endif
3298 807181 : myCanonicalPredecessorLane = bestLane->lane;
3299 : }
3300 : #ifdef DEBUG_LANE_SORTER
3301 : std::cout << "\nBest predecessor lane for lane '" << myID << "': '" << myCanonicalPredecessorLane->getID() << "'" << std::endl;
3302 : #endif
3303 807181 : return myCanonicalPredecessorLane;
3304 : }
3305 :
3306 :
3307 : MSLane*
3308 2505441 : MSLane::getCanonicalSuccessorLane() const {
3309 2505441 : if (myCanonicalSuccessorLane != nullptr) {
3310 : return myCanonicalSuccessorLane;
3311 : }
3312 68066 : if (myLinks.empty()) {
3313 : return nullptr;
3314 : }
3315 : // myCanonicalSuccessorLane has not yet been determined and there exist outgoing links
3316 7638 : std::vector<MSLink*> candidateLinks = myLinks;
3317 : // get the lane with the priorized (or if this does not apply the "straightest") connection
3318 15276 : std::sort(candidateLinks.begin(), candidateLinks.end(), outgoing_lane_priority_sorter(this));
3319 7638 : MSLane* best = (*candidateLinks.begin())->getViaLaneOrLane();
3320 : #ifdef DEBUG_LANE_SORTER
3321 : std::cout << "\nBest successor lane for lane '" << myID << "': '" << best->getID() << "'" << std::endl;
3322 : #endif
3323 7638 : myCanonicalSuccessorLane = best;
3324 : return myCanonicalSuccessorLane;
3325 7638 : }
3326 :
3327 :
3328 : LinkState
3329 4720411 : MSLane::getIncomingLinkState() const {
3330 4720411 : const MSLane* const pred = getLogicalPredecessorLane();
3331 4720411 : if (pred == nullptr) {
3332 : return LINKSTATE_DEADEND;
3333 : } else {
3334 4720411 : return pred->getLinkTo(this)->getState();
3335 : }
3336 : }
3337 :
3338 :
3339 : const std::vector<std::pair<const MSLane*, const MSEdge*> >
3340 284450 : MSLane::getOutgoingViaLanes() const {
3341 : std::vector<std::pair<const MSLane*, const MSEdge*> > result;
3342 623987 : for (const MSLink* link : myLinks) {
3343 : assert(link->getLane() != nullptr);
3344 679074 : result.push_back(std::make_pair(link->getLane(), link->getViaLane() == nullptr ? nullptr : &link->getViaLane()->getEdge()));
3345 : }
3346 284450 : return result;
3347 0 : }
3348 :
3349 : std::vector<const MSLane*>
3350 76 : MSLane::getNormalIncomingLanes() const {
3351 76 : std::vector<const MSLane*> result = {};
3352 226 : for (std::map<MSEdge*, std::vector<MSLane*> >::const_iterator it = myApproachingLanes.begin(); it != myApproachingLanes.end(); ++it) {
3353 328 : for (std::vector<MSLane*>::const_iterator it_lane = (*it).second.begin(); it_lane != (*it).second.end(); ++it_lane) {
3354 178 : if (!((*it_lane)->isInternal())) {
3355 146 : result.push_back(*it_lane);
3356 : }
3357 : }
3358 : }
3359 76 : return result;
3360 0 : }
3361 :
3362 :
3363 : void
3364 1127170 : MSLane::leftByLaneChange(MSVehicle* v) {
3365 1127170 : myBruttoVehicleLengthSum -= v->getVehicleType().getLengthWithGap();
3366 1127170 : myNettoVehicleLengthSum -= v->getVehicleType().getLength();
3367 1127170 : }
3368 :
3369 :
3370 : void
3371 1083016 : MSLane::enteredByLaneChange(MSVehicle* v) {
3372 1083016 : myBruttoVehicleLengthSum += v->getVehicleType().getLengthWithGap();
3373 1083016 : myNettoVehicleLengthSum += v->getVehicleType().getLength();
3374 1083016 : }
3375 :
3376 :
3377 : int
3378 0 : MSLane::getCrossingIndex() const {
3379 0 : for (std::vector<MSLink*>::const_iterator i = myLinks.begin(); i != myLinks.end(); ++i) {
3380 0 : if ((*i)->getLane()->isCrossing()) {
3381 0 : return (int)(i - myLinks.begin());
3382 : }
3383 : }
3384 : return -1;
3385 : }
3386 :
3387 : // ------------ Current state retrieval
3388 : double
3389 3353759009 : MSLane::getFractionalVehicleLength(bool brutto) const {
3390 : double sum = 0;
3391 3353759009 : if (myPartialVehicles.size() > 0) {
3392 744806878 : const MSLane* bidi = getBidiLane();
3393 1506964401 : for (MSVehicle* cand : myPartialVehicles) {
3394 762157523 : if (MSGlobals::gSublane && cand->getLaneChangeModel().getShadowLane() == this) {
3395 25129069 : continue;
3396 : }
3397 737028454 : if (cand->getLane() == bidi) {
3398 203622 : sum += (brutto ? cand->getVehicleType().getLengthWithGap() : cand->getVehicleType().getLength());
3399 : } else {
3400 736926643 : sum += myLength - cand->getBackPositionOnLane(this);
3401 : }
3402 : }
3403 : }
3404 3353759009 : return sum;
3405 : }
3406 :
3407 : double
3408 3353712159 : MSLane::getBruttoOccupancy() const {
3409 3353712159 : getVehiclesSecure();
3410 3353712159 : double fractions = getFractionalVehicleLength(true);
3411 3353712159 : if (myVehicles.size() != 0) {
3412 3088195648 : MSVehicle* lastVeh = myVehicles.front();
3413 3088195648 : if (lastVeh->getPositionOnLane() < lastVeh->getVehicleType().getLength()) {
3414 120711691 : fractions -= (lastVeh->getVehicleType().getLength() - lastVeh->getPositionOnLane());
3415 : }
3416 : }
3417 3353712159 : releaseVehicles();
3418 3353712159 : return MIN2(1., (myBruttoVehicleLengthSum + fractions) / myLength);
3419 : }
3420 :
3421 :
3422 : double
3423 46850 : MSLane::getNettoOccupancy() const {
3424 46850 : getVehiclesSecure();
3425 46850 : double fractions = getFractionalVehicleLength(false);
3426 46850 : if (myVehicles.size() != 0) {
3427 508 : MSVehicle* lastVeh = myVehicles.front();
3428 508 : if (lastVeh->getPositionOnLane() < lastVeh->getVehicleType().getLength()) {
3429 4 : fractions -= (lastVeh->getVehicleType().getLength() - lastVeh->getPositionOnLane());
3430 : }
3431 : }
3432 46850 : releaseVehicles();
3433 46850 : return (myNettoVehicleLengthSum + fractions) / myLength;
3434 : }
3435 :
3436 :
3437 : double
3438 52 : MSLane::getWaitingSeconds() const {
3439 52 : if (myVehicles.size() == 0) {
3440 : return 0;
3441 : }
3442 : double wtime = 0;
3443 56 : for (VehCont::const_iterator i = myVehicles.begin(); i != myVehicles.end(); ++i) {
3444 28 : wtime += (*i)->getWaitingSeconds();
3445 : }
3446 : return wtime;
3447 : }
3448 :
3449 :
3450 : double
3451 165669707 : MSLane::getMeanSpeed() const {
3452 165669707 : if (myVehicles.size() == 0) {
3453 137364428 : return myMaxSpeed;
3454 : }
3455 : double v = 0;
3456 : int numVehs = 0;
3457 163660596 : for (const MSVehicle* const veh : getVehiclesSecure()) {
3458 135355317 : if (!veh->isStopped() || !myEdge->hasLaneChanger()) {
3459 134851758 : v += veh->getSpeed();
3460 134851758 : numVehs++;
3461 : }
3462 : }
3463 28305279 : releaseVehicles();
3464 28305279 : if (numVehs == 0) {
3465 239821 : return myMaxSpeed;
3466 : }
3467 28065458 : return v / numVehs;
3468 : }
3469 :
3470 :
3471 : double
3472 2095 : MSLane::getMeanSpeedBike() const {
3473 : // @note: redundant code with getMeanSpeed to avoid extra checks in a function that is called very often
3474 2095 : if (myVehicles.size() == 0) {
3475 1480 : return myMaxSpeed;
3476 : }
3477 : double v = 0;
3478 : int numBikes = 0;
3479 2260 : for (MSVehicle* veh : getVehiclesSecure()) {
3480 1645 : if (veh->getVClass() == SVC_BICYCLE) {
3481 1150 : v += veh->getSpeed();
3482 1150 : numBikes++;
3483 : }
3484 : }
3485 : double ret;
3486 615 : if (numBikes > 0) {
3487 335 : ret = v / (double) myVehicles.size();
3488 : } else {
3489 280 : ret = myMaxSpeed;
3490 : }
3491 615 : releaseVehicles();
3492 615 : return ret;
3493 : }
3494 :
3495 :
3496 : double
3497 46847 : MSLane::getHarmonoise_NoiseEmissions() const {
3498 : double ret = 0;
3499 46847 : const MSLane::VehCont& vehs = getVehiclesSecure();
3500 46847 : if (vehs.size() == 0) {
3501 46343 : releaseVehicles();
3502 46343 : return 0;
3503 : }
3504 1224 : for (MSLane::VehCont::const_iterator i = vehs.begin(); i != vehs.end(); ++i) {
3505 720 : double sv = (*i)->getHarmonoise_NoiseEmissions();
3506 720 : ret += (double) pow(10., (sv / 10.));
3507 : }
3508 504 : releaseVehicles();
3509 504 : return HelpersHarmonoise::sum(ret);
3510 : }
3511 :
3512 :
3513 : int
3514 275661 : MSLane::vehicle_position_sorter::operator()(MSVehicle* v1, MSVehicle* v2) const {
3515 275661 : const double pos1 = v1->getBackPositionOnLane(myLane);
3516 275661 : const double pos2 = v2->getBackPositionOnLane(myLane);
3517 275661 : if (pos1 != pos2) {
3518 271699 : return pos1 > pos2;
3519 : } else {
3520 3962 : return v1->getNumericalID() > v2->getNumericalID();
3521 : }
3522 : }
3523 :
3524 :
3525 : int
3526 358001428 : MSLane::vehicle_natural_position_sorter::operator()(MSVehicle* v1, MSVehicle* v2) const {
3527 358001428 : const double pos1 = v1->getBackPositionOnLane(myLane);
3528 358001428 : const double pos2 = v2->getBackPositionOnLane(myLane);
3529 358001428 : if (pos1 != pos2) {
3530 357436227 : return pos1 < pos2;
3531 : } else {
3532 565201 : return v1->getLateralPositionOnLane() < v2->getLateralPositionOnLane();
3533 : }
3534 : }
3535 :
3536 :
3537 838389 : MSLane::by_connections_to_sorter::by_connections_to_sorter(const MSEdge* const e) :
3538 838389 : myEdge(e),
3539 838389 : myLaneDir(e->getLanes()[0]->getShape().angleAt2D(0)) {
3540 838389 : }
3541 :
3542 :
3543 : int
3544 18628 : MSLane::by_connections_to_sorter::operator()(const MSEdge* const e1, const MSEdge* const e2) const {
3545 : // std::cout << "\nby_connections_to_sorter()";
3546 :
3547 18628 : const std::vector<MSLane*>* ae1 = e1->allowedLanes(*myEdge);
3548 18628 : const std::vector<MSLane*>* ae2 = e2->allowedLanes(*myEdge);
3549 : double s1 = 0;
3550 18628 : if (ae1 != nullptr && ae1->size() != 0) {
3551 : // std::cout << "\nsize 1 = " << ae1->size()
3552 : // << " anglediff 1 = " << fabs(GeomHelper::angleDiff((*ae1)[0]->getShape().angleAt2D(0), myLaneDir)) / M_PI / 2.
