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 MSVehicle.cpp
15 : /// @author Christian Roessel
16 : /// @author Jakob Erdmann
17 : /// @author Bjoern Hendriks
18 : /// @author Daniel Krajzewicz
19 : /// @author Thimor Bohn
20 : /// @author Friedemann Wesner
21 : /// @author Laura Bieker
22 : /// @author Clemens Honomichl
23 : /// @author Michael Behrisch
24 : /// @author Axel Wegener
25 : /// @author Christoph Sommer
26 : /// @author Leonhard Luecken
27 : /// @author Lara Codeca
28 : /// @author Mirko Barthauer
29 : /// @date Mon, 05 Mar 2001
30 : ///
31 : // Representation of a vehicle in the micro simulation
32 : /****************************************************************************/
33 : #include <config.h>
34 :
35 : #include <iostream>
36 : #include <cassert>
37 : #include <cmath>
38 : #include <cstdlib>
39 : #include <algorithm>
40 : #include <map>
41 : #include <memory>
42 : #include <utils/common/ToString.h>
43 : #include <utils/common/FileHelpers.h>
44 : #include <utils/router/DijkstraRouter.h>
45 : #include <utils/common/MsgHandler.h>
46 : #include <utils/common/RandHelper.h>
47 : #include <utils/common/StringUtils.h>
48 : #include <utils/common/StdDefs.h>
49 : #include <utils/geom/GeomHelper.h>
50 : #include <utils/iodevices/OutputDevice.h>
51 : #include <utils/xml/SUMOSAXAttributes.h>
52 : #include <utils/vehicle/SUMOVehicleParserHelper.h>
53 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
54 : #include <microsim/transportables/MSPerson.h>
55 : #include <microsim/transportables/MSPModel.h>
56 : #include <microsim/devices/MSDevice_Transportable.h>
57 : #include <microsim/devices/MSDevice_DriverState.h>
58 : #include <microsim/devices/MSDevice_Friction.h>
59 : #include <microsim/devices/MSDevice_Taxi.h>
60 : #include <microsim/devices/MSDevice_Vehroutes.h>
61 : #include <microsim/devices/MSDevice_ElecHybrid.h>
62 : #include <microsim/devices/MSDevice_GLOSA.h>
63 : #include <microsim/output/MSStopOut.h>
64 : #include <microsim/trigger/MSChargingStation.h>
65 : #include <microsim/trigger/MSOverheadWire.h>
66 : #include <microsim/traffic_lights/MSTrafficLightLogic.h>
67 : #include <microsim/traffic_lights/MSRailSignalControl.h>
68 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
69 : #include <microsim/transportables/MSTransportableControl.h>
70 : #include <microsim/devices/MSDevice_Transportable.h>
71 : #include "MSEdgeControl.h"
72 : #include "MSVehicleControl.h"
73 : #include "MSInsertionControl.h"
74 : #include "MSVehicleTransfer.h"
75 : #include "MSGlobals.h"
76 : #include "MSJunctionLogic.h"
77 : #include "MSStop.h"
78 : #include "MSStoppingPlace.h"
79 : #include "MSParkingArea.h"
80 : #include "MSMoveReminder.h"
81 : #include "MSLane.h"
82 : #include "MSJunction.h"
83 : #include "MSEdge.h"
84 : #include "MSVehicleType.h"
85 : #include "MSNet.h"
86 : #include "MSRoute.h"
87 : #include "MSLeaderInfo.h"
88 : #include "MSDriverState.h"
89 : #include "MSVehicle.h"
90 :
91 :
92 : //#define DEBUG_PLAN_MOVE
93 : //#define DEBUG_PLAN_MOVE_LEADERINFO
94 : //#define DEBUG_CHECKREWINDLINKLANES
95 : //#define DEBUG_EXEC_MOVE
96 : //#define DEBUG_FURTHER
97 : //#define DEBUG_SETFURTHER
98 : //#define DEBUG_TARGET_LANE
99 : //#define DEBUG_STOPS
100 : //#define DEBUG_BESTLANES
101 : //#define DEBUG_IGNORE_RED
102 : //#define DEBUG_ACTIONSTEPS
103 : //#define DEBUG_NEXT_TURN
104 : //#define DEBUG_TRACI
105 : //#define DEBUG_REVERSE_BIDI
106 : //#define DEBUG_EXTRAPOLATE_DEPARTPOS
107 : //#define DEBUG_REMOTECONTROL
108 : //#define DEBUG_MOVEREMINDERS
109 : //#define DEBUG_COND (getID() == "ego")
110 : //#define DEBUG_COND (true)
111 : #define DEBUG_COND (isSelected())
112 : //#define DEBUG_COND2(obj) (obj->getID() == "ego")
113 : #define DEBUG_COND2(obj) (obj->isSelected())
114 :
115 : //#define PARALLEL_STOPWATCH
116 :
117 :
118 : #define STOPPING_PLACE_OFFSET 0.5
119 :
120 : #define CRLL_LOOK_AHEAD 5
121 :
122 : #define JUNCTION_BLOCKAGE_TIME 5 // s
123 :
124 : // @todo Calibrate with real-world values / make configurable
125 : #define DIST_TO_STOPLINE_EXPECT_PRIORITY 1.0
126 :
127 : #define NUMERICAL_EPS_SPEED (0.1 * NUMERICAL_EPS * TS)
128 :
129 : // ===========================================================================
130 : // static value definitions
131 : // ===========================================================================
132 : std::vector<MSLane*> MSVehicle::myEmptyLaneVector;
133 :
134 :
135 : // ===========================================================================
136 : // method definitions
137 : // ===========================================================================
138 : /* -------------------------------------------------------------------------
139 : * methods of MSVehicle::State
140 : * ----------------------------------------------------------------------- */
141 0 : MSVehicle::State::State(const State& state) {
142 0 : myPos = state.myPos;
143 0 : mySpeed = state.mySpeed;
144 0 : myPosLat = state.myPosLat;
145 0 : myBackPos = state.myBackPos;
146 0 : myPreviousSpeed = state.myPreviousSpeed;
147 0 : myLastCoveredDist = state.myLastCoveredDist;
148 0 : }
149 :
150 :
151 : MSVehicle::State&
152 3519217 : MSVehicle::State::operator=(const State& state) {
153 3519217 : myPos = state.myPos;
154 3519217 : mySpeed = state.mySpeed;
155 3519217 : myPosLat = state.myPosLat;
156 3519217 : myBackPos = state.myBackPos;
157 3519217 : myPreviousSpeed = state.myPreviousSpeed;
158 3519217 : myLastCoveredDist = state.myLastCoveredDist;
159 3519217 : return *this;
160 : }
161 :
162 :
163 : bool
164 0 : MSVehicle::State::operator!=(const State& state) {
165 0 : return (myPos != state.myPos ||
166 0 : mySpeed != state.mySpeed ||
167 0 : myPosLat != state.myPosLat ||
168 0 : myLastCoveredDist != state.myLastCoveredDist ||
169 0 : myPreviousSpeed != state.myPreviousSpeed ||
170 0 : myBackPos != state.myBackPos);
171 : }
172 :
173 :
174 8005454 : MSVehicle::State::State(double pos, double speed, double posLat, double backPos, double previousSpeed) :
175 8005454 : myPos(pos), mySpeed(speed), myPosLat(posLat), myBackPos(backPos), myPreviousSpeed(previousSpeed), myLastCoveredDist(SPEED2DIST(speed)) {}
176 :
177 :
178 :
179 : /* -------------------------------------------------------------------------
180 : * methods of MSVehicle::WaitingTimeCollector
181 : * ----------------------------------------------------------------------- */
182 4486237 : MSVehicle::WaitingTimeCollector::WaitingTimeCollector(SUMOTime memory) : myMemorySize(memory) {}
183 :
184 :
185 : SUMOTime
186 1428921 : MSVehicle::WaitingTimeCollector::cumulatedWaitingTime(SUMOTime memorySpan) const {
187 : assert(memorySpan <= myMemorySize);
188 1428921 : if (memorySpan == -1) {
189 0 : memorySpan = myMemorySize;
190 : }
191 : SUMOTime totalWaitingTime = 0;
192 5944963 : for (const auto& interval : myWaitingIntervals) {
193 4516042 : if (interval.second >= memorySpan) {
194 655960 : if (interval.first >= memorySpan) {
195 : break;
196 : } else {
197 655960 : totalWaitingTime += memorySpan - interval.first;
198 : }
199 : } else {
200 3860082 : totalWaitingTime += interval.second - interval.first;
201 : }
202 : }
203 1428921 : return totalWaitingTime;
204 : }
205 :
206 :
207 : void
208 699113385 : MSVehicle::WaitingTimeCollector::passTime(SUMOTime dt, bool waiting) {
209 : auto i = myWaitingIntervals.begin();
210 : const auto end = myWaitingIntervals.end();
211 699113385 : const bool startNewInterval = i == end || (i->first != 0);
212 1135705542 : while (i != end) {
213 438849372 : i->first += dt;
214 438849372 : if (i->first >= myMemorySize) {
215 : break;
216 : }
217 436592157 : i->second += dt;
218 : i++;
219 : }
220 :
221 : // remove intervals beyond memorySize
222 : auto d = std::distance(i, end);
223 701370600 : while (d > 0) {
224 2257215 : myWaitingIntervals.pop_back();
225 2257215 : d--;
226 : }
227 :
228 699113385 : if (!waiting) {
229 : return;
230 90308145 : } else if (!startNewInterval) {
231 86704784 : myWaitingIntervals.begin()->first = 0;
232 : } else {
233 7206722 : myWaitingIntervals.push_front(std::make_pair(0, dt));
234 : }
235 : return;
236 : }
237 :
238 :
239 : const std::string
240 2486 : MSVehicle::WaitingTimeCollector::getState() const {
241 2486 : std::ostringstream state;
242 2486 : state << myMemorySize << " " << myWaitingIntervals.size();
243 3386 : for (const auto& interval : myWaitingIntervals) {
244 1800 : state << " " << interval.first << " " << interval.second;
245 : }
246 2486 : return state.str();
247 2486 : }
248 :
249 :
250 : void
251 3574 : MSVehicle::WaitingTimeCollector::setState(const std::string& state) {
252 3574 : std::istringstream is(state);
253 : int numIntervals;
254 : SUMOTime begin, end;
255 3574 : is >> myMemorySize >> numIntervals;
256 5644 : while (numIntervals-- > 0) {
257 : is >> begin >> end;
258 2070 : myWaitingIntervals.emplace_back(begin, end);
259 : }
260 3574 : }
261 :
262 :
263 : /* -------------------------------------------------------------------------
264 : * methods of MSVehicle::Influencer::GapControlState
265 : * ----------------------------------------------------------------------- */
266 : void
267 30 : MSVehicle::Influencer::GapControlVehStateListener::vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& /*info*/) {
268 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << ", to=" << to << std::endl;
269 30 : switch (to) {
270 4 : case MSNet::VehicleState::STARTING_TELEPORT:
271 : case MSNet::VehicleState::ARRIVED:
272 : case MSNet::VehicleState::STARTING_PARKING: {
273 : // Vehicle left road
274 : // Look up reference vehicle in refVehMap and in case deactivate corresponding gap control
275 4 : const MSVehicle* msVeh = static_cast<const MSVehicle*>(vehicle);
276 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << " left the road." << std::endl;
277 4 : if (GapControlState::refVehMap.find(msVeh) != end(GapControlState::refVehMap)) {
278 : // std::cout << "GapControlVehStateListener::deactivating ref vehicle=" << vehicle->getID() << std::endl;
279 4 : GapControlState::refVehMap[msVeh]->deactivate();
280 : }
281 : }
282 4 : break;
283 30 : default:
284 : {};
285 : // do nothing, vehicle still on road
286 : }
287 30 : }
288 :
289 : std::map<const MSVehicle*, MSVehicle::Influencer::GapControlState*>
290 : MSVehicle::Influencer::GapControlState::refVehMap;
291 :
292 : MSVehicle::Influencer::GapControlVehStateListener* MSVehicle::Influencer::GapControlState::myVehStateListener(nullptr);
293 :
294 58 : MSVehicle::Influencer::GapControlState::GapControlState() :
295 58 : tauOriginal(-1), tauCurrent(-1), tauTarget(-1), addGapCurrent(-1), addGapTarget(-1),
296 58 : remainingDuration(-1), changeRate(-1), maxDecel(-1), referenceVeh(nullptr), active(false), gapAttained(false), prevLeader(nullptr),
297 58 : lastUpdate(-1), timeHeadwayIncrement(0.0), spaceHeadwayIncrement(0.0) {}
298 :
299 :
300 58 : MSVehicle::Influencer::GapControlState::~GapControlState() {
301 58 : deactivate();
302 58 : }
303 :
304 : void
305 58 : MSVehicle::Influencer::GapControlState::init() {
306 58 : if (MSNet::hasInstance()) {
307 58 : if (myVehStateListener == nullptr) {
308 : //std::cout << "GapControlState::init()" << std::endl;
309 58 : myVehStateListener = new GapControlVehStateListener();
310 58 : MSNet::getInstance()->addVehicleStateListener(myVehStateListener);
311 : }
312 : } else {
313 0 : WRITE_ERROR("MSVehicle::Influencer::GapControlState::init(): No MSNet instance found!")
314 : }
315 58 : }
316 :
317 : void
318 34819 : MSVehicle::Influencer::GapControlState::cleanup() {
319 34819 : if (myVehStateListener != nullptr) {
320 58 : MSNet::getInstance()->removeVehicleStateListener(myVehStateListener);
321 58 : delete myVehStateListener;
322 58 : myVehStateListener = nullptr;
323 : }
324 34819 : }
325 :
326 : void
327 58 : MSVehicle::Influencer::GapControlState::activate(double tauOrig, double tauNew, double additionalGap, double dur, double rate, double decel, const MSVehicle* refVeh) {
328 58 : if (MSGlobals::gUseMesoSim) {
329 0 : WRITE_ERROR(TL("No gap control available for meso."))
330 : } else {
331 : // always deactivate control before activating (triggers clean-up of refVehMap)
332 : // std::cout << "activate gap control with refVeh=" << (refVeh==nullptr? "NULL" : refVeh->getID()) << std::endl;
333 58 : tauOriginal = tauOrig;
334 58 : tauCurrent = tauOrig;
335 58 : tauTarget = tauNew;
336 58 : addGapCurrent = 0.0;
337 58 : addGapTarget = additionalGap;
338 58 : remainingDuration = dur;
339 58 : changeRate = rate;
340 58 : maxDecel = decel;
341 58 : referenceVeh = refVeh;
342 58 : active = true;
343 58 : gapAttained = false;
344 58 : prevLeader = nullptr;
345 58 : lastUpdate = SIMSTEP - DELTA_T;
346 58 : timeHeadwayIncrement = changeRate * TS * (tauTarget - tauOriginal);
347 58 : spaceHeadwayIncrement = changeRate * TS * addGapTarget;
348 :
349 58 : if (referenceVeh != nullptr) {
350 : // Add refVeh to refVehMap
351 12 : GapControlState::refVehMap[referenceVeh] = this;
352 : }
353 : }
354 58 : }
355 :
356 : void
357 116 : MSVehicle::Influencer::GapControlState::deactivate() {
358 116 : active = false;
359 116 : if (referenceVeh != nullptr) {
360 : // Remove corresponding refVehMapEntry if appropriate
361 12 : GapControlState::refVehMap.erase(referenceVeh);
362 12 : referenceVeh = nullptr;
363 : }
364 116 : }
365 :
366 :
367 : /* -------------------------------------------------------------------------
368 : * methods of MSVehicle::Influencer
369 : * ----------------------------------------------------------------------- */
370 3478 : MSVehicle::Influencer::Influencer() :
371 : myGapControlState(nullptr),
372 3478 : myOriginalSpeed(-1),
373 3478 : myLatDist(0),
374 3478 : mySpeedAdaptationStarted(true),
375 3478 : myConsiderSafeVelocity(true),
376 3478 : myConsiderSpeedLimit(true),
377 3478 : myConsiderMaxAcceleration(true),
378 3478 : myConsiderMaxDeceleration(true),
379 3478 : myRespectJunctionPriority(true),
380 3478 : myEmergencyBrakeRedLight(true),
381 3478 : myRespectJunctionLeaderPriority(true),
382 3478 : myLastRemoteAccess(-TIME2STEPS(20)),
383 3478 : myStrategicLC(LC_NOCONFLICT),
384 3478 : myCooperativeLC(LC_NOCONFLICT),
385 3478 : mySpeedGainLC(LC_NOCONFLICT),
386 3478 : myRightDriveLC(LC_NOCONFLICT),
387 3478 : mySublaneLC(LC_NOCONFLICT),
388 3478 : myTraciLaneChangePriority(LCP_URGENT),
389 3478 : myTraCISignals(-1)
390 3478 : {}
391 :
392 :
393 10434 : MSVehicle::Influencer::~Influencer() {}
394 :
395 : void
396 58 : MSVehicle::Influencer::init() {
397 58 : GapControlState::init();
398 58 : }
399 :
400 : void
401 34819 : MSVehicle::Influencer::cleanup() {
402 34819 : GapControlState::cleanup();
403 34819 : }
404 :
405 : void
406 42926 : MSVehicle::Influencer::setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine) {
407 42926 : mySpeedAdaptationStarted = true;
408 42926 : mySpeedTimeLine = speedTimeLine;
409 42926 : }
410 :
411 : void
412 58 : MSVehicle::Influencer::activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle* refVeh) {
413 58 : if (myGapControlState == nullptr) {
414 58 : myGapControlState = std::make_shared<GapControlState>();
415 58 : init(); // only does things on first call
416 : }
417 58 : myGapControlState->activate(originalTau, newTimeHeadway, newSpaceHeadway, duration, changeRate, maxDecel, refVeh);
418 58 : }
419 :
420 : void
421 10 : MSVehicle::Influencer::deactivateGapController() {
422 10 : if (myGapControlState != nullptr && myGapControlState->active) {
423 10 : myGapControlState->deactivate();
424 : }
425 10 : }
426 :
427 : void
428 7604 : MSVehicle::Influencer::setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine) {
429 7604 : myLaneTimeLine = laneTimeLine;
430 7604 : }
431 :
432 :
433 : void
434 9033 : MSVehicle::Influencer::adaptLaneTimeLine(int indexShift) {
435 19191 : for (auto& item : myLaneTimeLine) {
436 10158 : item.second += indexShift;
437 : }
438 9033 : }
439 :
440 :
441 : void
442 1268 : MSVehicle::Influencer::setSublaneChange(double latDist) {
443 1268 : myLatDist = latDist;
444 1268 : }
445 :
446 : int
447 68 : MSVehicle::Influencer::getSpeedMode() const {
448 68 : return (1 * myConsiderSafeVelocity +
449 68 : 2 * myConsiderMaxAcceleration +
450 68 : 4 * myConsiderMaxDeceleration +
451 68 : 8 * myRespectJunctionPriority +
452 68 : 16 * myEmergencyBrakeRedLight +
453 68 : 32 * !myRespectJunctionLeaderPriority + // inverted!
454 68 : 64 * !myConsiderSpeedLimit // inverted!