3553 : // << "\nallowed lanes: ";
3554 : // for (std::vector<MSLane*>::const_iterator j = ae1->begin(); j != ae1->end(); ++j){
3555 : // std::cout << "\n" << (*j)->getID();
3556 : // }
3557 18628 : s1 = (double) ae1->size() + fabs(GeomHelper::angleDiff((*ae1)[0]->getShape().angleAt2D(0), myLaneDir)) / M_PI / 2.;
3558 : }
3559 : double s2 = 0;
3560 18628 : if (ae2 != nullptr && ae2->size() != 0) {
3561 : // std::cout << "\nsize 2 = " << ae2->size()
3562 : // << " anglediff 2 = " << fabs(GeomHelper::angleDiff((*ae2)[0]->getShape().angleAt2D(0), myLaneDir)) / M_PI / 2.
3563 : // << "\nallowed lanes: ";
3564 : // for (std::vector<MSLane*>::const_iterator j = ae2->begin(); j != ae2->end(); ++j){
3565 : // std::cout << "\n" << (*j)->getID();
3566 : // }
3567 18628 : s2 = (double) ae2->size() + fabs(GeomHelper::angleDiff((*ae2)[0]->getShape().angleAt2D(0), myLaneDir)) / M_PI / 2.;
3568 : }
3569 :
3570 : // std::cout << "\ne1 = " << e1->getID() << " e2 = " << e2->getID()
3571 : // << "\ns1 = " << s1 << " s2 = " << s2
3572 : // << std::endl;
3573 :
3574 18628 : return s1 < s2;
3575 : }
3576 :
3577 :
3578 807181 : MSLane::incoming_lane_priority_sorter::incoming_lane_priority_sorter(const MSLane* const targetLane) :
3579 807181 : myLane(targetLane),
3580 807181 : myLaneDir(targetLane->getShape().angleAt2D(0)) {}
3581 :
3582 : int
3583 1362 : MSLane::incoming_lane_priority_sorter::operator()(const IncomingLaneInfo& laneInfo1, const IncomingLaneInfo& laneInfo2) const {
3584 1362 : const MSLane* noninternal1 = laneInfo1.lane;
3585 3349 : while (noninternal1->isInternal()) {
3586 : assert(noninternal1->getIncomingLanes().size() == 1);
3587 1987 : noninternal1 = noninternal1->getIncomingLanes()[0].lane;
3588 : }
3589 1362 : MSLane* noninternal2 = laneInfo2.lane;
3590 3025 : while (noninternal2->isInternal()) {
3591 : assert(noninternal2->getIncomingLanes().size() == 1);
3592 1663 : noninternal2 = noninternal2->getIncomingLanes()[0].lane;
3593 : }
3594 :
3595 1362 : const MSLink* link1 = noninternal1->getLinkTo(myLane);
3596 1362 : const MSLink* link2 = noninternal2->getLinkTo(myLane);
3597 :
3598 : #ifdef DEBUG_LANE_SORTER
3599 : std::cout << "\nincoming_lane_priority sorter()\n"
3600 : << "noninternal predecessor for lane '" << laneInfo1.lane->getID()
3601 : << "': '" << noninternal1->getID() << "'\n"
3602 : << "noninternal predecessor for lane '" << laneInfo2.lane->getID()
3603 : << "': '" << noninternal2->getID() << "'\n";
3604 : #endif
3605 :
3606 : assert(laneInfo1.lane->isInternal() || link1 == laneInfo1.viaLink);
3607 : assert(link1 != 0);
3608 : assert(link2 != 0);
3609 :
3610 : // check priority between links
3611 : bool priorized1 = true;
3612 : bool priorized2 = true;
3613 :
3614 : #ifdef DEBUG_LANE_SORTER
3615 : std::cout << "FoeLinks of '" << noninternal1->getID() << "'" << std::endl;
3616 : #endif
3617 2678 : for (const MSLink* const foeLink : link1->getFoeLinks()) {
3618 : #ifdef DEBUG_LANE_SORTER
3619 : std::cout << foeLink->getLaneBefore()->getID() << std::endl;
3620 : #endif
3621 2385 : if (foeLink == link2) {
3622 : priorized1 = false;
3623 : break;
3624 : }
3625 : }
3626 :
3627 : #ifdef DEBUG_LANE_SORTER
3628 : std::cout << "FoeLinks of '" << noninternal2->getID() << "'" << std::endl;
3629 : #endif
3630 3691 : for (const MSLink* const foeLink : link2->getFoeLinks()) {
3631 : #ifdef DEBUG_LANE_SORTER
3632 : std::cout << foeLink->getLaneBefore()->getID() << std::endl;
3633 : #endif
3634 : // either link1 is priorized, or it should not appear in link2's foes
3635 2839 : if (foeLink == link1) {
3636 : priorized2 = false;
3637 : break;
3638 : }
3639 : }
3640 : // if one link is subordinate, the other must be priorized (except for
3641 : // traffic lights where mutual response is permitted to handle stuck-on-red
3642 : // situation)
3643 1362 : if (priorized1 != priorized2) {
3644 1137 : return priorized1;
3645 : }
3646 :
3647 : // both are priorized, compare angle difference
3648 225 : double d1 = fabs(GeomHelper::angleDiff(noninternal1->getShape().angleAt2D(0), myLaneDir));
3649 225 : double d2 = fabs(GeomHelper::angleDiff(noninternal2->getShape().angleAt2D(0), myLaneDir));
3650 :
3651 225 : return d2 > d1;
3652 : }
3653 :
3654 :
3655 :
3656 7638 : MSLane::outgoing_lane_priority_sorter::outgoing_lane_priority_sorter(const MSLane* const sourceLane) :
3657 7638 : myLaneDir(sourceLane->getShape().angleAt2D(0)) {}
3658 :
3659 : int
3660 13642 : MSLane::outgoing_lane_priority_sorter::operator()(const MSLink* link1, const MSLink* link2) const {
3661 : const MSLane* target1 = link1->getLane();
3662 : const MSLane* target2 = link2->getLane();
3663 13642 : if (target2 == nullptr) {
3664 : return true;
3665 : }
3666 13642 : if (target1 == nullptr) {
3667 : return false;
3668 : }
3669 :
3670 : #ifdef DEBUG_LANE_SORTER
3671 : std::cout << "\noutgoing_lane_priority sorter()\n"
3672 : << "noninternal successors for lane '" << myLane->getID()
3673 : << "': '" << target1->getID() << "' and "
3674 : << "'" << target2->getID() << "'\n";
3675 : #endif
3676 :
3677 : // priority of targets
3678 : int priority1 = target1->getEdge().getPriority();
3679 : int priority2 = target2->getEdge().getPriority();
3680 :
3681 13642 : if (priority1 != priority2) {
3682 127 : return priority1 > priority2;
3683 : }
3684 :
3685 : // if priority of targets coincides, use angle difference
3686 :
3687 : // both are priorized, compare angle difference
3688 13515 : double d1 = fabs(GeomHelper::angleDiff(target1->getShape().angleAt2D(0), myLaneDir));
3689 13515 : double d2 = fabs(GeomHelper::angleDiff(target2->getShape().angleAt2D(0), myLaneDir));
3690 :
3691 13515 : return d2 > d1;
3692 : }
3693 :
3694 : void
3695 5709 : MSLane::addParking(MSBaseVehicle* veh) {
3696 : myParkingVehicles.insert(veh);
3697 5709 : }
3698 :
3699 :
3700 : void
3701 17472 : MSLane::removeParking(MSBaseVehicle* veh) {
3702 : myParkingVehicles.erase(veh);
3703 17472 : }
3704 :
3705 : bool
3706 73 : MSLane::hasApproaching() const {
3707 146 : for (const MSLink* link : myLinks) {
3708 79 : if (link->getApproaching().size() > 0) {
3709 : return true;
3710 : }
3711 : }
3712 : return false;
3713 : }
3714 :
3715 : void
3716 9728 : MSLane::saveState(OutputDevice& out) {
3717 9728 : const bool toRailJunction = myLinks.size() > 0 && (
3718 9267 : myEdge->getToJunction()->getType() == SumoXMLNodeType::RAIL_SIGNAL
3719 9183 : || myEdge->getToJunction()->getType() == SumoXMLNodeType::RAIL_CROSSING);
3720 : const bool hasVehicles = myVehicles.size() > 0;
3721 9728 : if (hasVehicles || (toRailJunction && hasApproaching())) {
3722 499 : out.openTag(SUMO_TAG_LANE);
3723 499 : out.writeAttr(SUMO_ATTR_ID, getID());
3724 499 : if (hasVehicles) {
3725 493 : out.openTag(SUMO_TAG_VIEWSETTINGS_VEHICLES);
3726 493 : out.writeAttr(SUMO_ATTR_VALUE, myVehicles);
3727 986 : out.closeTag();
3728 : }
3729 499 : if (toRailJunction) {
3730 37 : for (const MSLink* link : myLinks) {
3731 20 : if (link->getApproaching().size() > 0) {
3732 17 : out.openTag(SUMO_TAG_LINK);
3733 17 : out.writeAttr(SUMO_ATTR_TO, link->getViaLaneOrLane()->getID());
3734 34 : for (auto item : link->getApproaching()) {
3735 17 : out.openTag(SUMO_TAG_APPROACHING);
3736 17 : out.writeAttr(SUMO_ATTR_ID, item.first->getID());
3737 17 : out.writeAttr(SUMO_ATTR_ARRIVALTIME, item.second.arrivalTime);
3738 17 : out.writeAttr(SUMO_ATTR_ARRIVALSPEED, item.second.arrivalSpeed);
3739 17 : out.writeAttr(SUMO_ATTR_DEPARTSPEED, item.second.leaveSpeed);