455 68 : );
456 : }
457 :
458 :
459 : int
460 1469 : MSVehicle::Influencer::getLaneChangeMode() const {
461 1469 : return (1 * myStrategicLC +
462 1469 : 4 * myCooperativeLC +
463 1469 : 16 * mySpeedGainLC +
464 1469 : 64 * myRightDriveLC +
465 1469 : 256 * myTraciLaneChangePriority +
466 1469 : 1024 * mySublaneLC);
467 : }
468 :
469 : SUMOTime
470 60 : MSVehicle::Influencer::getLaneTimeLineDuration() {
471 : SUMOTime duration = -1;
472 180 : for (std::vector<std::pair<SUMOTime, int>>::iterator i = myLaneTimeLine.begin(); i != myLaneTimeLine.end(); ++i) {
473 120 : if (duration < 0) {
474 60 : duration = i->first;
475 : } else {
476 60 : duration -= i->first;
477 : }
478 : }
479 60 : return -duration;
480 : }
481 :
482 : SUMOTime
483 0 : MSVehicle::Influencer::getLaneTimeLineEnd() {
484 0 : if (!myLaneTimeLine.empty()) {
485 0 : return myLaneTimeLine.back().first;
486 : } else {
487 : return -1;
488 : }
489 : }
490 :
491 :
492 : double
493 989931 : MSVehicle::Influencer::influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax) {
494 : // remove leading commands which are no longer valid
495 991297 : while (mySpeedTimeLine.size() == 1 || (mySpeedTimeLine.size() > 1 && currentTime > mySpeedTimeLine[1].first)) {
496 : mySpeedTimeLine.erase(mySpeedTimeLine.begin());
497 : }
498 :
499 989931 : if (!(mySpeedTimeLine.size() < 2 || currentTime < mySpeedTimeLine[0].first)) {
500 : // Speed advice is active -> compute new speed according to speedTimeLine
501 53640 : if (!mySpeedAdaptationStarted) {
502 0 : mySpeedTimeLine[0].second = speed;
503 0 : mySpeedAdaptationStarted = true;
504 : }
505 53640 : currentTime += DELTA_T; // start slowing down in the step in which this command was issued (the input value of currentTime still reflects the previous step)
506 106932 : const double td = MIN2(1.0, STEPS2TIME(currentTime - mySpeedTimeLine[0].first) / MAX2(TS, STEPS2TIME(mySpeedTimeLine[1].first - mySpeedTimeLine[0].first)));
507 :
508 53640 : speed = mySpeedTimeLine[0].second - (mySpeedTimeLine[0].second - mySpeedTimeLine[1].second) * td;
509 53640 : if (myConsiderSafeVelocity) {
510 : speed = MIN2(speed, vSafe);
511 : }
512 53640 : if (myConsiderMaxAcceleration) {
513 : speed = MIN2(speed, vMax);
514 : }
515 53640 : if (myConsiderMaxDeceleration) {
516 : speed = MAX2(speed, vMin);
517 : }
518 : }
519 989931 : return speed;
520 : }
521 :
522 : double
523 492287 : MSVehicle::Influencer::gapControlSpeed(SUMOTime currentTime, const SUMOVehicle* veh, double speed, double vSafe, double vMin, double vMax) {
524 : #ifdef DEBUG_TRACI
525 : if DEBUG_COND2(veh) {
526 : std::cout << currentTime << " Influencer::gapControlSpeed(): speed=" << speed
527 : << ", vSafe=" << vSafe
528 : << ", vMin=" << vMin
529 : << ", vMax=" << vMax
530 : << std::endl;
531 : }
532 : #endif
533 : double gapControlSpeed = speed;
534 492287 : if (myGapControlState != nullptr && myGapControlState->active) {
535 : // Determine leader and the speed that would be chosen by the gap controller
536 7772 : const double currentSpeed = veh->getSpeed();
537 7772 : const MSVehicle* msVeh = dynamic_cast<const MSVehicle*>(veh);
538 : assert(msVeh != nullptr);
539 7772 : const double desiredTargetTimeSpacing = myGapControlState->tauTarget * currentSpeed;
540 : std::pair<const MSVehicle*, double> leaderInfo;
541 7772 : if (myGapControlState->referenceVeh == nullptr) {
542 : // No reference vehicle specified -> use current leader as reference
543 7340 : const double brakeGap = msVeh->getBrakeGap(true);
544 14680 : leaderInfo = msVeh->getLeader(MAX2(desiredTargetTimeSpacing, myGapControlState->addGapCurrent) + MAX2(brakeGap, 20.0));
545 : #ifdef DEBUG_TRACI
546 : if DEBUG_COND2(veh) {
547 : std::cout << " --- no refVeh; myGapControlState->addGapCurrent: " << myGapControlState->addGapCurrent << ", brakeGap: " << brakeGap << " in simstep: " << SIMSTEP << std::endl;
548 : }
549 : #endif
550 : } else {
551 : // Control gap wrt reference vehicle
552 : const MSVehicle* leader = myGapControlState->referenceVeh;
553 432 : double dist = msVeh->getDistanceToPosition(leader->getPositionOnLane(), leader->getLane()) - leader->getLength();
554 432 : if (dist > 100000) {
555 : // Reference vehicle was not found downstream the ego's route
556 : // Maybe, it is behind the ego vehicle
557 40 : dist = - leader->getDistanceToPosition(msVeh->getPositionOnLane(), msVeh->getLane()) - leader->getLength();
558 : #ifdef DEBUG_TRACI
559 : if DEBUG_COND2(veh) {
560 : if (dist < -100000) {
561 : // also the ego vehicle is not ahead of the reference vehicle -> no CF-relation
562 : std::cout << " Ego and reference vehicle are not in CF relation..." << std::endl;
563 : } else {
564 : std::cout << " Reference vehicle is behind ego..." << std::endl;
565 : }
566 : }
567 : #endif
568 : }
569 432 : leaderInfo = std::make_pair(leader, dist - msVeh->getVehicleType().getMinGap());
570 : }
571 7772 : const double fakeDist = MAX2(0.0, leaderInfo.second - myGapControlState->addGapCurrent);
572 : #ifdef DEBUG_TRACI
573 : if DEBUG_COND2(veh) {
574 : const double desiredCurrentSpacing = myGapControlState->tauCurrent * currentSpeed;
575 : std::cout << " Gap control active:"
576 : << " currentSpeed=" << currentSpeed
577 : << ", desiredTargetTimeSpacing=" << desiredTargetTimeSpacing
578 : << ", desiredCurrentSpacing=" << desiredCurrentSpacing
579 : << ", leader=" << (leaderInfo.first == nullptr ? "NULL" : leaderInfo.first->getID())
580 : << ", dist=" << leaderInfo.second
581 : << ", fakeDist=" << fakeDist
582 : << ",\n tauOriginal=" << myGapControlState->tauOriginal
583 : << ", tauTarget=" << myGapControlState->tauTarget
584 : << ", tauCurrent=" << myGapControlState->tauCurrent
585 : << std::endl;
586 : }
587 : #endif
588 7772 : if (leaderInfo.first != nullptr) {
589 : if (myGapControlState->prevLeader != nullptr && myGapControlState->prevLeader != leaderInfo.first) {
590 : // TODO: The leader changed. What to do?
591 : }
592 : // Remember leader
593 7772 : myGapControlState->prevLeader = leaderInfo.first;
594 :
595 : // Calculate desired following speed assuming the alternative headway time
596 7772 : MSCFModel* cfm = (MSCFModel*) & (msVeh->getVehicleType().getCarFollowModel());
597 7772 : const double origTau = cfm->getHeadwayTime();
598 7772 : cfm->setHeadwayTime(myGapControlState->tauCurrent);
599 7772 : gapControlSpeed = MIN2(gapControlSpeed,
600 7772 : cfm->followSpeed(msVeh, currentSpeed, fakeDist, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first));
601 7772 : cfm->setHeadwayTime(origTau);
602 : #ifdef DEBUG_TRACI
603 : if DEBUG_COND2(veh) {
604 : std::cout << " -> gapControlSpeed=" << gapControlSpeed;
605 : if (myGapControlState->maxDecel > 0) {
606 : std::cout << ", with maxDecel bound: " << MAX2(gapControlSpeed, currentSpeed - TS * myGapControlState->maxDecel);
607 : }
608 : std::cout << std::endl;
609 : }
610 : #endif
611 7772 : if (myGapControlState->maxDecel > 0) {
612 2568 : gapControlSpeed = MAX2(gapControlSpeed, currentSpeed - TS * myGapControlState->maxDecel);
613 : }
614 : }
615 :
616 : // Update gap controller
617 : // Check (1) if the gap control has established the desired gap,
618 : // and (2) if it has maintained active for the given duration afterwards
619 7772 : if (myGapControlState->lastUpdate < currentTime) {
620 : #ifdef DEBUG_TRACI
621 : if DEBUG_COND2(veh) {
622 : std::cout << " Updating GapControlState." << std::endl;
623 : }
624 : #endif
625 7772 : if (myGapControlState->tauCurrent == myGapControlState->tauTarget && myGapControlState->addGapCurrent == myGapControlState->addGapTarget) {
626 2990 : if (!myGapControlState->gapAttained) {
627 : // Check if the desired gap was established (add the POSITION_EPS to avoid infinite asymptotic behavior without having established the gap)
628 4176 : myGapControlState->gapAttained = leaderInfo.first == nullptr || leaderInfo.second > MAX2(desiredTargetTimeSpacing, myGapControlState->addGapTarget) - POSITION_EPS;
629 : #ifdef DEBUG_TRACI
630 : if DEBUG_COND2(veh) {
631 : if (myGapControlState->gapAttained) {
632 : std::cout << " Target gap was established." << std::endl;
633 : }
634 : }
635 : #endif
636 : } else {
637 : // Count down remaining time if desired gap was established
638 924 : myGapControlState->remainingDuration -= TS;
639 : #ifdef DEBUG_TRACI
640 : if DEBUG_COND2(veh) {
641 : std::cout << " Gap control remaining duration: " << myGapControlState->remainingDuration << std::endl;
642 : }
643 : #endif
644 924 : if (myGapControlState->remainingDuration <= 0) {
645 : #ifdef DEBUG_TRACI
646 : if DEBUG_COND2(veh) {
647 : std::cout << " Gap control duration expired, deactivating control." << std::endl;
648 : }
649 : #endif
650 : // switch off gap control
651 44 : myGapControlState->deactivate();
652 : }
653 : }
654 : } else {
655 : // Adjust current headway values
656 4782 : myGapControlState->tauCurrent = MIN2(myGapControlState->tauCurrent + myGapControlState->timeHeadwayIncrement, myGapControlState->tauTarget);
657 5160 : myGapControlState->addGapCurrent = MIN2(myGapControlState->addGapCurrent + myGapControlState->spaceHeadwayIncrement, myGapControlState->addGapTarget);
658 : }
659 : }
660 7772 : if (myConsiderSafeVelocity) {
661 : gapControlSpeed = MIN2(gapControlSpeed, vSafe);
662 : }
663 7772 : if (myConsiderMaxAcceleration) {
664 : gapControlSpeed = MIN2(gapControlSpeed, vMax);
665 : }
666 7772 : if (myConsiderMaxDeceleration) {
667 : gapControlSpeed = MAX2(gapControlSpeed, vMin);
668 : }
669 : return MIN2(speed, gapControlSpeed);
670 : } else {
671 : return speed;
672 : }
673 : }
674 :
675 : double
676 7136 : MSVehicle::Influencer::getOriginalSpeed() const {
677 7136 : return myOriginalSpeed;
678 : }
679 :
680 : void
681 497644 : MSVehicle::Influencer::setOriginalSpeed(double speed) {
682 497644 : myOriginalSpeed = speed;
683 497644 : }
684 :
685 :
686 : int
687 2828806 : MSVehicle::Influencer::influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state) {
688 : // remove leading commands which are no longer valid
689 2829058 : while (myLaneTimeLine.size() == 1 || (myLaneTimeLine.size() > 1 && currentTime > myLaneTimeLine[1].first)) {
690 : myLaneTimeLine.erase(myLaneTimeLine.begin());
691 : }
692 : ChangeRequest changeRequest = REQUEST_NONE;
693 : // do nothing if the time line does not apply for the current time
694 2828806 : if (myLaneTimeLine.size() >= 2 && currentTime >= myLaneTimeLine[0].first) {
695 173425 : const int destinationLaneIndex = myLaneTimeLine[1].second;
696 173425 : if (destinationLaneIndex < (int)currentEdge.getLanes().size()) {
697 173133 : if (currentLaneIndex > destinationLaneIndex) {
698 : changeRequest = REQUEST_RIGHT;
699 172258 : } else if (currentLaneIndex < destinationLaneIndex) {
700 : changeRequest = REQUEST_LEFT;
701 : } else {
702 : changeRequest = REQUEST_HOLD;
703 : }
704 292 : } else if (currentEdge.getLanes().back()->getOpposite() != nullptr) { // change to opposite direction driving
705 : changeRequest = REQUEST_LEFT;
706 292 : state = state | LCA_TRACI;
707 : }
708 : }
709 : // check whether the current reason shall be canceled / overridden
710 2828806 : if ((state & LCA_WANTS_LANECHANGE_OR_STAY) != 0) {
711 : // flags for the current reason
712 : LaneChangeMode mode = LC_NEVER;
713 1602658 : if ((state & LCA_TRACI) != 0 && myLatDist != 0) {
714 : // security checks
715 2380 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
716 552 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
717 2252 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
718 : }
719 : // continue sublane change manoeuvre
720 2380 : return state;
721 1600278 : } else if ((state & LCA_STRATEGIC) != 0) {
722 485349 : mode = myStrategicLC;
723 1114929 : } else if ((state & LCA_COOPERATIVE) != 0) {
724 54 : mode = myCooperativeLC;
725 1114875 : } else if ((state & LCA_SPEEDGAIN) != 0) {
726 42345 : mode = mySpeedGainLC;
727 1072530 : } else if ((state & LCA_KEEPRIGHT) != 0) {
728 6136 : mode = myRightDriveLC;
729 1066394 : } else if ((state & LCA_SUBLANE) != 0) {
730 1066392 : mode = mySublaneLC;
731 2 : } else if ((state & LCA_TRACI) != 0) {
732 : mode = LC_NEVER;
733 : } else {
734 0 : WRITE_WARNINGF(TL("Lane change model did not provide a reason for changing (state=%, time=%\n"), toString(state), time2string(currentTime));
735 : }
736 1600276 : if (mode == LC_NEVER) {
737 : // cancel all lcModel requests
738 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
739 42752 : state &= ~LCA_URGENT;
740 42752 : if (changeRequest == REQUEST_NONE) {
741 : // also remove all reasons except TRACI
742 42285 : state &= ~LCA_CHANGE_REASONS | LCA_TRACI;
743 : }
744 1557526 : } else if (mode == LC_NOCONFLICT && changeRequest != REQUEST_NONE) {
745 5623 : if (
746 5623 : ((state & LCA_LEFT) != 0 && changeRequest != REQUEST_LEFT) ||
747 5391 : ((state & LCA_RIGHT) != 0 && changeRequest != REQUEST_RIGHT) ||
748 4943 : ((state & LCA_STAY) != 0 && changeRequest != REQUEST_HOLD)) {
749 : // cancel conflicting lcModel request
750 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
751 827 : state &= ~LCA_URGENT;
752 : }
753 1551903 : } else if (mode == LC_ALWAYS) {
754 : // ignore any TraCI requests
755 : return state;
756 : }
757 : }
758 : // apply traci requests
759 2821225 : if (changeRequest == REQUEST_NONE) {
760 2653381 : return state;
761 : } else {
762 173035 : state |= LCA_TRACI;
763 : // security checks
764 173035 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
765 171179 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
766 2250 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
767 : }
768 173035 : if (changeRequest != REQUEST_HOLD && myTraciLaneChangePriority != LCP_OPPORTUNISTIC) {
769 2094 : state |= LCA_URGENT;
770 : }
771 2123 : switch (changeRequest) {
772 : case REQUEST_HOLD:
773 170912 : return state | LCA_STAY;
774 1328 : case REQUEST_LEFT:
775 1328 : return state | LCA_LEFT;
776 795 : case REQUEST_RIGHT:
777 795 : return state | LCA_RIGHT;
778 : default:
779 : throw ProcessError(TL("should not happen"));
780 : }
781 : }
782 : }
783 :
784 :
785 : double
786 364 : MSVehicle::Influencer::changeRequestRemainingSeconds(const SUMOTime currentTime) const {
787 : assert(myLaneTimeLine.size() >= 2);
788 : assert(currentTime >= myLaneTimeLine[0].first);
789 364 : return STEPS2TIME(myLaneTimeLine[1].first - currentTime);
790 : }
791 :
792 :
793 : void
794 5062 : MSVehicle::Influencer::setSpeedMode(int speedMode) {
795 5062 : myConsiderSafeVelocity = ((speedMode & 1) != 0);
796 5062 : myConsiderMaxAcceleration = ((speedMode & 2) != 0);
797 5062 : myConsiderMaxDeceleration = ((speedMode & 4) != 0);
798 5062 : myRespectJunctionPriority = ((speedMode & 8) != 0);
799 5062 : myEmergencyBrakeRedLight = ((speedMode & 16) != 0);
800 5062 : myRespectJunctionLeaderPriority = ((speedMode & 32) == 0); // inverted!
801 5062 : myConsiderSpeedLimit = ((speedMode & 64) == 0); // inverted!