3740 17 : out.writeAttr(SUMO_ATTR_REQUEST, item.second.willPass);
3741 17 : out.writeAttr(SUMO_ATTR_ARRIVALSPEEDBRAKING, item.second.arrivalSpeedBraking);
3742 17 : out.writeAttr(SUMO_ATTR_WAITINGTIME, item.second.waitingTime);
3743 17 : out.writeAttr(SUMO_ATTR_DISTANCE, item.second.dist);
3744 17 : if (item.second.latOffset != 0) {
3745 0 : out.writeAttr(SUMO_ATTR_POSITION_LAT, item.second.latOffset);
3746 : }
3747 34 : out.closeTag();
3748 : }
3749 34 : out.closeTag();
3750 : }
3751 : }
3752 : }
3753 998 : out.closeTag();
3754 : }
3755 9728 : }
3756 :
3757 : void
3758 10041 : MSLane::clearState() {
3759 : myVehicles.clear();
3760 : myParkingVehicles.clear();
3761 : myPartialVehicles.clear();
3762 : myManeuverReservations.clear();
3763 10041 : myBruttoVehicleLengthSum = 0;
3764 10041 : myNettoVehicleLengthSum = 0;
3765 10041 : myBruttoVehicleLengthSumToRemove = 0;
3766 10041 : myNettoVehicleLengthSumToRemove = 0;
3767 10041 : myLeaderInfoTime = SUMOTime_MIN;
3768 10041 : myFollowerInfoTime = SUMOTime_MIN;
3769 23081 : for (MSLink* link : myLinks) {
3770 13040 : link->clearState();
3771 : }
3772 10041 : }
3773 :
3774 : void
3775 634 : MSLane::loadState(const std::vector<SUMOVehicle*>& vehs) {
3776 2172 : for (SUMOVehicle* veh : vehs) {
3777 1538 : MSVehicle* v = dynamic_cast<MSVehicle*>(veh);
3778 1538 : v->updateBestLanes(false, this);
3779 : // incorporateVehicle resets the lastActionTime (which has just been loaded from state) so we must restore it
3780 1538 : const SUMOTime lastActionTime = v->getLastActionTime();
3781 1538 : incorporateVehicle(v, v->getPositionOnLane(), v->getSpeed(), v->getLateralPositionOnLane(), myVehicles.end(),
3782 : MSMoveReminder::NOTIFICATION_LOAD_STATE);
3783 1538 : v->resetActionOffset(lastActionTime - MSNet::getInstance()->getCurrentTimeStep());
3784 1538 : v->processNextStop(v->getSpeed());
3785 : }
3786 634 : }
3787 :
3788 :
3789 : double
3790 2409195122 : MSLane::getVehicleStopOffset(const MSVehicle* veh) const {
3791 2409195122 : if (!myLaneStopOffset.isDefined()) {
3792 : return 0;
3793 : }
3794 93459 : if ((myLaneStopOffset.getPermissions() & veh->getVClass()) != 0) {
3795 31199 : return myLaneStopOffset.getOffset();
3796 : } else {
3797 : return 0;
3798 : }
3799 : }
3800 :
3801 :
3802 : const StopOffset&
3803 2980 : MSLane::getLaneStopOffsets() const {
3804 2980 : return myLaneStopOffset;
3805 : }
3806 :
3807 :
3808 : void
3809 2152 : MSLane::setLaneStopOffset(const StopOffset& stopOffset) {
3810 2152 : myLaneStopOffset = stopOffset;
3811 2152 : }
3812 :
3813 :
3814 : MSLeaderDistanceInfo
3815 303968016 : MSLane::getFollowersOnConsecutive(const MSVehicle* ego, double backOffset,
3816 : bool allSublanes, double searchDist, MinorLinkMode mLinkMode) const {
3817 : assert(ego != 0);
3818 : // get the follower vehicle on the lane to change to
3819 303968016 : const double egoPos = backOffset + ego->getVehicleType().getLength();
3820 303968016 : const double egoLatDist = ego->getLane()->getRightSideOnEdge() - getRightSideOnEdge();
3821 304910531 : const bool getOppositeLeaders = ((ego->getLaneChangeModel().isOpposite() && ego->getLane() == this)
3822 304097166 : || (!ego->getLaneChangeModel().isOpposite() && &ego->getLane()->getEdge() != &getEdge()));
3823 : #ifdef DEBUG_CONTEXT
3824 : if (DEBUG_COND2(ego)) {
3825 : std::cout << SIMTIME << " getFollowers lane=" << getID() << " ego=" << ego->getID()
3826 : << " backOffset=" << backOffset << " pos=" << egoPos
3827 : << " allSub=" << allSublanes << " searchDist=" << searchDist << " ignoreMinor=" << mLinkMode
3828 : << " egoLatDist=" << egoLatDist
3829 : << " getOppositeLeaders=" << getOppositeLeaders
3830 : << "\n";
3831 : }
3832 : #endif
3833 312351226 : MSCriticalFollowerDistanceInfo result(myWidth, allSublanes ? nullptr : ego, allSublanes ? 0 : egoLatDist, getOppositeLeaders);
3834 303968016 : if (MSGlobals::gLateralResolution > 0 && egoLatDist == 0) {
3835 : // check whether ego is outside lane bounds far enough so that another vehicle might
3836 : // be between itself and the first "actual" sublane
3837 : // shift the offset so that we "see" this vehicle
3838 196674273 : if (ego->getLeftSideOnLane() < -MSGlobals::gLateralResolution) {
3839 82546 : result.setSublaneOffset(int(-ego->getLeftSideOnLane() / MSGlobals::gLateralResolution));
3840 196591727 : } else if (ego->getRightSideOnLane() > getWidth() + MSGlobals::gLateralResolution) {
3841 103321 : result.setSublaneOffset(-int((ego->getRightSideOnLane() - getWidth()) / MSGlobals::gLateralResolution));
3842 : }
3843 : #ifdef DEBUG_CONTEXT
3844 : if (DEBUG_COND2(ego)) {
3845 : std::cout << SIMTIME << " getFollowers lane=" << getID() << " ego=" << ego->getID()
3846 : << " egoPosLat=" << ego->getLateralPositionOnLane()
3847 : << " egoLatDist=" << ego->getLane()->getRightSideOnEdge() - getRightSideOnEdge()
3848 : << " extraOffset=" << result.getSublaneOffset()
3849 : << "\n";
3850 : }
3851 : #endif
3852 : }
3853 : /// XXX iterate in reverse and abort when there are no more freeSublanes
3854 6341472915 : for (AnyVehicleIterator last = anyVehiclesBegin(); last != anyVehiclesEnd(); ++last) {
3855 6341472915 : const MSVehicle* veh = *last;
3856 : #ifdef DEBUG_CONTEXT
3857 : if (DEBUG_COND2(ego)) {
3858 : std::cout << " veh=" << veh->getID() << " lane=" << veh->getLane()->getID() << " pos=" << veh->getPositionOnLane(this) << "\n";
3859 : }
3860 : #endif
3861 6341472915 : if (veh != ego && veh->getPositionOnLane(this) < egoPos) {
3862 : //const double latOffset = veh->getLane()->getRightSideOnEdge() - getRightSideOnEdge();
3863 2811937463 : const double latOffset = veh->getLatOffset(this);
3864 2811937463 : double dist = backOffset - veh->getPositionOnLane(this) - veh->getVehicleType().getMinGap();
3865 2811937463 : if (veh->isBidiOn(this)) {
3866 82860 : dist -= veh->getLength();
3867 : }
3868 2811937463 : result.addFollower(veh, ego, dist, latOffset);
3869 : #ifdef DEBUG_CONTEXT
3870 : if (DEBUG_COND2(ego)) {
3871 : std::cout << " (1) added veh=" << veh->getID() << " latOffset=" << latOffset << " result=" << result.toString() << "\n";
3872 : }
3873 : #endif
3874 : }
3875 : }
3876 : #ifdef DEBUG_CONTEXT
3877 : if (DEBUG_COND2(ego)) {
3878 : std::cout << " result.numFreeSublanes=" << result.numFreeSublanes() << "\n";
3879 : }
3880 : #endif
3881 303968016 : if (result.numFreeSublanes() > 0) {
3882 : // do a tree search among all follower lanes and check for the most
3883 : // important vehicle (the one requiring the largest reargap)
3884 : // to get a safe bound on the necessary search depth, we need to consider the maximum speed and minimum
3885 : // deceleration of potential follower vehicles
3886 138738645 : if (searchDist == -1) {
3887 137322934 : searchDist = getMaximumBrakeDist() - backOffset;
3888 : #ifdef DEBUG_CONTEXT
3889 : if (DEBUG_COND2(ego)) {
3890 : std::cout << " computed searchDist=" << searchDist << "\n";
3891 : }
3892 : #endif
3893 : }
3894 : std::set<const MSEdge*> egoFurther;
3895 150281621 : for (MSLane* further : ego->getFurtherLanes()) {
3896 11542976 : egoFurther.insert(&further->getEdge());
3897 : }
3898 149683270 : if (ego->getPositionOnLane() < ego->getVehicleType().getLength() && egoFurther.size() == 0
3899 139804314 : && ego->getLane()->getLogicalPredecessorLane() != nullptr) {
3900 : // on insertion
3901 697765 : egoFurther.insert(&ego->getLane()->getLogicalPredecessorLane()->getEdge());
3902 : }
3903 :
3904 : // avoid loops
3905 138738645 : std::set<const MSLane*> visited(myEdge->getLanes().begin(), myEdge->getLanes().end());
3906 138738645 : if (myEdge->getBidiEdge() != nullptr) {
3907 : visited.insert(myEdge->getBidiEdge()->getLanes().begin(), myEdge->getBidiEdge()->getLanes().end());
3908 : }
3909 : std::vector<MSLane::IncomingLaneInfo> newFound;
3910 138738645 : std::vector<MSLane::IncomingLaneInfo> toExamine = myIncomingLanes;
3911 314062186 : while (toExamine.size() != 0) {
3912 404716420 : for (std::vector<MSLane::IncomingLaneInfo>::iterator it = toExamine.begin(); it != toExamine.end(); ++it) {
3913 229392879 : MSLane* next = (*it).lane;
3914 229392879 : searchDist = MAX2(searchDist, next->getMaximumBrakeDist() - backOffset);
3915 229392879 : MSLeaderInfo first = next->getFirstVehicleInformation(nullptr, 0, false, std::numeric_limits<double>::max(), false);
3916 229392879 : MSLeaderInfo firstFront = next->getFirstVehicleInformation(nullptr, 0, true);
3917 : #ifdef DEBUG_CONTEXT
3918 : if (DEBUG_COND2(ego)) {
3919 : std::cout << " next=" << next->getID() << " seen=" << (*it).length << " first=" << first.toString() << " firstFront=" << firstFront.toString() << " backOffset=" << backOffset << "\n";
3920 : gDebugFlag1 = true; // for calling getLeaderInfo
3921 : }
3922 : #endif
3923 229392879 : if (backOffset + (*it).length - next->getLength() < 0
3924 229392879 : && egoFurther.count(&next->getEdge()) != 0
3925 : ) {
3926 : // check for junction foes that would interfere with lane changing
3927 : // @note: we are passing the back of ego as its front position so
3928 : // we need to add this back to the returned gap
3929 11809013 : const MSLink::LinkLeaders linkLeaders = (*it).viaLink->getLeaderInfo(ego, -backOffset);
3930 12100363 : for (const auto& ll : linkLeaders) {
3931 291350 : if (ll.vehAndGap.first != nullptr) {
3932 291338 : const bool bidiFoe = (*it).viaLink->getLane() == ll.vehAndGap.first->getLane()->getNormalPredecessorLane()->getBidiLane();
3933 291338 : const bool egoIsLeader = !bidiFoe && ll.vehAndGap.first->isLeader((*it).viaLink, ego, ll.vehAndGap.second);
3934 : // if ego is leader the returned gap still assumes that ego follows the leader
3935 : // if the foe vehicle follows ego we need to deduce that gap
3936 : const double gap = (egoIsLeader
3937 291338 : ? -ll.vehAndGap.second - ll.vehAndGap.first->getVehicleType().getLengthWithGap() - ego->getVehicleType().getMinGap()
3938 407 : : ll.vehAndGap.second + ego->getVehicleType().getLength());
3939 291338 : result.addFollower(ll.vehAndGap.first, ego, gap);
3940 : #ifdef DEBUG_CONTEXT
3941 : if (DEBUG_COND2(ego)) {
3942 : std::cout << SIMTIME << " ego=" << ego->getID() << " link=" << (*it).viaLink->getViaLaneOrLane()->getID()
3943 : << " (3) added veh=" << Named::getIDSecure(ll.vehAndGap.first)
3944 : << " gap=" << ll.vehAndGap.second << " dtC=" << ll.distToCrossing
3945 : << " bidiFoe=" << bidiFoe
3946 : << " egoIsLeader=" << egoIsLeader << " gap2=" << gap
3947 : << "\n";
3948 : }
3949 : #endif
3950 : }
3951 : }
3952 11809013 : }
3953 : #ifdef DEBUG_CONTEXT
3954 : if (DEBUG_COND2(ego)) {
3955 : gDebugFlag1 = false;
3956 : }
3957 : #endif
3958 :
3959 977515320 : for (int i = 0; i < first.numSublanes(); ++i) {
3960 748122441 : const MSVehicle* v = first[i] == ego ? firstFront[i] : first[i];
3961 : double agap = 0;
3962 :
3963 748122441 : if (v != nullptr && v != ego) {
3964 200889910 : if (!v->isFrontOnLane(next)) {
3965 : // the front of v is already on divergent trajectory from the ego vehicle
3966 : // for which this method is called (in the context of MSLaneChanger).
3967 : // Therefore, technically v is not a follower but only an obstruction and
3968 : // the gap is not between the front of v and the back of ego
3969 : // but rather between the flank of v and the back of ego.
3970 30752619 : agap = (*it).length - next->getLength() + backOffset;
3971 30752619 : if (MSGlobals::gUsingInternalLanes) {
3972 : // ego should have left the intersection still occupied by v
3973 30743497 : agap -= v->getVehicleType().getMinGap();
3974 : }
3975 : #ifdef DEBUG_CONTEXT
3976 : if (DEBUG_COND2(ego)) {
3977 : std::cout << " agap1=" << agap << "\n";
3978 : }
3979 : #endif
3980 30752619 : const bool differentEdge = &v->getLane()->getEdge() != &ego->getLane()->getEdge();
3981 30752619 : if (agap > 0 && differentEdge) {
3982 : // Only if ego overlaps we treat v as if it were a real follower
3983 : // Otherwise we ignore it and look for another follower
3984 19424787 : if (!getOppositeLeaders) {
3985 : // even if the vehicle is not a real
3986 : // follower, it still forms a real
3987 : // obstruction in opposite direction driving
3988 19236502 : v = firstFront[i];
3989 19236502 : if (v != nullptr && v != ego) {
3990 15168135 : agap = (*it).length - v->getPositionOnLane() + backOffset - v->getVehicleType().getMinGap();
3991 : } else {
3992 : v = nullptr;
3993 : }
3994 : }
3995 11327832 : } else if (differentEdge && result.hasVehicle(v)) {
3996 : // ignore this vehicle as it was already seen on another lane
3997 : agap = 0;
3998 : }
3999 : } else {
4000 170137291 : if (next->getBidiLane() != nullptr && v->isBidiOn(next)) {
4001 76280 : agap = v->getPositionOnLane() + backOffset - v->getVehicleType().getLengthWithGap();
4002 : } else {
4003 170061011 : agap = (*it).length - v->getPositionOnLane() + backOffset - v->getVehicleType().getMinGap();
4004 : }
4005 170137291 : if (!(*it).viaLink->havePriority() && egoFurther.count(&(*it).lane->getEdge()) == 0
4006 11645085 : && ego->isOnRoad() // during insertion, this can lead to collisions because ego's further lanes are not set (see #3053)
4007 11547514 : && !ego->getLaneChangeModel().isOpposite()
4008 181683743 : && v->getSpeed() < SUMO_const_haltingSpeed
4009 : ) {
4010 : // if v is stopped on a minor side road it should not block lane changing
4011 : agap = MAX2(agap, 0.0);
4012 : }
4013 : }
4014 200889910 : result.addFollower(v, ego, agap, 0, i);
4015 : #ifdef DEBUG_CONTEXT
4016 : if (DEBUG_COND2(ego)) {
4017 : std::cout << " (2) added veh=" << Named::getIDSecure(v) << " agap=" << agap << " next=" << next->getID() << " result=" << result.toString() << "\n";
4018 : }
4019 : #endif
4020 : }
4021 : }
4022 229392879 : if ((*it).length < searchDist) {
4023 : const std::vector<MSLane::IncomingLaneInfo>& followers = next->getIncomingLanes();
4024 214686929 : for (std::vector<MSLane::IncomingLaneInfo>::const_iterator j = followers.begin(); j != followers.end(); ++j) {
4025 110505735 : if (visited.find((*j).lane) == visited.end() && (((*j).viaLink->havePriority() && !(*j).viaLink->isTurnaround())
4026 32000194 : || mLinkMode == MinorLinkMode::FOLLOW_ALWAYS
4027 1591288 : || (mLinkMode == MinorLinkMode::FOLLOW_ONCOMING && (*j).viaLink->getDirection() == LinkDirection::STRAIGHT))) {
4028 103254127 : visited.insert((*j).lane);
4029 : MSLane::IncomingLaneInfo ili;
4030 103254127 : ili.lane = (*j).lane;
4031 103254127 : ili.length = (*j).length + (*it).length;
4032 103254127 : ili.viaLink = (*j).viaLink;
4033 103254127 : newFound.push_back(ili);
4034 : }
4035 : }
4036 : }
4037 229392879 : }
4038 : toExamine.clear();
4039 : swap(newFound, toExamine);
4040 : }
4041 : //return result;
4042 :
4043 138738645 : }
4044 607936032 : return result;
4045 303968016 : }
4046 :
4047 :
4048 : void
4049 16123286 : MSLane::getLeadersOnConsecutive(double dist, double seen, double speed, const MSVehicle* ego,
4050 : const std::vector<MSLane*>& bestLaneConts, MSLeaderDistanceInfo& result,
4051 : bool oppositeDirection) const {