802 5062 : }
803 :
804 :
805 : void
806 18565 : MSVehicle::Influencer::setLaneChangeMode(int value) {
807 18565 : myStrategicLC = (LaneChangeMode)(value & (1 + 2));
808 18565 : myCooperativeLC = (LaneChangeMode)((value & (4 + 8)) >> 2);
809 18565 : mySpeedGainLC = (LaneChangeMode)((value & (16 + 32)) >> 4);
810 18565 : myRightDriveLC = (LaneChangeMode)((value & (64 + 128)) >> 6);
811 18565 : myTraciLaneChangePriority = (TraciLaneChangePriority)((value & (256 + 512)) >> 8);
812 18565 : mySublaneLC = (LaneChangeMode)((value & (1024 + 2048)) >> 10);
813 18565 : }
814 :
815 :
816 : void
817 6765 : MSVehicle::Influencer::setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t) {
818 6765 : myRemoteXYPos = xyPos;
819 6765 : myRemoteLane = l;
820 6765 : myRemotePos = pos;
821 6765 : myRemotePosLat = posLat;
822 6765 : myRemoteAngle = angle;
823 6765 : myRemoteEdgeOffset = edgeOffset;
824 6765 : myRemoteRoute = route;
825 6765 : myLastRemoteAccess = t;
826 6765 : }
827 :
828 :
829 : bool
830 1018820 : MSVehicle::Influencer::isRemoteControlled() const {
831 1018820 : return myLastRemoteAccess == MSNet::getInstance()->getCurrentTimeStep();
832 : }
833 :
834 :
835 : bool
836 487430 : MSVehicle::Influencer::isRemoteAffected(SUMOTime t) const {
837 487430 : return myLastRemoteAccess >= t - TIME2STEPS(10);
838 : }
839 :
840 :
841 : void
842 492287 : MSVehicle::Influencer::updateRemoteControlRoute(MSVehicle* v) {
843 492287 : if (myRemoteRoute.size() != 0 && myRemoteRoute != v->getRoute().getEdges()) {
844 : // only replace route at this time if the vehicle is moving with the flow
845 54 : const bool isForward = v->getLane() != 0 && &v->getLane()->getEdge() == myRemoteRoute[0];
846 : #ifdef DEBUG_REMOTECONTROL
847 : std::cout << SIMSTEP << " updateRemoteControlRoute veh=" << v->getID() << " old=" << toString(v->getRoute().getEdges()) << " new=" << toString(myRemoteRoute) << " fwd=" << isForward << "\n";
848 : #endif
849 : if (isForward) {
850 7 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
851 7 : v->updateBestLanes();
852 : }
853 : }
854 492287 : }
855 :
856 :
857 : void
858 6746 : MSVehicle::Influencer::postProcessRemoteControl(MSVehicle* v) {
859 6746 : const bool wasOnRoad = v->isOnRoad();
860 6746 : const bool withinLane = myRemoteLane != nullptr && fabs(myRemotePosLat) < 0.5 * (myRemoteLane->getWidth() + v->getVehicleType().getWidth());
861 6746 : const bool keepLane = wasOnRoad && v->getLane() == myRemoteLane;
862 6746 : if (v->isOnRoad() && !(keepLane && withinLane)) {
863 130 : if (myRemoteLane != nullptr && &v->getLane()->getEdge() == &myRemoteLane->getEdge()) {
864 : // correct odometer which gets incremented via onRemovalFromNet->leaveLane
865 60 : v->myOdometer -= v->getLane()->getLength();
866 : }
867 130 : v->onRemovalFromNet(MSMoveReminder::NOTIFICATION_TELEPORT);
868 130 : v->getMutableLane()->removeVehicle(v, MSMoveReminder::NOTIFICATION_TELEPORT, false);
869 : }
870 6746 : if (myRemoteRoute.size() != 0 && myRemoteRoute != v->getRoute().getEdges()) {
871 : // needed for the insertion step
872 : #ifdef DEBUG_REMOTECONTROL
873 : std::cout << SIMSTEP << " postProcessRemoteControl veh=" << v->getID()
874 : << "\n oldLane=" << Named::getIDSecure(v->getLane())
875 : << " oldRoute=" << toString(v->getRoute().getEdges())
876 : << "\n newLane=" << Named::getIDSecure(myRemoteLane)
877 : << " newRoute=" << toString(myRemoteRoute)
878 : << " newRouteEdge=" << myRemoteRoute[myRemoteEdgeOffset]->getID()
879 : << "\n";
880 : #endif
881 : // clear any prior stops because they cannot apply to the new route
882 59 : const_cast<SUMOVehicleParameter&>(v->getParameter()).stops.clear();
883 118 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
884 : myRemoteRoute.clear();
885 : }
886 6746 : v->myCurrEdge = v->getRoute().begin() + myRemoteEdgeOffset;
887 6746 : if (myRemoteLane != nullptr && myRemotePos > myRemoteLane->getLength()) {
888 0 : myRemotePos = myRemoteLane->getLength();
889 : }
890 6746 : if (myRemoteLane != nullptr && withinLane) {
891 6600 : if (keepLane) {
892 : // TODO this handles only the case when the new vehicle is completely on the edge
893 6447 : const bool needFurtherUpdate = v->myState.myPos < v->getVehicleType().getLength() && myRemotePos >= v->getVehicleType().getLength();
894 6447 : v->myState.myPos = myRemotePos;
895 6447 : v->myState.myPosLat = myRemotePosLat;
896 6447 : if (needFurtherUpdate) {
897 4 : v->myState.myBackPos = v->updateFurtherLanes(v->myFurtherLanes, v->myFurtherLanesPosLat, std::vector<MSLane*>());
898 : }
899 : } else {
900 153 : MSMoveReminder::Notification notify = v->getDeparture() == NOT_YET_DEPARTED
901 153 : ? MSMoveReminder::NOTIFICATION_DEPARTED
902 : : MSMoveReminder::NOTIFICATION_TELEPORT_ARRIVED;
903 153 : if (!v->isOnRoad()) {
904 153 : MSVehicleTransfer::getInstance()->remove(v); // TODO may need optimization, this is linear in the number of vehicles in transfer
905 : }
906 153 : myRemoteLane->forceVehicleInsertion(v, myRemotePos, notify, myRemotePosLat);
907 153 : v->updateBestLanes();
908 : }
909 6600 : if (!wasOnRoad) {
910 53 : v->drawOutsideNetwork(false);
911 : }
912 : //std::cout << "on road network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << " pos=" << myRemotePos << " posLat=" << myRemotePosLat << "\n";
913 6600 : myRemoteLane->requireCollisionCheck();
914 : } else {
915 146 : if (v->getDeparture() == NOT_YET_DEPARTED) {
916 4 : v->onDepart();
917 : }
918 146 : v->drawOutsideNetwork(true);
919 : // see updateState
920 146 : double vNext = v->processTraCISpeedControl(
921 146 : v->getMaxSpeed(), v->getSpeed());
922 146 : v->setBrakingSignals(vNext);
923 146 : v->myState.myPreviousSpeed = v->getSpeed();
924 146 : v->myAcceleration = SPEED2ACCEL(vNext - v->getSpeed());
925 146 : v->myState.mySpeed = vNext;
926 146 : v->updateWaitingTime(vNext);
927 : //std::cout << "outside network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << "\n";
928 : }
929 : // ensure that the position is correct (i.e. when the lanePosition is ambiguous at corners)
930 6746 : v->setRemoteState(myRemoteXYPos);
931 6746 : v->setAngle(GeomHelper::fromNaviDegree(myRemoteAngle));
932 6746 : }
933 :
934 :
935 : double
936 6727 : MSVehicle::Influencer::implicitSpeedRemote(const MSVehicle* veh, double oldSpeed) {
937 6727 : if (veh->getPosition() == Position::INVALID) {
938 8 : return oldSpeed;
939 : }
940 6719 : double dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
941 6719 : if (myRemoteLane != nullptr) {
942 : // if the vehicles is frequently placed on a new edge, the route may
943 : // consist only of a single edge. In this case the new edge may not be
944 : // on the route so distAlongRoute will be double::max.
945 : // In this case we still want a sensible speed value
946 6605 : const double distAlongRoute = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
947 6605 : if (distAlongRoute != std::numeric_limits<double>::max()) {
948 : dist = distAlongRoute;
949 : }
950 : }
951 : //std::cout << SIMTIME << " veh=" << veh->getID() << " oldPos=" << veh->getPosition() << " traciPos=" << myRemoteXYPos << " dist=" << dist << "\n";
952 6719 : const double minSpeed = myConsiderMaxDeceleration ?
953 4011 : veh->getCarFollowModel().minNextSpeedEmergency(oldSpeed, veh) : 0;
954 6719 : const double maxSpeed = (myRemoteLane != nullptr
955 6719 : ? myRemoteLane->getVehicleMaxSpeed(veh)
956 114 : : (veh->getLane() != nullptr
957 114 : ? veh->getLane()->getVehicleMaxSpeed(veh)
958 4 : : veh->getMaxSpeed()));
959 6719 : return MIN2(maxSpeed, MAX2(minSpeed, DIST2SPEED(dist)));
960 : }
961 :
962 :
963 : double
964 6589 : MSVehicle::Influencer::implicitDeltaPosRemote(const MSVehicle* veh) {
965 : double dist = 0;
966 6589 : if (myRemoteLane == nullptr) {
967 5 : dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
968 : } else {
969 : // if the vehicles is frequently placed on a new edge, the route may
970 : // consist only of a single edge. In this case the new edge may not be
971 : // on the route so getDistanceToPosition will return double::max.
972 : // In this case we would rather not move the vehicle in executeMove
973 : // (updateState) as it would result in emergency braking
974 6584 : dist = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
975 : }
976 6589 : if (dist == std::numeric_limits<double>::max()) {
977 : return 0;
978 : } else {
979 6388 : if (DIST2SPEED(dist) > veh->getMaxSpeed() * 1.1) {
980 42 : WRITE_WARNINGF(TL("Vehicle '%' moved by TraCI from % to % (dist %) with implied speed of % (exceeding maximum speed %). time=%."),
981 : veh->getID(), veh->getPosition(), myRemoteXYPos, dist, DIST2SPEED(dist), veh->getMaxSpeed(), time2string(SIMSTEP));
982 : // some sanity check here
983 14 : dist = MIN2(dist, SPEED2DIST(veh->getMaxSpeed() * 2));
984 : }
985 6388 : return dist;
986 : }
987 : }
988 :
989 :
990 : /* -------------------------------------------------------------------------
991 : * MSVehicle-methods
992 : * ----------------------------------------------------------------------- */
993 4486237 : MSVehicle::MSVehicle(SUMOVehicleParameter* pars, ConstMSRoutePtr route,
994 4486237 : MSVehicleType* type, const double speedFactor) :
995 : MSBaseVehicle(pars, route, type, speedFactor),
996 4486237 : myWaitingTime(0),
997 4486237 : myWaitingTimeCollector(),
998 4486237 : myTimeLoss(0),
999 4486237 : myState(0, 0, 0, 0, 0),
1000 4486237 : myDriverState(nullptr),
1001 4486237 : myActionStep(true),
1002 4486237 : myLastActionTime(0),
1003 4486237 : myLane(nullptr),
1004 4486237 : myLaneChangeModel(nullptr),
1005 4486237 : myLastBestLanesEdge(nullptr),
1006 4486237 : myLastBestLanesInternalLane(nullptr),
1007 4486237 : myAcceleration(0),
1008 : myNextTurn(0., nullptr),
1009 4486237 : mySignals(0),
1010 4486237 : myAmOnNet(false),
1011 4486237 : myAmIdling(false),
1012 4486237 : myHaveToWaitOnNextLink(false),
1013 4486237 : myAngle(0),
1014 4486237 : myStopDist(std::numeric_limits<double>::max()),
1015 4486237 : myStopSpeed(std::numeric_limits<double>::max()),
1016 4486237 : myCollisionImmunity(-1),
1017 4486237 : myCachedPosition(Position::INVALID),
1018 4486237 : myJunctionEntryTime(SUMOTime_MAX),
1019 4486237 : myJunctionEntryTimeNeverYield(SUMOTime_MAX),
1020 4486237 : myJunctionConflictEntryTime(SUMOTime_MAX),
1021 4486237 : myTimeSinceStartup(TIME2STEPS(3600 * 24)),
1022 4486237 : myHaveStoppedFor(nullptr),
1023 13458711 : myInfluencer(nullptr) {
1024 4486237 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
1025 4486237 : myNextDriveItem = myLFLinkLanes.begin();
1026 4486237 : }
1027 :
1028 :
1029 8334415 : MSVehicle::~MSVehicle() {
1030 4486156 : cleanupParkingReservation();
1031 4486156 : cleanupFurtherLanes();
1032 4486156 : delete myLaneChangeModel;
1033 4486156 : if (myType->isVehicleSpecific()) {
1034 314 : MSNet::getInstance()->getVehicleControl().removeVType(myType);
1035 : }
1036 4486156 : delete myInfluencer;
1037 4486156 : delete myCFVariables;
1038 12820571 : }
1039 :
1040 :
1041 : void
1042 4486718 : MSVehicle::cleanupFurtherLanes() {
1043 4489234 : for (MSLane* further : myFurtherLanes) {
1044 2516 : further->resetPartialOccupation(this);
1045 2516 : if (further->getBidiLane() != nullptr
1046 2516 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
1047 0 : further->getBidiLane()->resetPartialOccupation(this);
1048 : }
1049 : }
1050 4486718 : if (myLaneChangeModel != nullptr) {
1051 4486684 : removeApproachingInformation(myLFLinkLanes);
1052 4486684 : myLaneChangeModel->cleanupShadowLane();
1053 4486684 : myLaneChangeModel->cleanupTargetLane();
1054 : // still needed when calling resetPartialOccupation (getShadowLane) and when removing
1055 : // approach information from parallel links
1056 : }
1057 : myFurtherLanes.clear();
1058 : myFurtherLanesPosLat.clear();
1059 4486718 : }
1060 :
1061 :
1062 : void
1063 3346937 : MSVehicle::onRemovalFromNet(const MSMoveReminder::Notification reason) {
1064 : #ifdef DEBUG_ACTIONSTEPS
1065 : if (DEBUG_COND) {
1066 : std::cout << SIMTIME << " Removing vehicle '" << getID() << "' (reason: " << toString(reason) << ")" << std::endl;
1067 : }
1068 : #endif
1069 3346937 : MSVehicleTransfer::getInstance()->remove(this);
1070 3346937 : removeApproachingInformation(myLFLinkLanes);
1071 3346937 : leaveLane(reason);
1072 3346937 : if (reason == MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION) {
1073 562 : cleanupFurtherLanes();
1074 : }
1075 3346937 : }
1076 :
1077 :
1078 : void
1079 4486237 : MSVehicle::initDevices() {
1080 4486237 : MSBaseVehicle::initDevices();
1081 4486225 : myLaneChangeModel = MSAbstractLaneChangeModel::build(myType->getLaneChangeModel(), *this);
1082 4486203 : myDriverState = static_cast<MSDevice_DriverState*>(getDevice(typeid(MSDevice_DriverState)));
1083 4486203 : myFrictionDevice = static_cast<MSDevice_Friction*>(getDevice(typeid(MSDevice_Friction)));
1084 4486203 : }
1085 :
1086 :
1087 : // ------------ interaction with the route
1088 : bool
1089 2222918177 : MSVehicle::hasValidRouteStart(std::string& msg) {
1090 : // note: not a const method because getDepartLane may call updateBestLanes
1091 2222918177 : if (!(*myCurrEdge)->isTazConnector()) {
1092 2222589819 : if (myParameter->departLaneProcedure == DepartLaneDefinition::GIVEN
1093 2222589819 : || (myParameter->departLaneProcedure == DepartLaneDefinition::DEFAULT && MSEdge::getDefaultDepartLaneDefinition() == DepartLaneDefinition::GIVEN)) {
1094 50430844 : if ((*myCurrEdge)->getDepartLane(*this) == nullptr) {
1095 132 : msg = "Invalid departlane definition for vehicle '" + getID() + "'.";
1096 66 : if (myParameter->departLane >= (int)(*myCurrEdge)->getLanes().size()) {
1097 11 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1098 : } else {
1099 55 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1100 : }
1101 66 : return false;
1102 : }
1103 : } else {
1104 2172158975 : if ((*myCurrEdge)->allowedLanes(getVClass(), ignoreTransientPermissions()) == nullptr) {
1105 144 : msg = "Vehicle '" + getID() + "' is not allowed to depart on any lane of edge '" + (*myCurrEdge)->getID() + "'.";
1106 72 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1107 72 : return false;
1108 : }
1109 : }
1110 2222589681 : if (myParameter->departSpeedProcedure == DepartSpeedDefinition::GIVEN && myParameter->departSpeed > myType->getMaxSpeed() + SPEED_EPS) {
1111 38 : msg = "Departure speed for vehicle '" + getID() + "' is too high for the vehicle type '" + myType->getID() + "'.";
1112 19 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1113 19 : return false;
1114 : }
1115 : }
1116 2222918020 : myRouteValidity &= ~(ROUTE_START_INVALID_LANE | ROUTE_START_INVALID_PERMISSIONS);
1117 2222918020 : return true;
1118 : }
1119 :
1120 :
1121 : bool
1122 712151497 : MSVehicle::hasArrived() const {
1123 712151497 : return hasArrivedInternal(false);
1124 : }
1125 :
1126 :
1127 : bool
1128 1433640304 : MSVehicle::hasArrivedInternal(bool oppositeTransformed) const {
1129 2326636189 : return ((myCurrEdge == myRoute->end() - 1 || (myParameter->arrivalEdge >= 0 && getRoutePosition() >= myParameter->arrivalEdge))
1130 540693692 : && (myStops.empty() || myStops.front().edge != myCurrEdge || myStops.front().getSpeed() > 0)
1131 1012073028 : && ((myLaneChangeModel->isOpposite() && !oppositeTransformed) ? myLane->getLength() - myState.myPos : myState.myPos) > MIN2(myLane->getLength(), myArrivalPos) - POSITION_EPS
1132 1444977599 : && !isRemoteControlled());
1133 : }
1134 :
1135 :
1136 : bool
1137 1565539 : MSVehicle::replaceRoute(ConstMSRoutePtr newRoute, const std::string& info, bool onInit, int offset, bool addRouteStops, bool removeStops, std::string* msgReturn) {
1138 3131078 : if (MSBaseVehicle::replaceRoute(newRoute, info, onInit, offset, addRouteStops, removeStops, msgReturn)) {
1139 : // update best lanes (after stops were added)
1140 1565521 : myLastBestLanesEdge = nullptr;
1141 1565521 : myLastBestLanesInternalLane = nullptr;
1142 1565521 : updateBestLanes(true, onInit ? (*myCurrEdge)->getLanes().front() : 0);
1143 : assert(!removeStops || haveValidStopEdges());
1144 1565521 : if (myStops.size() == 0) {
1145 1521241 : myStopDist = std::numeric_limits<double>::max();
1146 : }
1147 1565521 : return true;
1148 : }
1149 : return false;
1150 : }
1151 :
1152 :
1153 : // ------------ Interaction with move reminders
1154 : void
1155 699209787 : MSVehicle::workOnMoveReminders(double oldPos, double newPos, double newSpeed) {
1156 : // This erasure-idiom works for all stl-sequence-containers
1157 : // See Meyers: Effective STL, Item 9
1158 1849631104 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
1159 : // XXX: calling notifyMove with newSpeed seems not the best choice. For the ballistic update, the average speed is calculated and used
1160 : // although a higher order quadrature-formula might be more adequate.
1161 : // For the euler case (where the speed is considered constant for each time step) it is conceivable that
1162 : // the current calculations may lead to systematic errors for large time steps (compared to reality). Refs. #2579
1163 2300842634 : if (!rem->first->notifyMove(*this, oldPos + rem->second, newPos + rem->second, MAX2(0., newSpeed))) {
1164 : #ifdef _DEBUG
1165 : if (myTraceMoveReminders) {
1166 : traceMoveReminder("notifyMove", rem->first, rem->second, false);
1167 : }
1168 : #endif
1169 : rem = myMoveReminders.erase(rem);
1170 : } else {
1171 : #ifdef _DEBUG
1172 : if (myTraceMoveReminders) {
1173 : traceMoveReminder("notifyMove", rem->first, rem->second, true);
1174 : }
1175 : #endif
1176 : ++rem;
1177 : }
1178 : }
1179 699209787 : if (myEnergyParams != nullptr) {
1180 : // TODO make the vehicle energy params a derived class which is a move reminder
1181 139397822 : myEnergyParams->setDynamicValues(isStopped() ? getNextStop().duration : -1, isParking(), getWaitingTime(), getAngle());
1182 : }
1183 699209787 : }
1184 :
1185 :
1186 : void
1187 119709 : MSVehicle::workOnIdleReminders() {
1188 119709 : updateWaitingTime(0.); // cf issue 2233
1189 :
1190 : // vehicle move reminders
1191 147163 : for (const auto& rem : myMoveReminders) {
1192 27454 : rem.first->notifyIdle(*this);
1193 : }
1194 :
1195 : // lane move reminders - for aggregated values
1196 283184 : for (MSMoveReminder* rem : getLane()->getMoveReminders()) {
1197 163475 : rem->notifyIdle(*this);
1198 : }
1199 119709 : }
1200 :
1201 : // XXX: consider renaming...