4052 16123286 : if (seen > dist && !(isInternal() && MSGlobals::gComputeLC)) {
4053 : return;
4054 : }
4055 : // check partial vehicles (they might be on a different route and thus not
4056 : // found when iterating along bestLaneConts)
4057 16918933 : for (VehCont::const_iterator it = myPartialVehicles.begin(); it != myPartialVehicles.end(); ++it) {
4058 2691385 : MSVehicle* veh = *it;
4059 2691385 : if (!veh->isFrontOnLane(this)) {
4060 795647 : result.addLeader(veh, seen, veh->getLatOffset(this));
4061 : } else {
4062 : break;
4063 : }
4064 : }
4065 : #ifdef DEBUG_CONTEXT
4066 : if (DEBUG_COND2(ego)) {
4067 : gDebugFlag1 = true;
4068 : }
4069 : #endif
4070 : const MSLane* nextLane = this;
4071 : int view = 1;
4072 : // loop over following lanes
4073 34263951 : while ((seen < dist || nextLane->isInternal()) && result.numFreeSublanes() > 0) {
4074 : // get the next link used
4075 : bool nextInternal = false;
4076 23276648 : if (oppositeDirection) {
4077 7720 : if (view >= (int)bestLaneConts.size()) {
4078 : break;
4079 : }
4080 2731 : nextLane = bestLaneConts[view];
4081 : } else {
4082 23268928 : std::vector<MSLink*>::const_iterator link = succLinkSec(*ego, view, *nextLane, bestLaneConts);
4083 23268928 : if (nextLane->isLinkEnd(link)) {
4084 : break;
4085 : }
4086 : // check for link leaders
4087 19001607 : const MSLink::LinkLeaders linkLeaders = (*link)->getLeaderInfo(ego, seen);
4088 19001607 : if (linkLeaders.size() > 0) {
4089 977204 : const MSLink::LinkLeader ll = linkLeaders[0];
4090 977204 : MSVehicle* veh = ll.vehAndGap.first;
4091 : // in the context of lane changing all junction leader candidates must be respected
4092 977204 : if (veh != 0 && (ego->isLeader(*link, veh, ll.vehAndGap.second)
4093 100425 : || (MSGlobals::gComputeLC
4094 1077629 : && veh->getPosition().distanceTo2D(ego->getPosition()) - veh->getVehicleType().getMinGap() - ego->getVehicleType().getLength()
4095 100425 : < veh->getCarFollowModel().brakeGap(veh->getSpeed())))) {
4096 : #ifdef DEBUG_CONTEXT
4097 : if (DEBUG_COND2(ego)) {
4098 : std::cout << " linkleader=" << veh->getID() << " gap=" << ll.vehAndGap.second << " leaderOffset=" << ll.latOffset << " flags=" << ll.llFlags << "\n";
4099 : }
4100 : #endif
4101 863673 : if (ll.sameTarget() || ll.sameSource()) {
4102 586931 : result.addLeader(veh, ll.vehAndGap.second, ll.latOffset);
4103 : } else {
4104 : // add link leader to all sublanes and return
4105 1901797 : for (int i = 0; i < result.numSublanes(); ++i) {
4106 1625055 : result.addLeader(veh, ll.vehAndGap.second, 0, i);
4107 : }
4108 : }
4109 : #ifdef DEBUG_CONTEXT
4110 : gDebugFlag1 = false;
4111 : #endif
4112 863673 : return;
4113 : } // XXX else, deal with pedestrians
4114 : }
4115 18137934 : nextInternal = (*link)->getViaLane() != nullptr;
4116 : nextLane = (*link)->getViaLaneOrLane();
4117 10692771 : if (nextLane == nullptr) {
4118 : break;
4119 : }
4120 19001607 : }
4121 :
4122 18140665 : MSLeaderInfo leaders = nextLane->getLastVehicleInformation(nullptr, 0, 0, false);
4123 : #ifdef DEBUG_CONTEXT
4124 : if (DEBUG_COND2(ego)) {
4125 : std::cout << SIMTIME << " getLeadersOnConsecutive lane=" << getID() << " nextLane=" << nextLane->getID() << " leaders=" << leaders.toString() << "\n";
4126 : }
4127 : #endif
4128 : // @todo check alignment issues if the lane width changes
4129 : const int iMax = MIN2(leaders.numSublanes(), result.numSublanes());
4130 96873190 : for (int i = 0; i < iMax; ++i) {
4131 78732525 : const MSVehicle* veh = leaders[i];
4132 78732525 : if (veh != nullptr) {
4133 : #ifdef DEBUG_CONTEXT
4134 : if (DEBUG_COND2(ego)) std::cout << " lead=" << veh->getID()
4135 : << " seen=" << seen
4136 : << " minGap=" << ego->getVehicleType().getMinGap()
4137 : << " backPos=" << veh->getBackPositionOnLane(nextLane)
4138 : << " gap=" << seen - ego->getVehicleType().getMinGap() + veh->getBackPositionOnLane(nextLane)
4139 : << "\n";
4140 : #endif
4141 31455662 : result.addLeader(veh, seen - ego->getVehicleType().getMinGap() + veh->getBackPositionOnLane(nextLane), 0, i);
4142 : }
4143 : }
4144 :
4145 18140665 : if (nextLane->getVehicleMaxSpeed(ego) < speed) {
4146 935365 : dist = ego->getCarFollowModel().brakeGap(nextLane->getVehicleMaxSpeed(ego));
4147 : }
4148 18140665 : seen += nextLane->getLength();
4149 18140665 : if (!nextInternal) {
4150 10695502 : view++;
4151 : }
4152 18140665 : }
4153 : #ifdef DEBUG_CONTEXT
4154 : gDebugFlag1 = false;
4155 : #endif
4156 : }
4157 :
4158 :
4159 : void
4160 123331062 : MSLane::addLeaders(const MSVehicle* vehicle, double vehPos, MSLeaderDistanceInfo& result, bool opposite) {
4161 : // if there are vehicles on the target lane with the same position as ego,
4162 : // they may not have been added to 'ahead' yet
4163 : #ifdef DEBUG_SURROUNDING
4164 : if (DEBUG_COND || DEBUG_COND2(vehicle)) {
4165 : std::cout << " addLeaders lane=" << getID() << " veh=" << vehicle->getID() << " vehPos=" << vehPos << " opposite=" << opposite << "\n";
4166 : }
4167 : #endif
4168 123331062 : const MSLeaderInfo& aheadSamePos = getLastVehicleInformation(nullptr, 0, vehPos, false);
4169 640389373 : for (int i = 0; i < aheadSamePos.numSublanes(); ++i) {
4170 517058311 : const MSVehicle* veh = aheadSamePos[i];
4171 517058311 : if (veh != nullptr && veh != vehicle) {
4172 139311345 : const double gap = veh->getBackPositionOnLane(this) - vehPos - vehicle->getVehicleType().getMinGap();
4173 : #ifdef DEBUG_SURROUNDING
4174 : if (DEBUG_COND || DEBUG_COND2(vehicle)) {
4175 : std::cout << " further lead=" << veh->getID() << " leadBack=" << veh->getBackPositionOnLane(this) << " gap=" << gap << "\n";
4176 : }
4177 : #endif
4178 139311345 : result.addLeader(veh, gap, 0, i);
4179 : }
4180 : }
4181 :
4182 123331062 : if (result.numFreeSublanes() > 0) {
4183 36289875 : double seen = vehicle->getLane()->getLength() - vehPos;
4184 36289875 : double speed = vehicle->getSpeed();
4185 : // leader vehicle could be link leader on the next junction
4186 36289875 : double dist = MAX2(vehicle->getCarFollowModel().brakeGap(speed), 10.0) + vehicle->getVehicleType().getMinGap();
4187 36289875 : if (getBidiLane() != nullptr) {
4188 56361 : dist = MAX2(dist, myMaxSpeed * 20);
4189 : }
4190 : // check for link leaders when on internal
4191 36289875 : if (seen > dist && !(isInternal() && MSGlobals::gComputeLC)) {
4192 : #ifdef DEBUG_SURROUNDING
4193 : if (DEBUG_COND || DEBUG_COND2(vehicle)) {
4194 : std::cout << " aborting forward search. dist=" << dist << " seen=" << seen << "\n";
4195 : }
4196 : #endif
4197 : return;
4198 : }
4199 : #ifdef DEBUG_SURROUNDING
4200 : if (DEBUG_COND || DEBUG_COND2(vehicle)) {
4201 : std::cout << " add consecutive before=" << result.toString() << " seen=" << seen << " dist=" << dist;
4202 : }
4203 : #endif
4204 16123286 : if (opposite) {
4205 6355 : const std::vector<MSLane*> bestLaneConts = vehicle->getUpstreamOppositeLanes();
4206 : #ifdef DEBUG_SURROUNDING
4207 : if (DEBUG_COND || DEBUG_COND2(vehicle)) {
4208 : std::cout << " upstreamOpposite=" << toString(bestLaneConts);
4209 : }
4210 : #endif
4211 6355 : getLeadersOnConsecutive(dist, seen, speed, vehicle, bestLaneConts, result, opposite);
4212 6355 : } else {
4213 16116931 : const std::vector<MSLane*>& bestLaneConts = vehicle->getBestLanesContinuation(this);
4214 16116931 : getLeadersOnConsecutive(dist, seen, speed, vehicle, bestLaneConts, result);
4215 : }
4216 : #ifdef DEBUG_SURROUNDING
4217 : if (DEBUG_COND || DEBUG_COND2(vehicle)) {
4218 : std::cout << " after=" << result.toString() << "\n";