1202 : void
1203 19409575 : MSVehicle::adaptLaneEntering2MoveReminder(const MSLane& enteredLane) {
1204 : // save the old work reminders, patching the position information
1205 : // add the information about the new offset to the old lane reminders
1206 19409575 : const double oldLaneLength = myLane->getLength();
1207 55078197 : for (auto& rem : myMoveReminders) {
1208 35668622 : rem.second += oldLaneLength;
1209 : #ifdef _DEBUG
1210 : // if (rem->first==0) std::cout << "Null reminder (?!)" << std::endl;
1211 : // std::cout << "Adapted MoveReminder on lane " << ((rem->first->getLane()==0) ? "NULL" : rem->first->getLane()->getID()) <<" position to " << rem->second << std::endl;
1212 : if (myTraceMoveReminders) {
1213 : traceMoveReminder("adaptedPos", rem.first, rem.second, true);
1214 : }
1215 : #endif
1216 : }
1217 32638017 : for (MSMoveReminder* const rem : enteredLane.getMoveReminders()) {
1218 13228442 : addReminder(rem);
1219 : }
1220 19409575 : }
1221 :
1222 :
1223 : // ------------ Other getter methods
1224 : double
1225 162313486 : MSVehicle::getSlope() const {
1226 162313486 : if (isParking() && getStops().begin()->parkingarea != nullptr) {
1227 3881 : return getStops().begin()->parkingarea->getVehicleSlope(*this);
1228 : }
1229 162309605 : if (myLane == nullptr) {
1230 : return 0;
1231 : }
1232 162309605 : const double posLat = myState.myPosLat; // @todo get rid of the '-'
1233 162309605 : Position p1 = getPosition();
1234 162309605 : Position p2 = getBackPosition();
1235 : if (p2 == Position::INVALID) {
1236 : // Handle special case of vehicle's back reaching out of the network
1237 6 : if (myFurtherLanes.size() > 0) {
1238 6 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1239 : if (p2 == Position::INVALID) {
1240 : // unsuitable lane geometry
1241 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1242 : }
1243 : } else {
1244 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1245 : }
1246 : }
1247 162309605 : return (p1 != p2 ? RAD2DEG(p2.slopeTo2D(p1)) : myLane->getShape().slopeDegreeAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1248 : }
1249 :
1250 :
1251 : Position
1252 923848998 : MSVehicle::getPosition(const double offset) const {
1253 923848998 : if (myLane == nullptr) {
1254 : // when called in the context of GUI-Drawing, the simulation step is already incremented
1255 146 : if (myInfluencer != nullptr && myInfluencer->isRemoteAffected(MSNet::getInstance()->getCurrentTimeStep())) {
1256 40 : return myCachedPosition;
1257 : } else {
1258 106 : return Position::INVALID;
1259 : }
1260 : }
1261 923848852 : if (isParking()) {
1262 2182936 : if (myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() > getNextStopParameter()->started) {
1263 123 : return myCachedPosition;
1264 : }
1265 2182813 : if (myStops.begin()->parkingarea != nullptr) {
1266 22619 : return myStops.begin()->parkingarea->getVehiclePosition(*this);
1267 : } else {
1268 : // position beside the road
1269 2160194 : PositionVector shp = myLane->getEdge().getLanes()[0]->getShape();
1270 4320268 : shp.move2side(SUMO_const_laneWidth * (MSGlobals::gLefthand ? -1 : 1));
1271 2160194 : return shp.positionAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane() + offset));
1272 2160194 : }
1273 : }
1274 921665916 : const bool changingLanes = myLaneChangeModel->isChangingLanes();
1275 1833141900 : const double posLat = (MSGlobals::gLefthand ? 1 : -1) * getLateralPositionOnLane();
1276 921665916 : if (offset == 0. && !changingLanes) {
1277 : if (myCachedPosition == Position::INVALID) {
1278 703657125 : myCachedPosition = validatePosition(myLane->geometryPositionAtOffset(myState.myPos, posLat));
1279 703657125 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1280 60962 : interpolateLateralZ(myCachedPosition, myState.myPos, posLat);
1281 : }
1282 : }
1283 915005899 : return myCachedPosition;
1284 : }
1285 6660017 : Position result = validatePosition(myLane->geometryPositionAtOffset(getPositionOnLane() + offset, posLat), offset);
1286 6660017 : interpolateLateralZ(result, getPositionOnLane() + offset, posLat);
1287 6660017 : return result;
1288 : }
1289 :
1290 :
1291 : void
1292 7004857 : MSVehicle::interpolateLateralZ(Position& pos, double offset, double posLat) const {
1293 7004857 : const MSLane* shadow = myLaneChangeModel->getShadowLane();
1294 7004857 : if (shadow != nullptr && pos != Position::INVALID) {
1295 : // ignore negative offset
1296 : const Position shadowPos = shadow->geometryPositionAtOffset(MAX2(0.0, offset));
1297 56494 : if (shadowPos != Position::INVALID && pos.z() != shadowPos.z()) {
1298 325 : const double centerDist = (myLane->getWidth() + shadow->getWidth()) * 0.5;
1299 325 : double relOffset = fabs(posLat) / centerDist;
1300 325 : double newZ = (1 - relOffset) * pos.z() + relOffset * shadowPos.z();
1301 : pos.setz(newZ);
1302 : }
1303 : }
1304 7004857 : }
1305 :
1306 :
1307 : double
1308 93474 : MSVehicle::getDistanceToLeaveJunction() const {
1309 93474 : double result = getLength() - getPositionOnLane();
1310 93474 : if (myLane->isNormal()) {
1311 : return MAX2(0.0, result);
1312 : }
1313 376 : const MSLane* lane = myLane;
1314 752 : while (lane->isInternal()) {
1315 376 : result += lane->getLength();
1316 376 : lane = lane->getCanonicalSuccessorLane();
1317 : }
1318 : return result;
1319 : }
1320 :
1321 :
1322 : Position
1323 103275 : MSVehicle::getPositionAlongBestLanes(double offset) const {
1324 : assert(MSGlobals::gUsingInternalLanes);
1325 103275 : if (!isOnRoad()) {
1326 0 : return Position::INVALID;
1327 : }
1328 103275 : const std::vector<MSLane*>& bestLanes = getBestLanesContinuation();
1329 : auto nextBestLane = bestLanes.begin();
1330 103275 : const bool opposite = myLaneChangeModel->isOpposite();
1331 103275 : double pos = opposite ? myLane->getLength() - myState.myPos : myState.myPos;
1332 103275 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : getLane();
1333 : assert(lane != 0);
1334 : bool success = true;
1335 :
1336 304922 : while (offset > 0) {
1337 : // take into account lengths along internal lanes
1338 308292 : while (lane->isInternal() && offset > 0) {
1339 106645 : if (offset > lane->getLength() - pos) {
1340 3561 : offset -= lane->getLength() - pos;
1341 3561 : lane = lane->getLinkCont()[0]->getViaLaneOrLane();
1342 : pos = 0.;
1343 3561 : if (lane == nullptr) {
1344 : success = false;
1345 : offset = 0.;
1346 : }
1347 : } else {
1348 103084 : pos += offset;
1349 : offset = 0;
1350 : }
1351 : }
1352 : // set nextBestLane to next non-internal lane
1353 206774 : while (nextBestLane != bestLanes.end() && *nextBestLane == nullptr) {
1354 : ++nextBestLane;
1355 : }
1356 201647 : if (offset > 0) {
1357 : assert(!lane->isInternal());
1358 : assert(lane == *nextBestLane);
1359 98563 : if (offset > lane->getLength() - pos) {
1360 98380 : offset -= lane->getLength() - pos;
1361 : ++nextBestLane;
1362 : assert(nextBestLane == bestLanes.end() || *nextBestLane != 0);
1363 98380 : if (nextBestLane == bestLanes.end()) {
1364 : success = false;
1365 : offset = 0.;
1366 : } else {
1367 98380 : const MSLink* link = lane->getLinkTo(*nextBestLane);
1368 : assert(link != nullptr);
1369 : lane = link->getViaLaneOrLane();
1370 : pos = 0.;
1371 : }
1372 : } else {
1373 183 : pos += offset;
1374 : offset = 0;
1375 : }
1376 : }
1377 :
1378 : }
1379 :
1380 103275 : if (success) {
1381 103275 : return lane->geometryPositionAtOffset(pos, -getLateralPositionOnLane());
1382 : } else {
1383 0 : return Position::INVALID;
1384 : }
1385 : }
1386 :
1387 :
1388 : double
1389 709437 : MSVehicle::getMaxSpeedOnLane() const {
1390 709437 : if (myLane != nullptr) {
1391 709437 : return myLane->getVehicleMaxSpeed(this);
1392 : }
1393 0 : return myType->getMaxSpeed();
1394 : }
1395 :
1396 :
1397 : Position
1398 710317142 : MSVehicle::validatePosition(Position result, double offset) const {
1399 : int furtherIndex = 0;
1400 710317142 : double lastLength = getPositionOnLane();
1401 710317142 : while (result == Position::INVALID) {
1402 275392 : if (furtherIndex >= (int)myFurtherLanes.size()) {
1403 : //WRITE_WARNINGF(TL("Could not compute position for vehicle '%', time=%."), getID(), time2string(MSNet::getInstance()->getCurrentTimeStep()));
1404 : break;
1405 : }
1406 : //std::cout << SIMTIME << " veh=" << getID() << " lane=" << myLane->getID() << " pos=" << getPositionOnLane() << " posLat=" << getLateralPositionOnLane() << " offset=" << offset << " result=" << result << " i=" << furtherIndex << " further=" << myFurtherLanes.size() << "\n";
1407 196600 : MSLane* further = myFurtherLanes[furtherIndex];
1408 196600 : offset += lastLength;
1409 196600 : result = further->geometryPositionAtOffset(further->getLength() + offset, -getLateralPositionOnLane());
1410 : lastLength = further->getLength();
1411 196600 : furtherIndex++;
1412 : //std::cout << SIMTIME << " newResult=" << result << "\n";
1413 : }
1414 710317142 : return result;
1415 : }
1416 :
1417 :
1418 : ConstMSEdgeVector::const_iterator
1419 284459 : MSVehicle::getRerouteOrigin() const {
1420 : // too close to the next junction, so avoid an emergency brake here
1421 284459 : if (myLane != nullptr && (myCurrEdge + 1) != myRoute->end() && !isRailway(getVClass())) {
1422 222016 : if (myLane->isInternal()) {
1423 : return myCurrEdge + 1;
1424 : }
1425 215121 : if (myState.myPos > myLane->getLength() - getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)) {
1426 : return myCurrEdge + 1;
1427 : }
1428 212754 : if (myLane->getEdge().hasChangeProhibitions(getVClass(), myLane->getIndex())) {
1429 : return myCurrEdge + 1;
1430 : }
1431 : }
1432 275085 : return myCurrEdge;
1433 : }
1434 :
1435 : void
1436 5181157 : MSVehicle::setAngle(double angle, bool straightenFurther) {
1437 : #ifdef DEBUG_FURTHER
1438 : if (DEBUG_COND) {
1439 : std::cout << SIMTIME << " veh '" << getID() << " setAngle(" << angle << ") straightenFurther=" << straightenFurther << std::endl;
1440 : }
1441 : #endif
1442 5181157 : myAngle = angle;
1443 5181157 : MSLane* next = myLane;
1444 5181157 : if (straightenFurther && myFurtherLanesPosLat.size() > 0) {
1445 197442 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
1446 101411 : MSLane* further = myFurtherLanes[i];
1447 101411 : const MSLink* link = further->getLinkTo(next);
1448 101411 : if (link != nullptr) {
1449 100980 : myFurtherLanesPosLat[i] = getLateralPositionOnLane() - link->getLateralShift();
1450 : next = further;
1451 : } else {
1452 : break;
1453 : }
1454 : }
1455 : }
1456 5181157 : }
1457 :
1458 :
1459 : void
1460 451444 : MSVehicle::setActionStepLength(double actionStepLength, bool resetOffset) {
1461 451444 : SUMOTime actionStepLengthMillisecs = SUMOVehicleParserHelper::processActionStepLength(actionStepLength);
1462 : SUMOTime previousActionStepLength = getActionStepLength();
1463 : const bool newActionStepLength = actionStepLengthMillisecs != previousActionStepLength;
1464 451444 : if (newActionStepLength) {
1465 7 : getSingularType().setActionStepLength(actionStepLengthMillisecs, resetOffset);
1466 7 : if (!resetOffset) {
1467 1 : updateActionOffset(previousActionStepLength, actionStepLengthMillisecs);
1468 : }
1469 : }
1470 451438 : if (resetOffset) {
1471 6 : resetActionOffset();
1472 : }
1473 451444 : }
1474 :
1475 :
1476 : bool
1477 300077845 : MSVehicle::congested() const {
1478 300077845 : return myState.mySpeed < (60.0 / 3.6) || myLane->getSpeedLimit() < (60.1 / 3.6);
1479 : }
1480 :
1481 :
1482 : double
1483 706320624 : MSVehicle::computeAngle() const {
1484 : Position p1;
1485 706320624 : const double posLat = -myState.myPosLat; // @todo get rid of the '-'
1486 706320624 : const double lefthandSign = (MSGlobals::gLefthand ? -1 : 1);
1487 :
1488 : // if parking manoeuvre is happening then rotate vehicle on each step
1489 706320624 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
1490 450 : return getAngle() + myManoeuvre.getGUIIncrement();
1491 : }
1492 :
1493 706320174 : if (isParking()) {
1494 28557 : if (myStops.begin()->parkingarea != nullptr) {
1495 15595 : return myStops.begin()->parkingarea->getVehicleAngle(*this);
1496 : } else {
1497 12962 : return myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane()));
1498 : }
1499 : }
1500 706291617 : if (myLaneChangeModel->isChangingLanes()) {
1501 : // cannot use getPosition() because it already includes the offset to the side and thus messes up the angle
1502 1126847 : p1 = myLane->geometryPositionAtOffset(myState.myPos, lefthandSign * posLat);
1503 12 : if (p1 == Position::INVALID && myLane->getShape().length2D() == 0. && myLane->isInternal()) {
1504 : // workaround: extrapolate the preceding lane shape
1505 12 : MSLane* predecessorLane = myLane->getCanonicalPredecessorLane();
1506 12 : p1 = predecessorLane->geometryPositionAtOffset(predecessorLane->getLength() + myState.myPos, lefthandSign * posLat);
1507 : }
1508 : } else {
1509 705164770 : p1 = getPosition();
1510 : }
1511 :
1512 : Position p2;
1513 706291617 : if (getVehicleType().getParameter().locomotiveLength > 0) {
1514 : // articulated vehicle should use the heading of the first part
1515 1777728 : const double locoLength = MIN2(getVehicleType().getParameter().locomotiveLength, getLength());
1516 1777728 : p2 = getPosition(-locoLength);
1517 : } else {
1518 704513889 : p2 = getBackPosition();
1519 : }
1520 : if (p2 == Position::INVALID) {
1521 : // Handle special case of vehicle's back reaching out of the network
1522 885 : if (myFurtherLanes.size() > 0) {
1523 139 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1524 : if (p2 == Position::INVALID) {
1525 : // unsuitable lane geometry
1526 91 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1527 : }
1528 : } else {
1529 746 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1530 : }
1531 : }
1532 : double result = (p1 != p2 ? p2.angleTo2D(p1) :
1533 94595 : myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1534 :
1535 706291617 : result += lefthandSign * myLaneChangeModel->calcAngleOffset();
1536 :
1537 : #ifdef DEBUG_FURTHER
1538 : if (DEBUG_COND) {
1539 : std::cout << SIMTIME << " computeAngle veh=" << getID() << " p1=" << p1 << " p2=" << p2 << " angle=" << RAD2DEG(result) << " naviDegree=" << GeomHelper::naviDegree(result) << "\n";
1540 : }
1541 : #endif
1542 706291617 : return result;
1543 : }
1544 :
1545 :
1546 : const Position
1547 873808532 : MSVehicle::getBackPosition() const {
1548 873808532 : const double posLat = MSGlobals::gLefthand ? myState.myPosLat : -myState.myPosLat;
1549 : Position result;
1550 873808532 : if (myState.myPos >= myType->getLength()) {
1551 : // vehicle is fully on the new lane
1552 856527018 : result = myLane->geometryPositionAtOffset(myState.myPos - myType->getLength(), posLat);
1553 : } else {
1554 17281514 : if (myLaneChangeModel->isChangingLanes() && myFurtherLanes.size() > 0 && myLaneChangeModel->getShadowLane(myFurtherLanes.back()) == nullptr) {
1555 : // special case where the target lane has no predecessor
1556 : #ifdef DEBUG_FURTHER
1557 : if (DEBUG_COND) {
1558 : std::cout << " getBackPosition veh=" << getID() << " specialCase using myLane=" << myLane->getID() << " pos=0 posLat=" << myState.myPosLat << " result=" << myLane->geometryPositionAtOffset(0, posLat) << "\n";
1559 : }
1560 : #endif
1561 1692 : result = myLane->geometryPositionAtOffset(0, posLat);
1562 : } else {
1563 : #ifdef DEBUG_FURTHER
1564 : if (DEBUG_COND) {
1565 : std::cout << " getBackPosition veh=" << getID() << " myLane=" << myLane->getID() << " further=" << toString(myFurtherLanes) << " myFurtherLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
1566 : }
1567 : #endif
1568 17279822 : if (myFurtherLanes.size() > 0 && !myLaneChangeModel->isChangingLanes()) {
1569 : // truncate to 0 if vehicle starts on an edge that is shorter than its length
1570 16895813 : const double backPos = MAX2(0.0, getBackPositionOnLane(myFurtherLanes.back()));
1571 33492858 : result = myFurtherLanes.back()->geometryPositionAtOffset(backPos, -myFurtherLanesPosLat.back() * (MSGlobals::gLefthand ? -1 : 1));
1572 : } else {
1573 384009 : result = myLane->geometryPositionAtOffset(0, posLat);
1574 : }
1575 : }
1576 : }
1577 873808532 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1578 283878 : interpolateLateralZ(result, myState.myPos - myType->getLength(), posLat);
1579 : }
1580 873808532 : return result;
1581 : }
1582 :
1583 :
1584 : bool
1585 384804 : MSVehicle::willStop() const {
1586 384804 : return !isStopped() && !myStops.empty() && myLane != nullptr && &myStops.front().lane->getEdge() == &myLane->getEdge();
1587 : }
1588 :
1589 : bool
1590 369947017 : MSVehicle::isStoppedOnLane() const {
1591 369947017 : return isStopped() && myStops.front().lane == myLane;
1592 : }
1593 :
1594 : bool
1595 30783931 : MSVehicle::keepStopping(bool afterProcessing) const {
1596 30783931 : if (isStopped()) {
1597 : // when coming out of vehicleTransfer we must shift the time forward
1598 36881933 : return (myStops.front().duration - (afterProcessing ? DELTA_T : 0) > 0 || isStoppedTriggered() || myStops.front().pars.collision