4219 : }
4220 : #endif
4221 : }
4222 123331062 : }
4223 :
4224 :
4225 : MSVehicle*
4226 477969254 : MSLane::getPartialBehind(const MSVehicle* ego) const {
4227 504279182 : for (VehCont::const_reverse_iterator i = myPartialVehicles.rbegin(); i != myPartialVehicles.rend(); ++i) {
4228 27974076 : MSVehicle* veh = *i;
4229 27974076 : if (veh->isFrontOnLane(this)
4230 3258109 : && veh != ego
4231 31232185 : && veh->getPositionOnLane() <= ego->getPositionOnLane()) {
4232 : #ifdef DEBUG_CONTEXT
4233 : if (DEBUG_COND2(ego)) {
4234 : std::cout << SIMTIME << " getPartialBehind lane=" << getID() << " ego=" << ego->getID() << " found=" << veh->getID() << "\n";
4235 : }
4236 : #endif
4237 : return veh;
4238 : }
4239 : }
4240 : #ifdef DEBUG_CONTEXT
4241 : if (DEBUG_COND2(ego)) {
4242 : std::cout << SIMTIME << " getPartialBehind lane=" << getID() << " ego=" << ego->getID() << " nothing found. partials=" << toString(myPartialVehicles) << "\n";
4243 : }
4244 : #endif
4245 : return nullptr;
4246 : }
4247 :
4248 : MSLeaderInfo
4249 20003034 : MSLane::getPartialBeyond() const {
4250 20003034 : MSLeaderInfo result(myWidth);
4251 21427467 : for (VehCont::const_iterator it = myPartialVehicles.begin(); it != myPartialVehicles.end(); ++it) {
4252 2941273 : MSVehicle* veh = *it;
4253 2941273 : if (!veh->isFrontOnLane(this)) {
4254 1424433 : result.addLeader(veh, false, veh->getLatOffset(this));
4255 : } else {
4256 : break;
4257 : }
4258 : }
4259 20003034 : return result;
4260 0 : }
4261 :
4262 :
4263 : std::set<MSVehicle*>
4264 11180 : MSLane::getSurroundingVehicles(double startPos, double downstreamDist, double upstreamDist, std::shared_ptr<LaneCoverageInfo> checkedLanes) const {
4265 : assert(checkedLanes != nullptr);
4266 11180 : if (checkedLanes->find(this) != checkedLanes->end()) {
4267 : #ifdef DEBUG_SURROUNDING
4268 : std::cout << "Skipping previously scanned lane: " << getID() << std::endl;
4269 : #endif
4270 2266 : return std::set<MSVehicle*>();
4271 : } else {
4272 : // Add this lane's coverage to the lane coverage info
4273 18841 : (*checkedLanes)[this] = std::make_pair(MAX2(0.0, startPos - upstreamDist), MIN2(startPos + downstreamDist, getLength()));
4274 : }
4275 : #ifdef DEBUG_SURROUNDING
4276 : std::cout << "Scanning on lane " << myID << "(downstr. " << downstreamDist << ", upstr. " << upstreamDist << ", startPos " << startPos << "): " << std::endl;
4277 : #endif
4278 14492 : std::set<MSVehicle*> foundVehicles = getVehiclesInRange(MAX2(0., startPos - upstreamDist), MIN2(myLength, startPos + downstreamDist));
4279 8914 : if (startPos < upstreamDist) {
4280 : // scan incoming lanes
4281 10886 : for (const IncomingLaneInfo& incomingInfo : getIncomingLanes()) {
4282 5412 : MSLane* incoming = incomingInfo.lane;
4283 : #ifdef DEBUG_SURROUNDING
4284 : std::cout << "Checking on incoming: " << incoming->getID() << std::endl;
4285 : if (checkedLanes->find(incoming) != checkedLanes->end()) {
4286 : std::cout << "Skipping previous: " << incoming->getID() << std::endl;
4287 : }
4288 : #endif
4289 10824 : std::set<MSVehicle*> newVehs = incoming->getSurroundingVehicles(incoming->getLength(), 0.0, upstreamDist - startPos, checkedLanes);
4290 5412 : foundVehicles.insert(newVehs.begin(), newVehs.end());
4291 : }
4292 : }
4293 :
4294 8914 : if (getLength() < startPos + downstreamDist) {
4295 : // scan successive lanes
4296 : const std::vector<MSLink*>& lc = getLinkCont();
4297 6130 : for (MSLink* l : lc) {
4298 : #ifdef DEBUG_SURROUNDING
4299 : std::cout << "Checking on outgoing: " << l->getViaLaneOrLane()->getID() << std::endl;
4300 : #endif
4301 5588 : std::set<MSVehicle*> newVehs = l->getViaLaneOrLane()->getSurroundingVehicles(0.0, downstreamDist - (myLength - startPos), upstreamDist, checkedLanes);
4302 2794 : foundVehicles.insert(newVehs.begin(), newVehs.end());
4303 : }
4304 : }
4305 : #ifdef DEBUG_SURROUNDING
4306 : std::cout << "On lane (2) " << myID << ": \nFound vehicles: " << std::endl;
4307 : for (MSVehicle* v : foundVehicles) {
4308 : std::cout << v->getID() << " pos = " << v->getPositionOnLane() << std::endl;
4309 : }
4310 : #endif
4311 : return foundVehicles;
4312 : }
4313 :
4314 :
4315 : std::set<MSVehicle*>
4316 11749 : MSLane::getVehiclesInRange(const double a, const double b) const {
4317 : std::set<MSVehicle*> res;
4318 11749 : const VehCont& vehs = getVehiclesSecure();
4319 :
4320 11749 : if (!vehs.empty()) {
4321 12545 : for (MSVehicle* const veh : vehs) {
4322 8356 : if (veh->getPositionOnLane() >= a) {
4323 7012 : if (veh->getBackPositionOnLane() > b) {
4324 : break;
4325 : }
4326 : res.insert(veh);
4327 : }
4328 : }
4329 : }
4330 11749 : releaseVehicles();
4331 11749 : return res;
4332 : }
4333 :
4334 :
4335 : std::vector<const MSJunction*>
4336 0 : MSLane::getUpcomingJunctions(double pos, double range, const std::vector<MSLane*>& contLanes) const {
4337 : // set of upcoming junctions and the corresponding conflict links
4338 : std::vector<const MSJunction*> junctions;
4339 0 : for (auto l : getUpcomingLinks(pos, range, contLanes)) {
4340 0 : junctions.insert(junctions.end(), l->getJunction());
4341 0 : }
4342 0 : return junctions;
4343 0 : }
4344 :
4345 :
4346 : std::vector<const MSLink*>
4347 761 : MSLane::getUpcomingLinks(double pos, double range, const std::vector<MSLane*>& contLanes) const {
4348 : #ifdef DEBUG_SURROUNDING
4349 : std::cout << "getUpcoming links on lane '" << getID() << "' with pos=" << pos
4350 : << " range=" << range << std::endl;
4351 : #endif
4352 : // set of upcoming junctions and the corresponding conflict links
4353 : std::vector<const MSLink*> links;
4354 :
4355 : // Currently scanned lane
4356 : const MSLane* lane = this;
4357 :
4358 : // continuation lanes for the vehicle
4359 : std::vector<MSLane*>::const_iterator contLanesIt = contLanes.begin();
4360 : // scanned distance so far
4361 : double dist = 0.0;
4362 : // link to be crossed by the vehicle
4363 761 : const MSLink* link = nullptr;
4364 761 : if (lane->isInternal()) {
4365 : assert(*contLanesIt == nullptr); // is called with vehicle's bestLane structure
4366 116 : link = lane->getEntryLink();
4367 116 : links.insert(links.end(), link);
4368 116 : dist += link->getInternalLengthsAfter();
4369 : // next non-internal lane behind junction
4370 : lane = link->getLane();
4371 : pos = 0.0;
4372 : assert(*(contLanesIt + 1) == lane);
4373 : }
4374 1266 : while (++contLanesIt != contLanes.end()) {
4375 : assert(!lane->isInternal());
4376 969 : dist += lane->getLength() - pos;
4377 : pos = 0.;
4378 : #ifdef DEBUG_SURROUNDING
4379 : std::cout << "Distance until end of lane '" << lane->getID() << "' is " << dist << "." << std::endl;
4380 : #endif
4381 969 : if (dist > range) {
4382 : break;
4383 : }
4384 505 : link = lane->getLinkTo(*contLanesIt);
4385 505 : if (link != nullptr) {
4386 493 : links.insert(links.end(), link);
4387 : }
4388 505 : lane = *contLanesIt;
4389 : }
4390 761 : return links;
4391 0 : }
4392 :
4393 :
4394 : MSLane*
4395 246677204 : MSLane::getOpposite() const {
4396 246677204 : return myOpposite;
4397 : }
4398 :
4399 :
4400 : MSLane*
4401 187824433 : MSLane::getParallelOpposite() const {
4402 187824433 : return myEdge->getLanes().back()->getOpposite();
4403 : }
4404 :
4405 :
4406 : double
4407 7562300 : MSLane::getOppositePos(double pos) const {
4408 7562300 : return MAX2(0., myLength - pos);
4409 : }
4410 :
4411 : std::pair<MSVehicle* const, double>
4412 9338468 : MSLane::getFollower(const MSVehicle* ego, double egoPos, double dist, MinorLinkMode mLinkMode) const {