1599 30616876 : || myStops.front().pars.breakDown || (myStops.front().getSpeed() > 0
1600 38897 : && (myState.myPos < MIN2(myStops.front().pars.endPos, myStops.front().lane->getLength() - POSITION_EPS))
1601 32868 : && (myStops.front().pars.parking == ParkingType::ONROAD || getSpeed() >= SUMO_const_haltingSpeed)));
1602 : } else {
1603 : return false;
1604 : }
1605 : }
1606 :
1607 :
1608 : SUMOTime
1609 15616 : MSVehicle::remainingStopDuration() const {
1610 15616 : if (isStopped()) {
1611 15616 : return myStops.front().duration;
1612 : }
1613 : return 0;
1614 : }
1615 :
1616 :
1617 : SUMOTime
1618 679187017 : MSVehicle::collisionStopTime() const {
1619 679187017 : return (myStops.empty() || !myStops.front().pars.collision) ? myCollisionImmunity : MAX2((SUMOTime)0, myStops.front().duration);
1620 : }
1621 :
1622 :
1623 : bool
1624 678965830 : MSVehicle::brokeDown() const {
1625 678965830 : return isStopped() && !myStops.empty() && myStops.front().pars.breakDown;
1626 : }
1627 :
1628 :
1629 : bool
1630 240374 : MSVehicle::ignoreCollision() const {
1631 240374 : return myCollisionImmunity > 0;
1632 : }
1633 :
1634 :
1635 : double
1636 640720692 : MSVehicle::processNextStop(double currentVelocity) {
1637 640720692 : if (myStops.empty()) {
1638 : // no stops; pass
1639 : return currentVelocity;
1640 : }
1641 :
1642 : #ifdef DEBUG_STOPS
1643 : if (DEBUG_COND) {
1644 : std::cout << "\nPROCESS_NEXT_STOP\n" << SIMTIME << " vehicle '" << getID() << "'" << std::endl;
1645 : }
1646 : #endif
1647 :
1648 : MSStop& stop = myStops.front();
1649 39785867 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1650 39785867 : if (stop.reached) {
1651 24227401 : stop.duration -= getActionStepLength();
1652 :
1653 : #ifdef DEBUG_STOPS
1654 : if (DEBUG_COND) {
1655 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached stop.\n"
1656 : << "Remaining duration: " << STEPS2TIME(stop.duration) << std::endl;
1657 : if (stop.getSpeed() > 0) {
1658 : std::cout << " waypointSpeed=" << stop.getSpeed() << " vehPos=" << myState.myPos << " endPos=" << stop.pars.endPos << "\n";
1659 : }
1660 : }
1661 : #endif
1662 24227401 : if (stop.duration <= 0 && stop.pars.join != "") {
1663 : // join this train (part) to another one
1664 37466 : MSVehicle* joinVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.join));
1665 969 : if (joinVeh && joinVeh->hasDeparted() && (joinVeh->joinTrainPart(this) || joinVeh->joinTrainPartFront(this))) {
1666 36 : stop.joinTriggered = false;
1667 36 : if (myAmRegisteredAsWaiting) {
1668 21 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1669 21 : myAmRegisteredAsWaiting = false;
1670 : }
1671 : // avoid collision warning before this vehicle is removed (joinVeh was already made longer)
1672 36 : myCollisionImmunity = TIME2STEPS(100);
1673 : // mark this vehicle as arrived
1674 36 : myArrivalPos = getPositionOnLane();
1675 36 : const_cast<SUMOVehicleParameter*>(myParameter)->arrivalEdge = getRoutePosition();
1676 : // handle transportables that want to continue in the other vehicle
1677 36 : if (myPersonDevice != nullptr) {
1678 3 : myPersonDevice->transferAtSplitOrJoin(joinVeh);
1679 : }
1680 36 : if (myContainerDevice != nullptr) {
1681 3 : myContainerDevice->transferAtSplitOrJoin(joinVeh);
1682 : }
1683 : }
1684 : }
1685 24227401 : boardTransportables(stop);
1686 22086256 : if (time > stop.endBoarding) {
1687 : // for taxi: cancel customers
1688 198924 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1689 : if (taxiDevice != nullptr) {
1690 : // may invalidate stops including the current reference
1691 64 : taxiDevice->cancelCurrentCustomers();
1692 64 : resumeFromStopping();
1693 64 : return currentVelocity;
1694 : }
1695 : }
1696 22086192 : if (!keepStopping() && isOnRoad()) {
1697 : #ifdef DEBUG_STOPS
1698 : if (DEBUG_COND) {
1699 : std::cout << SIMTIME << " vehicle '" << getID() << "' resumes from stopping." << std::endl;
1700 : }
1701 : #endif
1702 43847 : resumeFromStopping();
1703 43847 : if (isRail() && hasStops()) {
1704 : // stay on the current lane in case of a double stop
1705 2806 : const MSStop& nextStop = getNextStop();
1706 2806 : if (nextStop.edge == myCurrEdge) {
1707 1033 : const double stopSpeed = getCarFollowModel().stopSpeed(this, getSpeed(), nextStop.pars.endPos - myState.myPos);
1708 : //std::cout << SIMTIME << " veh=" << getID() << " resumedFromStopping currentVelocity=" << currentVelocity << " stopSpeed=" << stopSpeed << "\n";
1709 1033 : return stopSpeed;
1710 : }
1711 : }
1712 : } else {
1713 22042345 : if (stop.triggered) {
1714 3209605 : if (getVehicleType().getPersonCapacity() == getPersonNumber()) {
1715 30 : WRITE_WARNINGF(TL("Vehicle '%' ignores triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1716 10 : stop.triggered = false;
1717 3209595 : } else if (!myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1718 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1719 4301 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1720 4301 : myAmRegisteredAsWaiting = true;
1721 : #ifdef DEBUG_STOPS
1722 : if (DEBUG_COND) {
1723 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for person." << std::endl;
1724 : }
1725 : #endif
1726 : }
1727 : }
1728 22042345 : if (stop.containerTriggered) {
1729 39500 : if (getVehicleType().getContainerCapacity() == getContainerNumber()) {
1730 1332 : WRITE_WARNINGF(TL("Vehicle '%' ignores container triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1731 444 : stop.containerTriggered = false;
1732 39056 : } else if (stop.containerTriggered && !myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1733 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1734 92 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1735 92 : myAmRegisteredAsWaiting = true;
1736 : #ifdef DEBUG_STOPS
1737 : if (DEBUG_COND) {
1738 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for container." << std::endl;
1739 : }
1740 : #endif
1741 : }
1742 : }
1743 : // joining only takes place after stop duration is over
1744 22042345 : if (stop.joinTriggered && !myAmRegisteredAsWaiting
1745 7105 : && stop.duration <= (stop.pars.extension >= 0 ? -stop.pars.extension : 0)) {
1746 100 : if (stop.pars.extension >= 0) {
1747 105 : WRITE_WARNINGF(TL("Vehicle '%' aborts joining after extension of %s at time %."), getID(), STEPS2TIME(stop.pars.extension), time2string(SIMSTEP));
1748 35 : stop.joinTriggered = false;
1749 : } else {
1750 : // keep stopping indefinitely but ensure that simulation terminates
1751 65 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1752 65 : myAmRegisteredAsWaiting = true;
1753 : }
1754 : }
1755 22042345 : if (stop.getSpeed() > 0) {
1756 : //waypoint mode
1757 220544 : if (stop.duration == 0) {
1758 273 : return stop.getSpeed();
1759 : } else {
1760 : // stop for 'until' (computed in planMove)
1761 : return currentVelocity;
1762 : }
1763 : } else {
1764 : // brake
1765 21821801 : if (MSGlobals::gSemiImplicitEulerUpdate || stop.getSpeed() > 0) {
1766 21553199 : return 0;
1767 : } else {
1768 : // ballistic:
1769 268602 : return getSpeed() - getCarFollowModel().getMaxDecel();
1770 : }
1771 : }
1772 : }
1773 : } else {
1774 :
1775 : #ifdef DEBUG_STOPS
1776 : if (DEBUG_COND) {
1777 : std::cout << SIMTIME << " vehicle '" << getID() << "' hasn't reached next stop." << std::endl;
1778 : }
1779 : #endif
1780 : //std::cout << SIMTIME << " myStopDist=" << myStopDist << " bGap=" << getBrakeGap(myLane->getVehicleMaxSpeed(this)) << "\n";
1781 15621903 : if (stop.pars.onDemand && !stop.skipOnDemand && myStopDist <= getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this))) {
1782 576 : MSNet* const net = MSNet::getInstance();
1783 44 : const bool noExits = ((myPersonDevice == nullptr || !myPersonDevice->anyLeavingAtStop(stop))
1784 586 : && (myContainerDevice == nullptr || !myContainerDevice->anyLeavingAtStop(stop)));
1785 83 : const bool noEntries = ((!net->hasPersons() || !net->getPersonControl().hasAnyWaiting(stop.getEdge(), this))
1786 625 : && (!net->hasContainers() || !net->getContainerControl().hasAnyWaiting(stop.getEdge(), this)));
1787 576 : if (noExits && noEntries) {
1788 : //std::cout << " skipOnDemand\n";
1789 508 : stop.skipOnDemand = true;
1790 : // bestLanes must be extended past this stop
1791 508 : updateBestLanes(true);
1792 : }
1793 : }
1794 : // is the next stop on the current lane?
1795 15558466 : if (stop.edge == myCurrEdge) {
1796 : // get the stopping position
1797 5643089 : bool useStoppingPlace = stop.busstop != nullptr || stop.containerstop != nullptr || stop.parkingarea != nullptr;
1798 : bool fitsOnStoppingPlace = true;
1799 5643089 : if (!stop.skipOnDemand) { // no need to check available space if we skip it anyway
1800 5641102 : if (stop.busstop != nullptr) {
1801 1625536 : fitsOnStoppingPlace &= stop.busstop->fits(myState.myPos, *this);
1802 : }
1803 5641102 : if (stop.containerstop != nullptr) {
1804 21788 : fitsOnStoppingPlace &= stop.containerstop->fits(myState.myPos, *this);
1805 : }
1806 : // if the stop is a parking area we check if there is a free position on the area
1807 5641102 : if (stop.parkingarea != nullptr) {
1808 687689 : fitsOnStoppingPlace &= myState.myPos > stop.parkingarea->getBeginLanePosition();
1809 687689 : if (stop.parkingarea->getOccupancy() >= stop.parkingarea->getCapacity()) {
1810 : fitsOnStoppingPlace = false;
1811 : // trigger potential parkingZoneReroute
1812 434770 : MSParkingArea* oldParkingArea = stop.parkingarea;
1813 475631 : for (MSMoveReminder* rem : myLane->getMoveReminders()) {
1814 40861 : if (rem->isParkingRerouter()) {
1815 19633 : rem->notifyEnter(*this, MSMoveReminder::NOTIFICATION_PARKING_REROUTE, myLane);
1816 : }
1817 : }
1818 434770 : if (myStops.empty() || myStops.front().parkingarea != oldParkingArea) {
1819 : // rerouted, keep driving
1820 : return currentVelocity;
1821 : }
1822 252919 : } else if (stop.parkingarea->getOccupancyIncludingReservations(this) >= stop.parkingarea->getCapacity()) {
1823 : fitsOnStoppingPlace = false;
1824 127576 : } else if (stop.parkingarea->parkOnRoad() && stop.parkingarea->getLotIndex(this) < 0) {
1825 : fitsOnStoppingPlace = false;
1826 : }
1827 : }
1828 : }
1829 5641401 : const double targetPos = myState.myPos + myStopDist + (stop.getSpeed() > 0 ? (stop.pars.startPos - stop.pars.endPos) : 0);
1830 5641401 : double reachedThreshold = (useStoppingPlace ? targetPos - STOPPING_PLACE_OFFSET : stop.getReachedThreshold()) - NUMERICAL_EPS;
1831 5641401 : if (stop.busstop != nullptr && stop.getSpeed() <= 0 && getWaitingTime() > DELTA_T && myLane == stop.lane) {
1832 : // count (long) busStop as reached when fully within and jammed before the designated spot
1833 783273 : reachedThreshold = MIN2(reachedThreshold, stop.pars.startPos + getLength());
1834 : }
1835 : #ifdef DEBUG_STOPS
1836 : if (DEBUG_COND) {
1837 : std::cout << " pos=" << myState.pos() << " speed=" << currentVelocity << " targetPos=" << targetPos << " fits=" << fitsOnStoppingPlace
1838 : << " reachedThresh=" << reachedThreshold
1839 : << " myLane=" << Named::getIDSecure(myLane)
1840 : << " stopLane=" << Named::getIDSecure(stop.lane)
1841 : << "\n";
1842 : }
1843 : #endif
1844 5641401 : const bool posReached = myState.pos() >= reachedThreshold && currentVelocity <= stop.getSpeed() + SUMO_const_haltingSpeed && myLane == stop.lane;
1845 5641401 : if (posReached && !fitsOnStoppingPlace && MSStopOut::active()) {
1846 5904 : MSStopOut::getInstance()->stopBlocked(this, time);
1847 : }
1848 5641401 : if (fitsOnStoppingPlace && posReached && (!MSGlobals::gModelParkingManoeuver || myManoeuvre.entryManoeuvreIsComplete(this))) {
1849 : // ok, we may stop (have reached the stop) and either we are not modelling maneuvering or have completed entry
1850 55831 : stop.reached = true;
1851 55831 : if (!stop.startedFromState) {
1852 55615 : stop.pars.started = time;
1853 : }
1854 : #ifdef DEBUG_STOPS
1855 : if (DEBUG_COND) {
1856 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached next stop." << std::endl;
1857 : }
1858 : #endif
1859 55831 : if (MSStopOut::active()) {
1860 5330 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), time);
1861 : }
1862 55831 : myLane->getEdge().addWaiting(this);
1863 55831 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::STARTING_STOP);
1864 55831 : MSNet::getInstance()->getVehicleControl().registerStopStarted();
1865 : // compute stopping time
1866 55831 : stop.duration = stop.getMinDuration(time);
1867 55831 : stop.endBoarding = stop.pars.extension >= 0 ? time + stop.duration + stop.pars.extension : SUMOTime_MAX;
1868 55831 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1869 4053 : if (taxiDevice != nullptr && stop.pars.extension >= 0) {
1870 : // earliestPickupTime is set with waitUntil
1871 84 : stop.endBoarding = MAX2(time, stop.pars.waitUntil) + stop.pars.extension;
1872 : }
1873 55831 : if (stop.getSpeed() > 0) {
1874 : // ignore duration parameter in waypoint mode unless 'until' or 'ended' are set
1875 3427 : if (stop.getUntil() > time) {
1876 348 : stop.duration = stop.getUntil() - time;
1877 : } else {
1878 3079 : stop.duration = 0;
1879 : }
1880 : }
1881 55831 : if (stop.busstop != nullptr) {
1882 : // let the bus stop know the vehicle
1883 18260 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1884 : }
1885 55831 : if (stop.containerstop != nullptr) {
1886 : // let the container stop know the vehicle
1887 571 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1888 : }
1889 55831 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
1890 : // let the parking area know the vehicle
1891 9776 : stop.parkingarea->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1892 : }
1893 55831 : if (stop.chargingStation != nullptr) {
1894 : // let the container stop know the vehicle
1895 3503 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1896 : }
1897 :
1898 55831 : if (stop.pars.tripId != "") {
1899 2920 : ((SUMOVehicleParameter&)getParameter()).setParameter("tripId", stop.pars.tripId);
1900 : }
1901 55831 : if (stop.pars.line != "") {
1902 1463 : ((SUMOVehicleParameter&)getParameter()).line = stop.pars.line;
1903 : }
1904 55831 : if (stop.pars.split != "") {
1905 : // split the train
1906 1239 : MSVehicle* splitVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.split));
1907 24 : if (splitVeh == nullptr) {
1908 3645 : WRITE_WARNINGF(TL("Vehicle '%' to split from vehicle '%' is not known. time=%."), stop.pars.split, getID(), SIMTIME)
1909 : } else {
1910 24 : MSNet::getInstance()->getInsertionControl().add(splitVeh);
1911 24 : splitVeh->getRoute().getEdges()[0]->removeWaiting(splitVeh);
1912 24 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1913 24 : const double newLength = MAX2(myType->getLength() - splitVeh->getVehicleType().getLength(),
1914 24 : myType->getParameter().locomotiveLength);
1915 24 : getSingularType().setLength(newLength);
1916 : // handle transportables that want to continue in the split part
1917 24 : if (myPersonDevice != nullptr) {
1918 0 : myPersonDevice->transferAtSplitOrJoin(splitVeh);
1919 : }
1920 24 : if (myContainerDevice != nullptr) {
1921 6 : myContainerDevice->transferAtSplitOrJoin(splitVeh);
1922 : }
1923 24 : if (splitVeh->getParameter().departPosProcedure == DepartPosDefinition::SPLIT_FRONT) {
1924 3 : const double backShift = splitVeh->getLength() + getVehicleType().getMinGap();
1925 3 : myState.myPos -= backShift;
1926 3 : myState.myBackPos -= backShift;
1927 : }
1928 : }
1929 : }
1930 :
1931 55831 : boardTransportables(stop);
1932 55827 : if (stop.pars.posLat != INVALID_DOUBLE) {
1933 230 : myState.myPosLat = stop.pars.posLat;
1934 : }
1935 : }
1936 : }
1937 : }
1938 : return currentVelocity;
1939 : }
1940 :
1941 :
1942 : void
1943 24283232 : MSVehicle::boardTransportables(MSStop& stop) {
1944 24283232 : if (stop.skipOnDemand) {
1945 : return;
1946 : }
1947 : // we have reached the stop
1948 : // any waiting persons may board now
1949 24080027 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1950 24080027 : MSNet* const net = MSNet::getInstance();
1951 24080027 : const bool boarded = (time <= stop.endBoarding
1952 24077826 : && net->hasPersons()
1953 1501414 : && net->getPersonControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToBoardNextPerson, stop.duration)
1954 24084990 : && stop.numExpectedPerson == 0);
1955 : // load containers
1956 24080027 : const bool loaded = (time <= stop.endBoarding
1957 24077826 : && net->hasContainers()
1958 2243567 : && net->getContainerControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToLoadNextContainer, stop.duration)
1959 24080602 : && stop.numExpectedContainer == 0);
1960 :
1961 : bool unregister = false;
1962 21938878 : if (time > stop.endBoarding) {
1963 2201 : stop.triggered = false;
1964 2201 : stop.containerTriggered = false;
1965 2201 : if (myAmRegisteredAsWaiting) {
1966 : unregister = true;
1967 326 : myAmRegisteredAsWaiting = false;
1968 : }
1969 : }
1970 21938878 : if (boarded) {
1971 : // the triggering condition has been fulfilled. Maybe we want to wait a bit longer for additional riders (car pooling)