4413 33689109 : for (AnyVehicleIterator first = anyVehiclesUpstreamBegin(); first != anyVehiclesUpstreamEnd(); ++first) {
4414 : // XXX refactor leaderInfo to use a const vehicle all the way through the call hierarchy
4415 41337847 : MSVehicle* pred = (MSVehicle*)*first;
4416 : #ifdef DEBUG_CONTEXT
4417 : if (DEBUG_COND2(ego)) {
4418 : std::cout << " getFollower lane=" << getID() << " egoPos=" << egoPos << " pred=" << pred->getID() << " predPos=" << pred->getPositionOnLane(this) << "\n";
4419 : }
4420 : #endif
4421 41337847 : if (pred != ego && pred->getPositionOnLane(this) < egoPos) {
4422 7648738 : return std::pair<MSVehicle* const, double>(pred, egoPos - pred->getPositionOnLane(this) - ego->getVehicleType().getLength() - pred->getVehicleType().getMinGap());
4423 : }
4424 : }
4425 1689730 : const double backOffset = egoPos - ego->getVehicleType().getLength();
4426 1689730 : if (dist > 0 && backOffset > dist) {
4427 322127 : return std::make_pair(nullptr, -1);
4428 : }
4429 1367603 : const MSLeaderDistanceInfo followers = getFollowersOnConsecutive(ego, backOffset, true, dist, mLinkMode);
4430 1367603 : CLeaderDist result = followers.getClosest();
4431 1367603 : return std::make_pair(const_cast<MSVehicle*>(result.first), result.second);
4432 1367603 : }
4433 :
4434 : std::pair<MSVehicle* const, double>
4435 5137738 : MSLane::getOppositeLeader(const MSVehicle* ego, double dist, bool oppositeDir, MinorLinkMode mLinkMode) const {
4436 : #ifdef DEBUG_OPPOSITE
4437 : if (DEBUG_COND2(ego)) std::cout << SIMTIME << " getOppositeLeader lane=" << getID()
4438 : << " ego=" << ego->getID()
4439 : << " pos=" << ego->getPositionOnLane()
4440 : << " posOnOpposite=" << getOppositePos(ego->getPositionOnLane())
4441 : << " dist=" << dist
4442 : << " oppositeDir=" << oppositeDir
4443 : << "\n";
4444 : #endif
4445 5137738 : if (!oppositeDir) {
4446 384614 : return getLeader(ego, getOppositePos(ego->getPositionOnLane()), ego->getBestLanesContinuation(this));
4447 : } else {
4448 4753124 : const double egoLength = ego->getVehicleType().getLength();
4449 4753124 : const double egoPos = ego->getLaneChangeModel().isOpposite() ? ego->getPositionOnLane() : getOppositePos(ego->getPositionOnLane());
4450 4753124 : std::pair<MSVehicle* const, double> result = getFollower(ego, egoPos + egoLength, dist, mLinkMode);
4451 4753124 : if (result.first != nullptr) {
4452 4107500 : result.second -= ego->getVehicleType().getMinGap();
4453 4107500 : if (result.first->getLaneChangeModel().isOpposite()) {
4454 1310362 : result.second -= result.first->getVehicleType().getLength();
4455 : }
4456 : }
4457 4753124 : return result;
4458 : }
4459 : }
4460 :
4461 :
4462 : std::pair<MSVehicle* const, double>
4463 700935 : MSLane::getOppositeFollower(const MSVehicle* ego) const {
4464 : #ifdef DEBUG_OPPOSITE
4465 : if (DEBUG_COND2(ego)) std::cout << SIMTIME << " getOppositeFollower lane=" << getID()
4466 : << " ego=" << ego->getID()
4467 : << " backPos=" << ego->getBackPositionOnLane()
4468 : << " posOnOpposite=" << getOppositePos(ego->getBackPositionOnLane())
4469 : << "\n";
4470 : #endif
4471 700935 : if (ego->getLaneChangeModel().isOpposite()) {
4472 415375 : std::pair<MSVehicle* const, double> result = getFollower(ego, getOppositePos(ego->getPositionOnLane()), -1, MinorLinkMode::FOLLOW_NEVER);
4473 415375 : return result;
4474 : } else {
4475 285560 : double vehPos = getOppositePos(ego->getPositionOnLane() - ego->getVehicleType().getLength());
4476 285560 : std::pair<MSVehicle*, double> result = getLeader(ego, vehPos, std::vector<MSLane*>());
4477 285560 : double dist = getMaximumBrakeDist() + getOppositePos(ego->getPositionOnLane() - getLength());
4478 : MSLane* next = const_cast<MSLane*>(this);
4479 510572 : while (result.first == nullptr && dist > 0) {
4480 : // cannot call getLeadersOnConsecutive because succLinkSec doesn't
4481 : // uses the vehicle's route and doesn't work on the opposite side
4482 285374 : vehPos -= next->getLength();
4483 285374 : next = next->getCanonicalSuccessorLane();
4484 285374 : if (next == nullptr) {
4485 : break;
4486 : }
4487 225012 : dist -= next->getLength();
4488 225012 : result = next->getLeader(ego, vehPos, std::vector<MSLane*>());
4489 : }
4490 285560 : if (result.first != nullptr) {
4491 220274 : if (result.first->getLaneChangeModel().isOpposite()) {
4492 81626 : result.second -= result.first->getVehicleType().getLength();
4493 : } else {
4494 138648 : if (result.second > POSITION_EPS) {
4495 : // follower can be safely ignored since it is going the other way
4496 130570 : return std::make_pair(static_cast<MSVehicle*>(nullptr), -1);
4497 : }
4498 : }
4499 : }
4500 154990 : return result;
4501 : }
4502 : }
4503 :
4504 : void
4505 82484 : MSLane::initCollisionAction(const OptionsCont& oc, const std::string& option, CollisionAction& myAction) {
4506 82484 : const std::string action = oc.getString(option);
4507 82484 : if (action == "none") {
4508 15 : myAction = COLLISION_ACTION_NONE;
4509 82469 : } else if (action == "warn") {
4510 41857 : myAction = COLLISION_ACTION_WARN;
4511 40612 : } else if (action == "teleport") {
4512 40577 : myAction = COLLISION_ACTION_TELEPORT;
4513 35 : } else if (action == "remove") {
4514 35 : myAction = COLLISION_ACTION_REMOVE;
4515 : } else {
4516 0 : WRITE_ERROR(TLF("Invalid % '%'.", option, action));
4517 : }
4518 82484 : }
4519 :
4520 : void
4521 41242 : MSLane::initCollisionOptions(const OptionsCont& oc) {
4522 41242 : initCollisionAction(oc, "collision.action", myCollisionAction);
4523 41242 : initCollisionAction(oc, "intermodal-collision.action", myIntermodalCollisionAction);
4524 41242 : myCheckJunctionCollisions = oc.getBool("collision.check-junctions");
4525 41242 : myCheckJunctionCollisionMinGap = oc.getFloat("collision.check-junctions.mingap");
4526 41242 : myCollisionStopTime = string2time(oc.getString("collision.stoptime"));
4527 41242 : myIntermodalCollisionStopTime = string2time(oc.getString("intermodal-collision.stoptime"));
4528 41242 : myCollisionMinGapFactor = oc.getFloat("collision.mingap-factor");
4529 41242 : myExtrapolateSubstepDepart = oc.getBool("extrapolate-departpos");
4530 41242 : }
4531 :
4532 :
4533 : void
4534 1190 : MSLane::setPermissions(SVCPermissions permissions, long long transientID) {
4535 1190 : if (transientID == CHANGE_PERMISSIONS_PERMANENT) {
4536 85 : myPermissions = permissions;
4537 85 : myOriginalPermissions = permissions;
4538 : } else {
4539 1105 : myPermissionChanges[transientID] = permissions;
4540 1105 : resetPermissions(CHANGE_PERMISSIONS_PERMANENT);
4541 : }
4542 1190 : }
4543 :
4544 :
4545 : void
4546 1394 : MSLane::resetPermissions(long long transientID) {
4547 : myPermissionChanges.erase(transientID);
4548 1394 : if (myPermissionChanges.empty()) {
4549 271 : myPermissions = myOriginalPermissions;
4550 : } else {
4551 : // combine all permission changes
4552 1123 : myPermissions = SVCAll;
4553 2262 : for (const auto& item : myPermissionChanges) {
4554 1139 : myPermissions &= item.second;
4555 : }
4556 : }
4557 1394 : }
4558 :
4559 :
4560 : bool
4561 12769582 : MSLane::hadPermissionChanges() const {
4562 12769582 : return !myPermissionChanges.empty();
4563 : }
4564 :
4565 :
4566 : void
4567 9 : MSLane::setChangeLeft(SVCPermissions permissions) {
4568 9 : myChangeLeft = permissions;
4569 9 : }
4570 :
4571 :
4572 : void
4573 9 : MSLane::setChangeRight(SVCPermissions permissions) {
4574 9 : myChangeRight = permissions;