1972 4832 : if (myAmRegisteredAsWaiting) {
1973 : unregister = true;
1974 : }
1975 4832 : stop.triggered = false;
1976 4832 : myAmRegisteredAsWaiting = false;
1977 : }
1978 21938878 : if (loaded) {
1979 : // the triggering condition has been fulfilled
1980 555 : if (myAmRegisteredAsWaiting) {
1981 : unregister = true;
1982 : }
1983 555 : stop.containerTriggered = false;
1984 555 : myAmRegisteredAsWaiting = false;
1985 : }
1986 :
1987 21938878 : if (unregister) {
1988 410 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1989 : #ifdef DEBUG_STOPS
1990 : if (DEBUG_COND) {
1991 : std::cout << SIMTIME << " vehicle '" << getID() << "' unregisters as waiting for transportable." << std::endl;
1992 : }
1993 : #endif
1994 : }
1995 : }
1996 :
1997 : bool
1998 921 : MSVehicle::joinTrainPart(MSVehicle* veh) {
1999 : // check if veh is close enough to be joined to the rear of this vehicle
2000 921 : MSLane* backLane = myFurtherLanes.size() == 0 ? myLane : myFurtherLanes.back();
2001 921 : double gap = getBackPositionOnLane() - veh->getPositionOnLane();
2002 1143 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == veh->getLane()
2003 951 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2004 15 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2005 15 : getSingularType().setLength(newLength);
2006 15 : myStops.begin()->joinTriggered = false;
2007 15 : if (myAmRegisteredAsWaiting) {
2008 0 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2009 0 : myAmRegisteredAsWaiting = false;
2010 : }
2011 : return true;
2012 : } else {
2013 906 : return false;
2014 : }
2015 : }
2016 :
2017 :
2018 : bool
2019 906 : MSVehicle::joinTrainPartFront(MSVehicle* veh) {
2020 : // check if veh is close enough to be joined to the front of this vehicle
2021 906 : MSLane* backLane = veh->myFurtherLanes.size() == 0 ? veh->myLane : veh->myFurtherLanes.back();
2022 906 : double gap = veh->getBackPositionOnLane(backLane) - getPositionOnLane();
2023 1113 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == getLane()
2024 930 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2025 : double skippedLaneLengths = 0;
2026 24 : if (veh->myFurtherLanes.size() > 0) {
2027 9 : skippedLaneLengths += getLane()->getLength();
2028 : // this vehicle must be moved to the lane of veh
2029 : // ensure that lane and furtherLanes of veh match our route
2030 9 : int routeIndex = getRoutePosition();
2031 9 : if (myLane->isInternal()) {
2032 0 : routeIndex++;
2033 : }
2034 27 : for (int i = (int)veh->myFurtherLanes.size() - 1; i >= 0; i--) {
2035 18 : MSEdge* edge = &veh->myFurtherLanes[i]->getEdge();
2036 18 : if (edge->isInternal()) {
2037 9 : continue;
2038 : }
2039 9 : if (!edge->isInternal() && edge != myRoute->getEdges()[routeIndex]) {
2040 0 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2041 0 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2042 : return false;
2043 : }
2044 9 : routeIndex++;
2045 : }
2046 9 : if (veh->getCurrentEdge()->getNormalSuccessor() != myRoute->getEdges()[routeIndex]) {
2047 3 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2048 9 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2049 : return false;
2050 : }
2051 12 : for (int i = (int)veh->myFurtherLanes.size() - 2; i >= 0; i--) {
2052 6 : skippedLaneLengths += veh->myFurtherLanes[i]->getLength();
2053 : }
2054 : }
2055 :
2056 21 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2057 21 : getSingularType().setLength(newLength);
2058 : // lane will be advanced just as for regular movement
2059 21 : myState.myPos = skippedLaneLengths + veh->getPositionOnLane();
2060 21 : myStops.begin()->joinTriggered = false;
2061 21 : if (myAmRegisteredAsWaiting) {
2062 8 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2063 8 : myAmRegisteredAsWaiting = false;
2064 : }
2065 21 : return true;
2066 : } else {
2067 882 : return false;
2068 : }
2069 : }
2070 :
2071 : double
2072 8761439 : MSVehicle::getBrakeGap(bool delayed) const {
2073 8761439 : return getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), delayed ? getCarFollowModel().getHeadwayTime() : 0);
2074 : }
2075 :
2076 :
2077 : bool
2078 701134693 : MSVehicle::checkActionStep(const SUMOTime t) {
2079 701134693 : myActionStep = isActionStep(t);
2080 701134693 : if (myActionStep) {
2081 629460017 : myLastActionTime = t;
2082 : }
2083 701134693 : return myActionStep;
2084 : }
2085 :
2086 :
2087 : void
2088 1389 : MSVehicle::resetActionOffset(const SUMOTime timeUntilNextAction) {
2089 1389 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + timeUntilNextAction;
2090 1389 : }
2091 :
2092 :
2093 : void
2094 1 : MSVehicle::updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength) {
2095 1 : SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2096 1 : SUMOTime timeSinceLastAction = now - myLastActionTime;
2097 1 : if (timeSinceLastAction == 0) {
2098 : // Action was scheduled now, may be delayed be new action step length
2099 : timeSinceLastAction = oldActionStepLength;
2100 : }
2101 1 : if (timeSinceLastAction >= newActionStepLength) {
2102 : // Action point required in this step
2103 0 : myLastActionTime = now;
2104 : } else {
2105 1 : SUMOTime timeUntilNextAction = newActionStepLength - timeSinceLastAction;
2106 1 : resetActionOffset(timeUntilNextAction);
2107 : }
2108 1 : }
2109 :
2110 :
2111 :
2112 : void
2113 701134693 : MSVehicle::planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront) {
2114 : #ifdef DEBUG_PLAN_MOVE
2115 : if (DEBUG_COND) {
2116 : std::cout
2117 : << "\nPLAN_MOVE\n"
2118 : << SIMTIME
2119 : << std::setprecision(gPrecision)
2120 : << " veh=" << getID()
2121 : << " lane=" << myLane->getID()
2122 : << " pos=" << getPositionOnLane()
2123 : << " posLat=" << getLateralPositionOnLane()
2124 : << " speed=" << getSpeed()
2125 : << "\n";
2126 : }
2127 : #endif
2128 : // Update the driver state
2129 701134693 : if (hasDriverState()) {
2130 451430 : myDriverState->update();
2131 902860 : setActionStepLength(myDriverState->getDriverState()->getActionStepLength(), false);
2132 : }
2133 :
2134 701134693 : myStopSpeed = getCarFollowModel().maxNextSpeed(myStopSpeed, this);
2135 701134693 : if (!checkActionStep(t)) {
2136 : #ifdef DEBUG_ACTIONSTEPS
2137 : if (DEBUG_COND) {
2138 : std::cout << STEPS2TIME(t) << " vehicle '" << getID() << "' skips action." << std::endl;
2139 : }
2140 : #endif
2141 : // During non-action passed drive items still need to be removed
2142 : // @todo rather work with updating myCurrentDriveItem (refs #3714)
2143 71674676 : removePassedDriveItems();
2144 71674676 : return;
2145 : } else {
2146 : #ifdef DEBUG_ACTIONSTEPS
2147 : if (DEBUG_COND) {
2148 : std::cout << STEPS2TIME(t) << " vehicle = '" << getID() << "' takes action." << std::endl;
2149 : }
2150 : #endif
2151 : myLFLinkLanesPrev.swap(myLFLinkLanes);
2152 629460017 : if (myInfluencer != nullptr) {
2153 492287 : myInfluencer->updateRemoteControlRoute(this);
2154 : }
2155 629460017 : planMoveInternal(t, ahead, myLFLinkLanes, myStopDist, myStopSpeed, myNextTurn);
2156 : #ifdef DEBUG_PLAN_MOVE
2157 : if (DEBUG_COND) {
2158 : DriveItemVector::iterator i;
2159 : for (i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
2160 : std::cout
2161 : << " vPass=" << (*i).myVLinkPass
2162 : << " vWait=" << (*i).myVLinkWait
2163 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
2164 : << " request=" << (*i).mySetRequest
2165 : << "\n";
2166 : }
2167 : }
2168 : #endif
2169 629460017 : checkRewindLinkLanes(lengthsInFront, myLFLinkLanes);
2170 629460017 : myNextDriveItem = myLFLinkLanes.begin();
2171 : // ideally would only do this with the call inside planMoveInternal - but that needs a const method
2172 : // so this is a kludge here - nuisance as it adds an extra check in a busy loop
2173 629460017 : if (MSGlobals::gModelParkingManoeuver) {
2174 2971 : if (getManoeuvreType() == MSVehicle::MANOEUVRE_EXIT && manoeuvreIsComplete()) {
2175 30 : setManoeuvreType(MSVehicle::MANOEUVRE_NONE);
2176 : }
2177 : }
2178 : }
2179 629460017 : myLaneChangeModel->resetChanged();
2180 : }
2181 :
2182 :
2183 : bool
2184 169835126 : MSVehicle::brakeForOverlap(const MSLink* link, const MSLane* lane) const {
2185 : // @review needed
2186 : //const double futurePosLat = getLateralPositionOnLane() + link->getLateralShift();
2187 : //const double overlap = getLateralOverlap(futurePosLat, link->getViaLaneOrLane());
2188 : //const double edgeWidth = link->getViaLaneOrLane()->getEdge().getWidth();
2189 169835126 : const double futurePosLat = getLateralPositionOnLane() + (
2190 169835126 : lane != myLane && lane->isInternal() ? lane->getIncomingLanes()[0].viaLink->getLateralShift() : 0);
2191 169835126 : const double overlap = getLateralOverlap(futurePosLat, lane);
2192 : const double edgeWidth = lane->getEdge().getWidth();
2193 : const bool result = (overlap > POSITION_EPS
2194 : // do not get stuck on narrow edges
2195 3077303 : && getVehicleType().getWidth() <= edgeWidth
2196 3073018 : && link->getViaLane() == nullptr
2197 : // this is the exit link of a junction. The normal edge should support the shadow
2198 1493508 : && ((myLaneChangeModel->getShadowLane(link->getLane()) == nullptr)
2199 : // the shadow lane must be permitted
2200 1115713 : || !myLaneChangeModel->getShadowLane(link->getLane())->allowsVehicleClass(getVClass())
2201 : // the internal lane after an internal junction has no parallel lane. make sure there is no shadow before continuing
2202 1055307 : || (lane->getEdge().isInternal() && lane->getIncomingLanes()[0].lane->getEdge().isInternal()))
2203 : // ignore situations where the shadow lane is part of a double-connection with the current lane
2204 453871 : && (myLaneChangeModel->getShadowLane() == nullptr
2205 250358 : || myLaneChangeModel->getShadowLane()->getLinkCont().size() == 0
2206 232880 : || myLaneChangeModel->getShadowLane()->getLinkCont().front()->getLane() != link->getLane())
2207 : // emergency vehicles may do some crazy stuff
2208 170227312 : && !myLaneChangeModel->hasBlueLight());
2209 :
2210 : #ifdef DEBUG_PLAN_MOVE
2211 : if (DEBUG_COND) {
2212 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getDescription() << " lane=" << lane->getID()
2213 : << " linkLane=" << link->getLane()->getID()
2214 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
2215 : << " shift=" << link->getLateralShift()
2216 : << " fpLat=" << futurePosLat << " overlap=" << overlap << " w=" << getVehicleType().getWidth()
2217 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane(link->getLane()))
2218 : << " result=" << result << "\n";
2219 : }
2220 : #endif
2221 169835126 : return result;
2222 : }
2223 :
2224 :
2225 :
2226 : void
2227 629460017 : MSVehicle::planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& newStopDist, double& newStopSpeed, std::pair<double, const MSLink*>& nextTurn) const {
2228 : lfLinks.clear();
2229 629460017 : newStopDist = std::numeric_limits<double>::max();
2230 : //
2231 : const MSCFModel& cfModel = getCarFollowModel();
2232 629460017 : const double vehicleLength = getVehicleType().getLength();
2233 629460017 : const double maxV = cfModel.maxNextSpeed(myState.mySpeed, this);
2234 629460017 : const double maxVD = MAX2(getMaxSpeed(), MIN2(maxV, getDesiredMaxSpeed()));
2235 629460017 : const bool opposite = myLaneChangeModel->isOpposite();
2236 : // maxVD is possibly higher than vType-maxSpeed and in this case laneMaxV may be higher as well
2237 629460017 : double laneMaxV = myLane->getVehicleMaxSpeed(this, maxVD);
2238 629460017 : const double vMinComfortable = cfModel.minNextSpeed(getSpeed(), this);
2239 : double lateralShift = 0;
2240 629460017 : if (isRail()) {
2241 : // speed limits must hold for the whole length of the train
2242 1650594 : for (MSLane* l : myFurtherLanes) {
2243 362795 : laneMaxV = MIN2(laneMaxV, l->getVehicleMaxSpeed(this, maxVD));
2244 : #ifdef DEBUG_PLAN_MOVE
2245 : if (DEBUG_COND) {
2246 : std::cout << " laneMaxV=" << laneMaxV << " lane=" << l->getID() << "\n";
2247 : }
2248 : #endif
2249 : }
2250 : }
2251 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
2252 : laneMaxV = MAX2(laneMaxV, vMinComfortable);
2253 629952272 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
2254 : laneMaxV = std::numeric_limits<double>::max();
2255 : }
2256 : // v is the initial maximum velocity of this vehicle in this step
2257 629460017 : double v = cfModel.maximumLaneSpeedCF(this, maxV, laneMaxV);
2258 : // if we are modelling parking then we dawdle until the manoeuvre is complete - by setting a very low max speed
2259 : // in practice this only applies to exit manoeuvre because entry manoeuvre just delays setting stop.reached - when the vehicle is virtually stopped
2260 629460017 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
2261 420 : v = NUMERICAL_EPS_SPEED;
2262 : }
2263 :
2264 629460017 : if (myInfluencer != nullptr) {
2265 492287 : const double vMin = MAX2(0., cfModel.minNextSpeed(myState.mySpeed, this));
2266 : #ifdef DEBUG_TRACI
2267 : if (DEBUG_COND) {
2268 : std::cout << SIMTIME << " veh=" << getID() << " speedBeforeTraci=" << v;
2269 : }
2270 : #endif
2271 492287 : v = myInfluencer->influenceSpeed(t, v, v, vMin, maxV);
2272 : #ifdef DEBUG_TRACI
2273 : if (DEBUG_COND) {
2274 : std::cout << " influencedSpeed=" << v;
2275 : }
2276 : #endif
2277 492287 : v = myInfluencer->gapControlSpeed(t, this, v, v, vMin, maxV);
2278 : #ifdef DEBUG_TRACI
2279 : if (DEBUG_COND) {
2280 : std::cout << " gapControlSpeed=" << v << "\n";
2281 : }
2282 : #endif
2283 : }
2284 : // all links within dist are taken into account (potentially)
2285 629460017 : const double dist = SPEED2DIST(maxV) + cfModel.brakeGap(maxV);
2286 :
2287 629460017 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation();
2288 : #ifdef DEBUG_PLAN_MOVE
2289 : if (DEBUG_COND) {
2290 : std::cout << " dist=" << dist << " bestLaneConts=" << toString(bestLaneConts)
2291 : << "\n maxV=" << maxV << " laneMaxV=" << laneMaxV << " v=" << v << "\n";
2292 : }
2293 : #endif
2294 : assert(bestLaneConts.size() > 0);
2295 : bool hadNonInternal = false;
2296 : // the distance already "seen"; in the following always up to the end of the current "lane"
2297 629460017 : double seen = opposite ? myState.myPos : myLane->getLength() - myState.myPos;
2298 629460017 : nextTurn.first = seen;
2299 629460017 : nextTurn.second = nullptr;
2300 629460017 : bool encounteredTurn = (MSGlobals::gLateralResolution <= 0); // next turn is only needed for sublane
2301 : double seenNonInternal = 0;
2302 629460017 : double seenInternal = myLane->isInternal() ? seen : 0;
2303 629460017 : double vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(seen, v, cfModel.getMaxAccel()), laneMaxV); // upper bound
2304 : int view = 0;
2305 : DriveProcessItem* lastLink = nullptr;
2306 : bool slowedDownForMinor = false; // whether the vehicle already had to slow down on approach to a minor link
2307 : double mustSeeBeforeReversal = 0;
2308 : // iterator over subsequent lanes and fill lfLinks until stopping distance or stopped
2309 629460017 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : myLane;
2310 : assert(lane != 0);
2311 629460017 : const MSLane* leaderLane = myLane;
2312 629460017 : bool foundRailSignal = !isRail();
2313 : bool planningToStop = false;
2314 : #ifdef PARALLEL_STOPWATCH
2315 : myLane->getStopWatch()[0].start();
2316 : #endif
2317 :
2318 : // optionally slow down to match arrival time
2319 629460017 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
2320 629449843 : if (v > vMinComfortable && hasStops() && myStops.front().pars.arrival >= 0 && sfp > 0
2321 4279 : && v > myLane->getSpeedLimit() * sfp
2322 629463053 : && !myStops.front().reached) {
2323 2786 : const double vSlowDown = slowDownForSchedule(vMinComfortable);
2324 5403 : v = MIN2(v, vSlowDown);
2325 : }
2326 : auto stopIt = myStops.begin();
2327 : while (true) {
2328 : // check leader on lane
2329 : // leader is given for the first edge only
2330 1200201836 : if (opposite &&
2331 : (leaderLane->getVehicleNumberWithPartials() > 1
2332 100616 : || (leaderLane != myLane && leaderLane->getVehicleNumber() > 0))) {
2333 396176 : ahead.clear();
2334 : // find opposite-driving leader that must be respected on the currently looked at lane
2335 : // (only looking at one lane at a time)
2336 396176 : const double backOffset = leaderLane == myLane ? getPositionOnLane() : leaderLane->getLength();
2337 396176 : const double gapOffset = leaderLane == myLane ? 0 : seen - leaderLane->getLength();
2338 396176 : const MSLeaderDistanceInfo cands = leaderLane->getFollowersOnConsecutive(this, backOffset, true, backOffset, MSLane::MinorLinkMode::FOLLOW_NEVER);
2339 396176 : MSLeaderDistanceInfo oppositeLeaders(leaderLane->getWidth(), this, 0.);
2340 396176 : const double minTimeToLeaveLane = MSGlobals::gSublane ? MAX2(TS, (0.5 * myLane->getWidth() - getLateralPositionOnLane()) / getVehicleType().getMaxSpeedLat()) : TS;
2341 1053015 : for (int i = 0; i < cands.numSublanes(); i++) {
2342 656839 : CLeaderDist cand = cands[i];
2343 656839 : if (cand.first != 0) {
2344 560174 : if ((cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() != leaderLane)
2345 560645 : || (!cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() == leaderLane)) {
2346 : // respect leaders that also drive in the opposite direction (fully or with some overlap)
2347 354278 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - getVehicleType().getMinGap() + cand.first->getVehicleType().getMinGap() - cand.first->getVehicleType().getLength());
2348 : } else {
2349 : // avoid frontal collision
2350 378958 : const bool assumeStopped = cand.first->isStopped() || cand.first->getWaitingSeconds() > 1;
2351 205896 : const double predMaxDist = cand.first->getSpeed() + (assumeStopped ? 0 : cand.first->getCarFollowModel().getMaxAccel()) * minTimeToLeaveLane;
2352 205896 : if (cand.second >= 0 && (cand.second - v * minTimeToLeaveLane - predMaxDist < 0 || assumeStopped)) {
2353 44641 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - predMaxDist - getVehicleType().getMinGap());
2354 : }
2355 : }
2356 : }
2357 : }
2358 : #ifdef DEBUG_PLAN_MOVE
2359 : if (DEBUG_COND) {
2360 : std::cout << " leaderLane=" << leaderLane->getID() << " gapOffset=" << gapOffset << " minTimeToLeaveLane=" << minTimeToLeaveLane
2361 : << " cands=" << cands.toString() << " oppositeLeaders=" << oppositeLeaders.toString() << "\n";
2362 : }
2363 : #endif
2364 396176 : adaptToLeaderDistance(oppositeLeaders, 0, seen, lastLink, v, vLinkPass);
2365 396176 : } else {
2366 1199805660 : if (MSGlobals::gLateralResolution > 0 && myLaneChangeModel->getShadowLane() == nullptr) {
2367 192195735 : const double rightOL = getRightSideOnLane(lane) + lateralShift;
2368 192195735 : const double leftOL = getLeftSideOnLane(lane) + lateralShift;
2369 : const bool outsideLeft = leftOL > lane->getWidth();
2370 : #ifdef DEBUG_PLAN_MOVE
2371 : if (DEBUG_COND) {
2372 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " rightOL=" << rightOL << " leftOL=" << leftOL << "\n";
2373 : }
2374 : #endif
2375 192195735 : if (rightOL < 0 || outsideLeft) {
2376 1265407 : MSLeaderInfo outsideLeaders(lane->getWidth());
2377 : // if ego is driving outside lane bounds we must consider
2378 : // potential leaders that are also outside bounds
2379 : int sublaneOffset = 0;
2380 1265407 : if (outsideLeft) {
2381 531263 : sublaneOffset = MIN2(-1, -(int)ceil((leftOL - lane->getWidth()) / MSGlobals::gLateralResolution));
2382 : } else {
2383 734144 : sublaneOffset = MAX2(1, (int)ceil(-rightOL / MSGlobals::gLateralResolution));
2384 : }
2385 1265407 : outsideLeaders.setSublaneOffset(sublaneOffset);
2386 : #ifdef DEBUG_PLAN_MOVE
2387 : if (DEBUG_COND) {
2388 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " sublaneOffset=" << sublaneOffset << " outsideLeft=" << outsideLeft << "\n";
2389 : }
2390 : #endif
2391 5327950 : for (const MSVehicle* cand : lane->getVehiclesSecure()) {
2392 1488187 : if ((lane != myLane || cand->getPositionOnLane() > getPositionOnLane())
2393 4698366 : && ((!outsideLeft && cand->getLeftSideOnEdge() < 0)
2394 3210017 : || (outsideLeft && cand->getLeftSideOnEdge() > lane->getEdge().getWidth()))) {
2395 97506 : outsideLeaders.addLeader(cand, true);
2396 : #ifdef DEBUG_PLAN_MOVE
2397 : if (DEBUG_COND) {
2398 : std::cout << " outsideLeader=" << cand->getID() << " ahead=" << outsideLeaders.toString() << "\n";
2399 : }
2400 : #endif
2401 : }
2402 : }
2403 1265407 : lane->releaseVehicles();
2404 1265407 : if (outsideLeaders.hasVehicles()) {
2405 26311 : adaptToLeaders(outsideLeaders, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2406 : }
2407 1265407 : }
2408 : }
2409 1199805660 : adaptToLeaders(ahead, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2410 : }
2411 1200201836 : if (lastLink != nullptr) {
2412 1072479312 : lastLink->myVLinkWait = MIN2(lastLink->myVLinkWait, v);
2413 : }
2414 : #ifdef DEBUG_PLAN_MOVE
2415 : if (DEBUG_COND) {
2416 : std::cout << "\nv = " << v << "\n";
2417 :
2418 : }
2419 : #endif
2420 : // XXX efficiently adapt to shadow leaders using neighAhead by iteration over the whole edge in parallel (lanechanger-style)
2421 1200201836 : if (myLaneChangeModel->getShadowLane() != nullptr) {
2422 : // also slow down for leaders on the shadowLane relative to the current lane
2423 5002303 : const MSLane* shadowLane = myLaneChangeModel->getShadowLane(leaderLane);
2424 : if (shadowLane != nullptr
2425 5002303 : && (MSGlobals::gLateralResolution > 0 || getLateralOverlap() > POSITION_EPS
2426 : // continous lane change cannot be stopped so we must adapt to the leader on the target lane
2427 191105 : || myLaneChangeModel->getLaneChangeCompletion() < 0.5)) {
2428 4456915 : if ((&shadowLane->getEdge() == &leaderLane->getEdge() || myLaneChangeModel->isOpposite())) {
2429 4414578 : double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
2430 4414578 : if (myLaneChangeModel->isOpposite()) {
2431 : // ego posLat is added when retrieving sublanes but it
2432 : // should be negated (subtract twice to compensate)
2433 138083 : latOffset = ((myLane->getWidth() + shadowLane->getWidth()) * 0.5
2434 138083 : - 2 * getLateralPositionOnLane());
2435 :
2436 : }
2437 4414578 : MSLeaderInfo shadowLeaders = shadowLane->getLastVehicleInformation(this, latOffset, lane->getLength() - seen);
2438 : #ifdef DEBUG_PLAN_MOVE
2439 : if (DEBUG_COND && myLaneChangeModel->isOpposite()) {
2440 : std::cout << SIMTIME << " opposite veh=" << getID() << " shadowLane=" << shadowLane->getID() << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2441 : }
2442 : #endif
2443 4414578 : if (myLaneChangeModel->isOpposite()) {
2444 : // ignore oncoming vehicles on the shadow lane
2445 138083 : shadowLeaders.removeOpposite(shadowLane);
2446 : }
2447 4414578 : const double turningDifference = MAX2(0.0, leaderLane->getLength() - shadowLane->getLength());
2448 4414578 : adaptToLeaders(shadowLeaders, latOffset, seen - turningDifference, lastLink, shadowLane, v, vLinkPass);
2449 4456915 : } else if (shadowLane == myLaneChangeModel->getShadowLane() && leaderLane == myLane) {
2450 : // check for leader vehicles driving in the opposite direction on the opposite-direction shadow lane
2451 : // (and thus in the same direction as ego)
2452 30474 : MSLeaderDistanceInfo shadowLeaders = shadowLane->getFollowersOnConsecutive(this, myLane->getOppositePos(getPositionOnLane()), true);
2453 : const double latOffset = 0;
2454 : #ifdef DEBUG_PLAN_MOVE
2455 : if (DEBUG_COND) {
2456 : std::cout << SIMTIME << " opposite shadows veh=" << getID() << " shadowLane=" << shadowLane->getID()
2457 : << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2458 : }
2459 : #endif
2460 30474 : shadowLeaders.fixOppositeGaps(true);
2461 : #ifdef DEBUG_PLAN_MOVE
2462 : if (DEBUG_COND) {
2463 : std::cout << " shadowLeadersFixed=" << shadowLeaders.toString() << "\n";
2464 : }
2465 : #endif
2466 30474 : adaptToLeaderDistance(shadowLeaders, latOffset, seen, lastLink, v, vLinkPass);
2467 30474 : }
2468 : }
2469 : }
2470 : // adapt to pedestrians on the same lane
2471 1200201836 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2472 193500 : const double relativePos = lane->getLength() - seen;
2473 : #ifdef DEBUG_PLAN_MOVE
2474 : if (DEBUG_COND) {
2475 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2476 : }
2477 : #endif
2478 193500 : const double stopTime = MAX2(1.0, ceil(getSpeed() / cfModel.getMaxDecel()));
2479 193500 : PersonDist leader = lane->nextBlocking(relativePos,
2480 193500 : getRightSideOnLane(lane), getRightSideOnLane(lane) + getVehicleType().getWidth(), stopTime);
2481 193500 : if (leader.first != 0) {
2482 20851 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2483 29585 : v = MIN2(v, stopSpeed);
2484 : #ifdef DEBUG_PLAN_MOVE
2485 : if (DEBUG_COND) {
2486 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2487 : }
2488 : #endif
2489 : }
2490 : }
2491 1200201836 : if (lane->getBidiLane() != nullptr) {
2492 : // adapt to pedestrians on the bidi lane
2493 3914545 : const MSLane* bidiLane = lane->getBidiLane();
2494 3914545 : if (bidiLane->getEdge().getPersons().size() > 0 && bidiLane->hasPedestrians()) {
2495 1028 : const double relativePos = seen;
2496 : #ifdef DEBUG_PLAN_MOVE
2497 : if (DEBUG_COND) {
2498 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2499 : }
2500 : #endif
2501 1028 : const double stopTime = ceil(getSpeed() / cfModel.getMaxDecel());
2502 1028 : const double leftSideOnLane = bidiLane->getWidth() - getRightSideOnLane(lane);
2503 1028 : PersonDist leader = bidiLane->nextBlocking(relativePos,
2504 1028 : leftSideOnLane - getVehicleType().getWidth(), leftSideOnLane, stopTime, true);
2505 1028 : if (leader.first != 0) {
2506 267 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2507 516 : v = MIN2(v, stopSpeed);
2508 : #ifdef DEBUG_PLAN_MOVE
2509 : if (DEBUG_COND) {
2510 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2511 : }
2512 : #endif
2513 : }
2514 : }
2515 : }
2516 : // adapt to vehicles blocked from (urgent) lane-changing
2517 1200201836 : if (!opposite && lane->getEdge().hasLaneChanger()) {
2518 587192766 : const double vHelp = myLaneChangeModel->getCooperativeHelpSpeed(lane, seen);
2519 : #ifdef DEBUG_PLAN_MOVE
2520 : if (DEBUG_COND && vHelp < v) {
2521 : std::cout << SIMTIME << " applying cooperativeHelpSpeed v=" << vHelp << "\n";
2522 : }
2523 : #endif
2524 587247288 : v = MIN2(v, vHelp);
2525 : }
2526 :
2527 : // process all stops and waypoints on the current edge
2528 : bool foundRealStop = false;
2529 : while (stopIt != myStops.end()
2530 55214355 : && ((&stopIt->lane->getEdge() == &lane->getEdge())
2531 27859790 : || (stopIt->isOpposite && stopIt->lane->getEdge().getOppositeEdge() == &lane->getEdge()))
2532 : // ignore stops that occur later in a looped route
2533 1244916633 : && stopIt->edge == myCurrEdge + view) {
2534 27299351 : double stopDist = std::numeric_limits<double>::max();
2535 : const MSStop& stop = *stopIt;
2536 : const bool isFirstStop = stopIt == myStops.begin();
2537 : stopIt++;
2538 27299351 : if (!stop.reached || (stop.getSpeed() > 0 && keepStopping())) {
2539 : // we are approaching a stop on the edge; must not drive further
2540 11253145 : bool isWaypoint = stop.getSpeed() > 0;
2541 11253145 : double endPos = stop.getEndPos(*this) + NUMERICAL_EPS;
2542 11253145 : if (stop.parkingarea != nullptr) {
2543 : // leave enough space so parking vehicles can exit
2544 1667876 : const double brakePos = getBrakeGap() + lane->getLength() - seen;
2545 1667876 : endPos = stop.parkingarea->getLastFreePosWithReservation(t, *this, brakePos);
2546 9585269 : } else if (isWaypoint && !stop.reached) {
2547 107147 : endPos = stop.pars.startPos;
2548 : }
2549 11253145 : stopDist = seen + endPos - lane->getLength();
2550 : #ifdef DEBUG_STOPS
2551 : if (DEBUG_COND) {
2552 : std::cout << SIMTIME << " veh=" << getID() << " stopDist=" << stopDist << " stopLane=" << stop.lane->getID() << " stopEndPos=" << endPos << "\n";
2553 : }
2554 : #endif
2555 : double stopSpeed = laneMaxV;
2556 11253145 : if (isWaypoint) {
2557 : bool waypointWithStop = false;
2558 123045 : if (stop.getUntil() > t) {
2559 : // check if we have to slow down or even stop
2560 : SUMOTime time2end = 0;
2561 4796 : if (stop.reached) {
2562 995 : time2end = TIME2STEPS((stop.pars.endPos - myState.myPos) / stop.getSpeed());
2563 : } else {
2564 4079 : time2end = TIME2STEPS(
2565 : // time to reach waypoint start
2566 : stopDist / ((getSpeed() + stop.getSpeed()) / 2)
2567 : // time to reach waypoint end
2568 : + (stop.pars.endPos - stop.pars.startPos) / stop.getSpeed());
2569 : }
2570 4796 : if (stop.getUntil() > t + time2end) {
2571 : // we need to stop
2572 : double distToEnd = stopDist;
2573 4503 : if (!stop.reached) {
2574 3595 : distToEnd += stop.pars.endPos - stop.pars.startPos;
2575 : }
2576 4503 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), distToEnd), vMinComfortable);
2577 : waypointWithStop = true;
2578 4503 : if (stopSpeed <= SUMO_const_haltingSpeed) {
2579 401 : const_cast<MSStop&>(stop).waypointWithStop = true;
2580 : }
2581 : }
2582 : }
2583 123045 : if (stop.reached) {
2584 15154 : stopSpeed = MIN2(stop.getSpeed(), stopSpeed);
2585 15154 : if (myState.myPos >= stop.pars.endPos && !waypointWithStop) {
2586 278 : stopDist = std::numeric_limits<double>::max();
2587 : }
2588 : } else {
2589 107891 : stopSpeed = MIN2(MAX2(cfModel.freeSpeed(this, getSpeed(), stopDist, stop.getSpeed()), vMinComfortable), stopSpeed);
2590 107891 : if (!stop.reached) {
2591 107891 : stopDist += stop.pars.endPos - stop.pars.startPos;
2592 : }
2593 107891 : if (lastLink != nullptr) {
2594 68861 : lastLink->adaptLeaveSpeed(cfModel.freeSpeed(this, vLinkPass, endPos, stop.getSpeed(), false, MSCFModel::CalcReason::FUTURE));
2595 : }
2596 : }
2597 : } else {
2598 11130100 : stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist);
2599 11130100 : if (!instantStopping()) {
2600 : // regular stops are not emergencies
2601 : stopSpeed = MAX2(stopSpeed, vMinComfortable);
2602 20 : } else if (myInfluencer && !myInfluencer->hasSpeedTimeLine(SIMSTEP)) {
2603 : std::vector<std::pair<SUMOTime, double> > speedTimeLine;
2604 20 : speedTimeLine.push_back(std::make_pair(SIMSTEP, getSpeed()));
2605 20 : speedTimeLine.push_back(std::make_pair(SIMSTEP + DELTA_T, stopSpeed));
2606 20 : myInfluencer->setSpeedTimeLine(speedTimeLine);
2607 20 : }
2608 11130100 : if (lastLink != nullptr) {
2609 5360501 : lastLink->adaptLeaveSpeed(cfModel.stopSpeed(this, vLinkPass, endPos, MSCFModel::CalcReason::FUTURE));
2610 : }
2611 : }
2612 11253145 : newStopSpeed = MIN2(newStopSpeed, stopSpeed);
2613 11253145 : v = MIN2(v, stopSpeed);
2614 11253145 : if (lane->isInternal()) {
2615 6731 : std::vector<MSLink*>::const_iterator exitLink = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2616 : assert(!lane->isLinkEnd(exitLink));
2617 : bool dummySetRequest;
2618 : double dummyVLinkWait;
2619 6731 : checkLinkLeaderCurrentAndParallel(*exitLink, lane, seen, lastLink, v, vLinkPass, dummyVLinkWait, dummySetRequest);
2620 : }
2621 :
2622 : #ifdef DEBUG_PLAN_MOVE
2623 : if (DEBUG_COND) {
2624 : std::cout << "\n" << SIMTIME << " next stop: distance = " << stopDist << " requires stopSpeed = " << stopSpeed << "\n";
2625 :
2626 : }
2627 : #endif
2628 11253145 : if (isFirstStop) {
2629 10334958 : newStopDist = stopDist;
2630 : // if the vehicle is going to stop we don't need to look further
2631 : // (except for trains that make use of further link-approach registration for safety purposes)
2632 10334958 : if (!isWaypoint) {
2633 : planningToStop = true;
2634 10246848 : if (!isRail()) {
2635 9942280 : lfLinks.emplace_back(v, stopDist);
2636 : foundRealStop = true;
2637 : break;
2638 : }
2639 : }
2640 : }
2641 : }
2642 : }
2643 : if (foundRealStop) {
2644 : break;
2645 : }
2646 :
2647 : // move to next lane
2648 : // get the next link used
2649 1190259556 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2650 1190259556 : if (lane->isLinkEnd(link) && myLaneChangeModel->hasBlueLight() && myCurrEdge != myRoute->end() - 1) {
2651 : // emergency vehicle is on the wrong lane. Obtain the link that it would use from the correct turning lane
2652 : const int currentIndex = lane->getIndex();
2653 : const MSLane* bestJump = nullptr;
2654 194475 : for (const LaneQ& preb : getBestLanes()) {
2655 127906 : if (preb.allowsContinuation &&
2656 : (bestJump == nullptr
2657 3218 : || abs(currentIndex - preb.lane->getIndex()) < abs(currentIndex - bestJump->getIndex()))) {
2658 67588 : bestJump = preb.lane;
2659 : }
2660 : }
2661 66569 : if (bestJump != nullptr) {
2662 66569 : const MSEdge* nextEdge = *(myCurrEdge + 1);
2663 122911 : for (auto cand_it = bestJump->getLinkCont().begin(); cand_it != bestJump->getLinkCont().end(); cand_it++) {
2664 117532 : if (&(*cand_it)->getLane()->getEdge() == nextEdge) {
2665 : link = cand_it;
2666 : break;
2667 : }
2668 : }
2669 : }
2670 : }
2671 :
2672 : // Check whether this is a turn (to save info about the next upcoming turn)
2673 1190259556 : if (!encounteredTurn) {
2674 187145815 : if (!lane->isLinkEnd(link) && lane->getLinkCont().size() > 1) {
2675 18488905 : LinkDirection linkDir = (*link)->getDirection();
2676 18488905 : switch (linkDir) {
2677 : case LinkDirection::STRAIGHT:
2678 : case LinkDirection::NODIR:
2679 : break;
2680 6812154 : default:
2681 6812154 : nextTurn.first = seen;
2682 6812154 : nextTurn.second = *link;
2683 : encounteredTurn = true;
2684 : #ifdef DEBUG_NEXT_TURN
2685 : if (DEBUG_COND) {
2686 : std::cout << SIMTIME << " veh '" << getID() << "' nextTurn: " << toString(linkDir)
2687 : << " at " << nextTurn.first << "m." << std::endl;
2688 : }
2689 : #endif
2690 : }
2691 : }
2692 : }
2693 :
2694 : // check whether the vehicle is on its final edge
2695 2050565046 : if (myCurrEdge + view + 1 == myRoute->end()
2696 1190259556 : || (myParameter->arrivalEdge >= 0 && getRoutePosition() + view == myParameter->arrivalEdge)) {
2697 329954066 : const double arrivalSpeed = (myParameter->arrivalSpeedProcedure == ArrivalSpeedDefinition::GIVEN ?