4575 9 : }
4576 :
4577 :
4578 : bool
4579 50745124 : MSLane::hasPedestrians() const {
4580 50745124 : MSNet* const net = MSNet::getInstance();
4581 50745124 : return net->hasPersons() && net->getPersonControl().getMovementModel()->hasPedestrians(this);
4582 : }
4583 :
4584 :
4585 : PersonDist
4586 702129 : MSLane::nextBlocking(double minPos, double minRight, double maxLeft, double stopTime, bool bidi) const {
4587 702129 : return MSNet::getInstance()->getPersonControl().getMovementModel()->nextBlocking(this, minPos, minRight, maxLeft, stopTime, bidi);
4588 : }
4589 :
4590 :
4591 : bool
4592 4151057 : MSLane::checkForPedestrians(const MSVehicle* aVehicle, double& speed, double& dist, double pos, bool patchSpeed) const {
4593 4151057 : if (getEdge().getPersons().size() > 0 && hasPedestrians()) {
4594 : #ifdef DEBUG_INSERTION
4595 : if (DEBUG_COND2(aVehicle)) {
4596 : std::cout << SIMTIME << " check for pedestrians on lane=" << getID() << " pos=" << pos << "\n";
4597 : }
4598 : #endif
4599 3814 : PersonDist leader = nextBlocking(pos - aVehicle->getVehicleType().getLength(),
4600 1907 : aVehicle->getRightSideOnLane(), aVehicle->getRightSideOnLane() + aVehicle->getVehicleType().getWidth(), ceil(speed / aVehicle->getCarFollowModel().getMaxDecel()));
4601 1907 : if (leader.first != 0) {
4602 772 : const double gap = leader.second - aVehicle->getVehicleType().getLengthWithGap();
4603 772 : const double stopSpeed = aVehicle->getCarFollowModel().stopSpeed(aVehicle, speed, gap, MSCFModel::CalcReason::FUTURE);
4604 284 : if ((gap < 0 && (aVehicle->getInsertionChecks() & ((int)InsertionCheck::COLLISION | (int)InsertionCheck::PEDESTRIAN)) != 0)
4605 1544 : || checkFailure(aVehicle, speed, dist, stopSpeed, patchSpeed, "", InsertionCheck::PEDESTRIAN)) {
4606 : // we may not drive with the given velocity - we crash into the pedestrian
4607 : #ifdef DEBUG_INSERTION
4608 : if (DEBUG_COND2(aVehicle)) std::cout << SIMTIME
4609 : << " isInsertionSuccess lane=" << getID()
4610 : << " veh=" << aVehicle->getID()
4611 : << " pos=" << pos
4612 : << " posLat=" << aVehicle->getLateralPositionOnLane()
4613 : << " patchSpeed=" << patchSpeed
4614 : << " speed=" << speed
4615 : << " stopSpeed=" << stopSpeed
4616 : << " pedestrianLeader=" << leader.first->getID()
4617 : << " failed (@796)!\n";
4618 : #endif
4619 498 : return false;
4620 : }
4621 : }
4622 : }
4623 4150559 : double backLength = aVehicle->getLength() - pos;
4624 4150559 : if (backLength > 0 && MSNet::getInstance()->hasPersons()) {
4625 : // look upstream for pedestrian crossings
4626 5932 : const MSLane* prev = getLogicalPredecessorLane();
4627 : const MSLane* cur = this;
4628 95241 : while (backLength > 0 && prev != nullptr) {
4629 89341 : const MSLink* link = prev->getLinkTo(cur);
4630 89341 : if (link->hasFoeCrossing()) {
4631 711 : for (const MSLane* foe : link->getFoeLanes()) {
4632 528 : if (foe->isCrossing() && (foe->hasPedestrians() ||
4633 271 : (foe->getIncomingLanes()[0].viaLink->getApproachingPersons() != nullptr
4634 47 : && foe->getIncomingLanes()[0].viaLink->getApproachingPersons()->size() > 0))) {
4635 : #ifdef DEBUG_INSERTION
4636 : if (DEBUG_COND2(aVehicle)) std::cout << SIMTIME
4637 : << " isInsertionSuccess lane=" << getID()
4638 : << " veh=" << aVehicle->getID()
4639 : << " pos=" << pos
4640 : << " backCrossing=" << foe->getID()
4641 : << " peds=" << joinNamedToString(foe->getEdge().getPersons(), " ")
4642 : << " approaching=" << foe->getIncomingLanes()[0].viaLink->getApproachingPersons()->size()
4643 : << " failed (@4550)!\n";
4644 : #endif
4645 : return false;
4646 : }
4647 : }
4648 : }
4649 89309 : backLength -= prev->getLength();
4650 : cur = prev;
4651 89309 : prev = prev->getLogicalPredecessorLane();
4652 : }
4653 : }
4654 : return true;
4655 : }
4656 :
4657 :
4658 : void
4659 41244 : MSLane::initRNGs(const OptionsCont& oc) {
4660 : myRNGs.clear();
4661 41244 : const int numRNGs = oc.getInt("thread-rngs");
4662 41244 : const bool random = oc.getBool("random");
4663 41244 : int seed = oc.getInt("seed");
4664 41244 : myRNGs.reserve(numRNGs); // this is needed for stable pointers on debugging
4665 2680860 : for (int i = 0; i < numRNGs; i++) {
4666 5279232 : myRNGs.push_back(SumoRNG("lanes_" + toString(i)));
4667 2639616 : RandHelper::initRand(&myRNGs.back(), random, seed++);
4668 : }
4669 41244 : }
4670 :
4671 : void
4672 13 : MSLane::saveRNGStates(OutputDevice& out) {
4673 845 : for (int i = 0; i < getNumRNGs(); i++) {
4674 832 : out.openTag(SUMO_TAG_RNGLANE);
4675 832 : out.writeAttr(SUMO_ATTR_INDEX, i);
4676 832 : out.writeAttr(SUMO_ATTR_STATE, RandHelper::saveState(&myRNGs[i]));
4677 1664 : out.closeTag();
4678 : }
4679 13 : }
4680 :
4681 : void
4682 832 : MSLane::loadRNGState(int index, const std::string& state) {
4683 832 : if (index >= getNumRNGs()) {
4684 0 : throw ProcessError(TLF("State was saved with more than % threads. Change the number of threads or do not load RNG state", toString(getNumRNGs())));
4685 : }
4686 832 : RandHelper::loadState(state, &myRNGs[index]);
4687 832 : }
4688 :
4689 :
4690 : MSLane*
4691 18470440877 : MSLane::getBidiLane() const {
4692 18470440877 : return myBidiLane;
4693 : }
4694 :
4695 :
4696 : bool
4697 128523901 : MSLane::mustCheckJunctionCollisions() const {
4698 128523901 : return myCheckJunctionCollisions && myEdge->isInternal() && (
4699 1418755 : myLinks.front()->getFoeLanes().size() > 0
4700 8862 : || myLinks.front()->getWalkingAreaFoe() != nullptr
4701 7954 : || myLinks.front()->getWalkingAreaFoeExit() != nullptr);
4702 : }
4703 :
4704 :
4705 : double
4706 610591213 : MSLane::getSpaceTillLastStanding(const MSVehicle* ego, bool& foundStopped) const {
4707 : /// @todo if ego isn't on this lane, we could use a cached value
4708 : double lengths = 0;
4709 5107504151 : for (const MSVehicle* last : myVehicles) {
4710 4550044722 : if (last->getSpeed() < SUMO_const_haltingSpeed && !last->getLane()->getEdge().isRoundabout()
4711 25970991 : && last != ego
4712 : // @todo recheck
4713 4548829518 : && last->isFrontOnLane(this)) {
4714 25958290 : foundStopped = true;
4715 25958290 : const double lastBrakeGap = last->getCarFollowModel().brakeGap(last->getSpeed());
4716 25958290 : const double ret = last->getBackPositionOnLane() + lastBrakeGap - lengths;
4717 : return ret;
4718 : }
4719 4496912938 : if (MSGlobals::gSublane && ego->getVehicleType().getWidth() + last->getVehicleType().getWidth() < getWidth()) {
4720 32022343 : lengths += last->getVehicleType().getLengthWithGap() * (last->getVehicleType().getWidth() + last->getVehicleType().getMinGapLat()) / getWidth();
4721 : } else {
4722 4464890595 : lengths += last->getVehicleType().getLengthWithGap();
4723 : }
4724 : }
4725 584632923 : return getLength() - lengths;
4726 : }
4727 :
4728 :
4729 : bool
4730 11597544275 : MSLane::allowsVehicleClass(SUMOVehicleClass vclass, int routingMode) const {
4731 11597544275 : return (((routingMode & libsumo::ROUTING_MODE_IGNORE_TRANSIENT_PERMISSIONS) ? myOriginalPermissions : myPermissions) & vclass) == vclass;
4732 : }
4733 :
4734 :
4735 : const MSJunction*
4736 295706 : MSLane::getFromJunction() const {
4737 295706 : return myEdge->getFromJunction();
4738 : }
4739 :
4740 :
4741 : const MSJunction*
4742 295208 : MSLane::getToJunction() const {
4743 295208 : return myEdge->getToJunction();
4744 : }
4745 :
4746 : /****************************************************************************/
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