2698 : myParameter->arrivalSpeed : laneMaxV);
2699 : // subtract the arrival speed from the remaining distance so we get one additional driving step with arrival speed
2700 : // XXX: This does not work for ballistic update refs #2579
2701 329954066 : const double distToArrival = seen + myArrivalPos - lane->getLength() - SPEED2DIST(arrivalSpeed);
2702 329954066 : const double va = MAX2(NUMERICAL_EPS, cfModel.freeSpeed(this, getSpeed(), distToArrival, arrivalSpeed));
2703 329954066 : v = MIN2(v, va);
2704 329954066 : if (lastLink != nullptr) {
2705 : lastLink->adaptLeaveSpeed(va);
2706 : }
2707 329954066 : lfLinks.push_back(DriveProcessItem(v, seen, lane->getEdge().isFringe() ? 1000 : 0));
2708 329954066 : break;
2709 : }
2710 : // check whether the lane or the shadowLane is a dead end (allow some leeway on intersections)
2711 : if (lane->isLinkEnd(link)
2712 848728361 : || (MSGlobals::gSublane && brakeForOverlap(*link, lane))
2713 1708693535 : || (opposite && (*link)->getViaLaneOrLane()->getParallelOpposite() == nullptr
2714 212443 : && !myLaneChangeModel->hasBlueLight())) {
2715 12168477 : double va = cfModel.stopSpeed(this, getSpeed(), seen);
2716 12168477 : if (lastLink != nullptr) {
2717 : lastLink->adaptLeaveSpeed(va);
2718 : }
2719 12168477 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
2720 358999 : v = MIN2(myLaneChangeModel->getCommittedSpeed(), v);
2721 : } else {
2722 23002598 : v = MIN2(va, v);
2723 : }
2724 : #ifdef DEBUG_PLAN_MOVE
2725 : if (DEBUG_COND) {
2726 : std::cout << " braking for link end lane=" << lane->getID() << " seen=" << seen
2727 : << " overlap=" << getLateralOverlap() << " va=" << va << " committed=" << myLaneChangeModel->getCommittedSpeed() << " v=" << v << "\n";
2728 :
2729 : }
2730 : #endif
2731 12168477 : if (lane->isLinkEnd(link)) {
2732 11577129 : lfLinks.emplace_back(v, seen);
2733 : break;
2734 : }
2735 : }
2736 848728361 : lateralShift += (*link)->getLateralShift();
2737 848728361 : const bool yellowOrRed = (*link)->haveRed() || (*link)->haveYellow();
2738 : // We distinguish 3 cases when determining the point at which a vehicle stops:
2739 : // - allway_stop: the vehicle should stop close to the stop line but may stop at larger distance
2740 : // - red/yellow light: here the vehicle 'knows' that it will have priority eventually and does not need to stop on a precise spot
2741 : // - other types of minor links: the vehicle needs to stop as close to the junction as necessary
2742 : // to minimize the time window for passing the junction. If the
2743 : // vehicle 'decides' to accelerate and cannot enter the junction in
2744 : // the next step, new foes may appear and cause a collision (see #1096)
2745 : // - major links: stopping point is irrelevant
2746 : double laneStopOffset;
2747 848728361 : const double majorStopOffset = MAX2(getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, DIST_TO_STOPLINE_EXPECT_PRIORITY), lane->getVehicleStopOffset(this));
2748 : // override low desired decel at yellow and red
2749 848728361 : const double stopDecel = yellowOrRed && !isRail() ? MAX2(MIN2(MSGlobals::gTLSYellowMinDecel, cfModel.getEmergencyDecel()), cfModel.getMaxDecel()) : cfModel.getMaxDecel();
2750 848728361 : const double brakeDist = cfModel.brakeGap(myState.mySpeed, stopDecel, 0);
2751 848728361 : const bool canBrakeBeforeLaneEnd = seen >= brakeDist;
2752 848728361 : const bool canBrakeBeforeStopLine = seen - lane->getVehicleStopOffset(this) >= brakeDist;
2753 848728361 : if (yellowOrRed) {
2754 : // Wait at red traffic light with full distance if possible
2755 : laneStopOffset = majorStopOffset;
2756 787711029 : } else if ((*link)->havePriority()) {
2757 : // On priority link, we should never stop below visibility distance
2758 745909188 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, majorStopOffset);
2759 : } else {
2760 41801841 : double minorStopOffset = MAX2(lane->getVehicleStopOffset(this),
2761 41801841 : getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP) - (*link)->getDistToFoePedCrossing());
2762 : #ifdef DEBUG_PLAN_MOVE
2763 : if (DEBUG_COND) {
2764 : std::cout << " minorStopOffset=" << minorStopOffset << " distToFoePedCrossing=" << (*link)->getDistToFoePedCrossing() << "\n";
2765 : }
2766 : #endif
2767 41801841 : if ((*link)->getState() == LINKSTATE_ALLWAY_STOP) {
2768 1425260 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, 0));
2769 : } else {
2770 40376581 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP_MINOR, 0));
2771 : }
2772 : // On minor link, we should likewise never stop below visibility distance
2773 41801841 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, minorStopOffset);
2774 : }
2775 : #ifdef DEBUG_PLAN_MOVE
2776 : if (DEBUG_COND) {
2777 : std::cout << SIMTIME << " veh=" << getID() << " desired stopOffset on lane '" << lane->getID() << "' is " << laneStopOffset << "\n";
2778 : }
2779 : #endif
2780 848728361 : if (canBrakeBeforeLaneEnd) {
2781 : // avoid emergency braking if possible
2782 821446913 : laneStopOffset = MIN2(laneStopOffset, seen - brakeDist);
2783 : }
2784 : laneStopOffset = MAX2(POSITION_EPS, laneStopOffset);
2785 848728361 : double stopDist = MAX2(0., seen - laneStopOffset);
2786 61017332 : if (yellowOrRed && getDevice(typeid(MSDevice_GLOSA)) != nullptr
2787 508 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->getOverrideSafety()
2788 848728361 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->isSpeedAdviceActive()) {
2789 : stopDist = std::numeric_limits<double>::max();
2790 : }
2791 848728361 : if (newStopDist != std::numeric_limits<double>::max()) {
2792 : stopDist = MAX2(stopDist, newStopDist);
2793 : }
2794 : #ifdef DEBUG_PLAN_MOVE
2795 : if (DEBUG_COND) {
2796 : std::cout << SIMTIME << " veh=" << getID() << " effective stopOffset on lane '" << lane->getID()
2797 : << "' is " << laneStopOffset << " (-> stopDist=" << stopDist << ")" << std::endl;
2798 : }
2799 : #endif
2800 848728361 : if (isRail()
2801 848728361 : && !lane->isInternal()) {
2802 : // check for train direction reversal
2803 3061450 : if (lane->getBidiLane() != nullptr
2804 3061450 : && (*link)->getLane()->getBidiLane() == lane) {
2805 631503 : double vMustReverse = getCarFollowModel().stopSpeed(this, getSpeed(), seen - POSITION_EPS);
2806 631503 : if (seen < 1) {
2807 2277 : mustSeeBeforeReversal = 2 * seen + getLength();
2808 : }
2809 1221928 : v = MIN2(v, vMustReverse);
2810 : }
2811 : // signal that is passed in the current step does not count
2812 6122900 : foundRailSignal |= ((*link)->getTLLogic() != nullptr
2813 693273 : && (*link)->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL
2814 3654220 : && seen > SPEED2DIST(v));
2815 : }
2816 :
2817 848728361 : bool canReverseEventually = false;
2818 848728361 : const double vReverse = checkReversal(canReverseEventually, laneMaxV, seen);
2819 848728361 : v = MIN2(v, vReverse);
2820 : #ifdef DEBUG_PLAN_MOVE
2821 : if (DEBUG_COND) {
2822 : std::cout << SIMTIME << " veh=" << getID() << " canReverseEventually=" << canReverseEventually << " v=" << v << "\n";
2823 : }
2824 : #endif
2825 :
2826 : // check whether we need to slow down in order to finish a continuous lane change
2827 848728361 : if (myLaneChangeModel->isChangingLanes()) {
2828 : if ( // slow down to finish lane change before a turn lane
2829 161227 : ((*link)->getDirection() == LinkDirection::LEFT || (*link)->getDirection() == LinkDirection::RIGHT) ||
2830 : // slow down to finish lane change before the shadow lane ends
2831 137738 : (myLaneChangeModel->getShadowLane() != nullptr &&
2832 137738 : (*link)->getViaLaneOrLane()->getParallelLane(myLaneChangeModel->getShadowDirection()) == nullptr)) {
2833 : // XXX maybe this is too harsh. Vehicles could cut some corners here
2834 46945 : const double timeRemaining = STEPS2TIME(myLaneChangeModel->remainingTime());
2835 : assert(timeRemaining != 0);
2836 : // XXX: Euler-logic (#860), but I couldn't identify problems from this yet (Leo). Refs. #2575
2837 46945 : const double va = MAX2(cfModel.stopSpeed(this, getSpeed(), seen - POSITION_EPS),
2838 46945 : (seen - POSITION_EPS) / timeRemaining);
2839 : #ifdef DEBUG_PLAN_MOVE
2840 : if (DEBUG_COND) {
2841 : std::cout << SIMTIME << " veh=" << getID() << " slowing down to finish continuous change before"
2842 : << " link=" << (*link)->getViaLaneOrLane()->getID()
2843 : << " timeRemaining=" << timeRemaining
2844 : << " v=" << v
2845 : << " va=" << va
2846 : << std::endl;
2847 : }
2848 : #endif
2849 93689 : v = MIN2(va, v);
2850 : }
2851 : }
2852 :
2853 : // - always issue a request to leave the intersection we are currently on
2854 848728361 : const bool leavingCurrentIntersection = myLane->getEdge().isInternal() && lastLink == nullptr;
2855 : // - do not issue a request to enter an intersection after we already slowed down for an earlier one
2856 848728361 : const bool abortRequestAfterMinor = slowedDownForMinor && (*link)->getInternalLaneBefore() == nullptr;
2857 : // - even if red, if we cannot break we should issue a request
2858 848728361 : bool setRequest = (v > NUMERICAL_EPS_SPEED && !abortRequestAfterMinor) || (leavingCurrentIntersection);
2859 :
2860 848728361 : double stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist, stopDecel, MSCFModel::CalcReason::CURRENT_WAIT);
2861 848728361 : double vLinkWait = MIN2(v, stopSpeed);
2862 : #ifdef DEBUG_PLAN_MOVE
2863 : if (DEBUG_COND) {
2864 : std::cout
2865 : << " stopDist=" << stopDist
2866 : << " stopDecel=" << stopDecel
2867 : << " vLinkWait=" << vLinkWait
2868 : << " brakeDist=" << brakeDist
2869 : << " seen=" << seen
2870 : << " leaveIntersection=" << leavingCurrentIntersection
2871 : << " setRequest=" << setRequest
2872 : //<< std::setprecision(16)
2873 : //<< " v=" << v
2874 : //<< " speedEps=" << NUMERICAL_EPS_SPEED
2875 : //<< std::setprecision(gPrecision)
2876 : << "\n";
2877 : }
2878 : #endif
2879 :
2880 848728361 : if (yellowOrRed && canBrakeBeforeStopLine && !ignoreRed(*link, canBrakeBeforeStopLine) && seen >= mustSeeBeforeReversal) {
2881 60955349 : if (lane->isInternal()) {
2882 42351 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2883 : }
2884 : // arrivalSpeed / arrivalTime when braking for red light is only relevent for rail signal switching
2885 60955349 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, vLinkPass);
2886 : // the vehicle is able to brake in front of a yellow/red traffic light
2887 60955349 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, false, arrivalTime, vLinkWait, 0, seen, -1));
2888 : //lfLinks.push_back(DriveProcessItem(0, vLinkWait, vLinkWait, false, 0, 0, stopDist));
2889 60955349 : break;
2890 : }
2891 :
2892 787773012 : const MSLink* entryLink = (*link)->getCorrespondingEntryLink();
2893 787773012 : if (entryLink->haveRed() && ignoreRed(*link, canBrakeBeforeStopLine) && STEPS2TIME(t - entryLink->getLastStateChange()) > 2) {
2894 : // restrict speed when ignoring a red light
2895 118486 : const double redSpeed = MIN2(v, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_RED_SPEED, v));
2896 118486 : const double va = MAX2(redSpeed, cfModel.freeSpeed(this, getSpeed(), seen, redSpeed));
2897 236524 : v = MIN2(va, v);
2898 : #ifdef DEBUG_PLAN_MOVE
2899 : if (DEBUG_COND) std::cout
2900 : << " ignoreRed spent=" << STEPS2TIME(t - (*link)->getLastStateChange())
2901 : << " redSpeed=" << redSpeed
2902 : << " va=" << va
2903 : << " v=" << v
2904 : << "\n";
2905 : #endif
2906 : }
2907 :
2908 787773012 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2909 :
2910 787773012 : if (lastLink != nullptr) {
2911 : lastLink->adaptLeaveSpeed(laneMaxV);
2912 : }
2913 787773012 : double arrivalSpeed = vLinkPass;
2914 : // vehicles should decelerate when approaching a minor link
2915 : // - unless they are close enough to have clear visibility of all relevant foe lanes and may start to accelerate again
2916 : // - and unless they are so close that stopping is impossible (i.e. when a green light turns to yellow when close to the junction)
2917 :
2918 : // whether the vehicle/driver is close enough to the link to see all possible foes #2123
2919 787773012 : const double visibilityDistance = (*link)->getFoeVisibilityDistance();
2920 787773012 : const double determinedFoePresence = seen <= visibilityDistance;
2921 : // // VARIANT: account for time needed to recognize whether relevant vehicles are on the foe lanes. (Leo)
2922 : // double foeRecognitionTime = 0.0;
2923 : // double determinedFoePresence = seen < visibilityDistance - myState.mySpeed*foeRecognitionTime;
2924 :
2925 : #ifdef DEBUG_PLAN_MOVE
2926 : if (DEBUG_COND) {
2927 : std::cout << " approaching link=" << (*link)->getViaLaneOrLane()->getID() << " prio=" << (*link)->havePriority() << " seen=" << seen << " visibilityDistance=" << visibilityDistance << " brakeDist=" << brakeDist << "\n";
2928 : }
2929 : #endif
2930 :
2931 787773012 : const bool couldBrakeForMinor = !(*link)->havePriority() && brakeDist < seen && !(*link)->lastWasContMajor();
2932 41308171 : if (couldBrakeForMinor && !determinedFoePresence) {
2933 : // vehicle decelerates just enough to be able to stop if necessary and then accelerates
2934 38607470 : double maxSpeedAtVisibilityDist = cfModel.maximumSafeStopSpeed(visibilityDistance, cfModel.getMaxDecel(), myState.mySpeed, false, 0., false);
2935 : // XXX: estimateSpeedAfterDistance does not use euler-logic (thus returns a lower value than possible here...)
2936 38607470 : double maxArrivalSpeed = cfModel.estimateSpeedAfterDistance(visibilityDistance, maxSpeedAtVisibilityDist, cfModel.getMaxAccel());
2937 38607470 : arrivalSpeed = MIN2(vLinkPass, maxArrivalSpeed);
2938 : slowedDownForMinor = true;
2939 : #ifdef DEBUG_PLAN_MOVE
2940 : if (DEBUG_COND) {
2941 : std::cout << " slowedDownForMinor maxSpeedAtVisDist=" << maxSpeedAtVisibilityDist << " maxArrivalSpeed=" << maxArrivalSpeed << " arrivalSpeed=" << arrivalSpeed << "\n";
2942 : }
2943 : #endif
2944 749165542 : } else if ((*link)->getState() == LINKSTATE_EQUAL && myWaitingTime > 0) {
2945 : // check for deadlock (circular yielding)
2946 : //std::cout << SIMTIME << " veh=" << getID() << " check rbl-deadlock\n";
2947 2845 : std::pair<const SUMOVehicle*, const MSLink*> blocker = (*link)->getFirstApproachingFoe(*link);
2948 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2949 : int n = 100;
2950 5647 : while (blocker.second != nullptr && blocker.second != *link && n > 0) {
2951 2802 : blocker = blocker.second->getFirstApproachingFoe(*link);
2952 2802 : n--;
2953 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2954 : }
2955 2845 : if (n == 0) {
2956 0 : WRITE_WARNINGF(TL("Suspicious right_before_left junction '%'."), lane->getEdge().getToJunction()->getID());
2957 : }
2958 : //std::cout << " blockerLink=" << blocker.second << " link=" << *link << "\n";
2959 2845 : if (blocker.second == *link) {
2960 489 : const double threshold = (*link)->getDirection() == LinkDirection::STRAIGHT ? 0.25 : 0.75;
2961 489 : if (RandHelper::rand(getRNG()) < threshold) {
2962 : //std::cout << " abort request, threshold=" << threshold << "\n";
2963 308 : setRequest = false;
2964 : }
2965 : }
2966 : }
2967 :
2968 787773012 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, arrivalSpeed);
2969 787773012 : if (couldBrakeForMinor && determinedFoePresence && (*link)->getLane()->getEdge().isRoundabout()) {
2970 880232 : const bool wasOpened = (*link)->opened(arrivalTime, arrivalSpeed, arrivalSpeed,
2971 880232 : getLength(), getImpatience(),
2972 : getCarFollowModel().getMaxDecel(),
2973 880232 : getWaitingTime(), getLateralPositionOnLane(),
2974 : nullptr, false, this);
2975 880232 : if (!wasOpened) {
2976 : slowedDownForMinor = true;
2977 : }
2978 : #ifdef DEBUG_PLAN_MOVE
2979 : if (DEBUG_COND) {
2980 : std::cout << " slowedDownForMinor at roundabout=" << (!wasOpened) << "\n";
2981 : }
2982 : #endif
2983 : }
2984 :
2985 : // compute arrival speed and arrival time if vehicle starts braking now
2986 : // if stopping is possible, arrivalTime can be arbitrarily large. A small value keeps fractional times (impatience) meaningful
2987 : double arrivalSpeedBraking = 0;
2988 787773012 : const double bGap = cfModel.brakeGap(v);
2989 787773012 : if (seen < bGap && !isStopped() && !planningToStop) { // XXX: should this use the current speed (at least for the ballistic case)? (Leo) Refs. #2575
2990 : // vehicle cannot come to a complete stop in time
2991 56335445 : if (MSGlobals::gSemiImplicitEulerUpdate) {
2992 53661212 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeedEuler(seen, v);
2993 : // due to discrete/continuous mismatch (when using Euler update) we have to ensure that braking actually helps
2994 : arrivalSpeedBraking = MIN2(arrivalSpeedBraking, arrivalSpeed);
2995 : } else {
2996 2674233 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeed(seen, myState.mySpeed);
2997 : }
2998 : }
2999 :
3000 : // estimate leave speed for passing time computation
3001 : // l=linkLength, a=accel, t=continuousTime, v=vLeave
3002 : // l=v*t + 0.5*a*t^2, solve for t and multiply with a, then add v
3003 1167741273 : const double estimatedLeaveSpeed = MIN2((*link)->getViaLaneOrLane()->getVehicleMaxSpeed(this, maxVD),
3004 787773012 : getCarFollowModel().estimateSpeedAfterDistance((*link)->getLength(), arrivalSpeed, getVehicleType().getCarFollowModel().getMaxAccel()));
3005 787773012 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, setRequest,
3006 : arrivalTime, arrivalSpeed,
3007 : arrivalSpeedBraking,
3008 : seen, estimatedLeaveSpeed));
3009 787773012 : if ((*link)->getViaLane() == nullptr) {
3010 : hadNonInternal = true;
3011 : ++view;
3012 : }
3013 : #ifdef DEBUG_PLAN_MOVE
3014 : if (DEBUG_COND) {
3015 : std::cout << " checkAbort setRequest=" << setRequest << " v=" << v << " seen=" << seen << " dist=" << dist
3016 : << " seenNonInternal=" << seenNonInternal
3017 : << " seenInternal=" << seenInternal << " length=" << vehicleLength << "\n";
3018 : }
3019 : #endif
3020 : // we need to look ahead far enough to see available space for checkRewindLinkLanes
3021 813888242 : if ((!setRequest || v <= 0 || seen > dist) && hadNonInternal && seenNonInternal > MAX2(vehicleLength * CRLL_LOOK_AHEAD, vehicleLength + seenInternal) && foundRailSignal) {
3022 : break;
3023 : }
3024 : // get the following lane
3025 : lane = (*link)->getViaLaneOrLane();
3026 570952339 : laneMaxV = lane->getVehicleMaxSpeed(this, maxVD);
3027 571349580 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
3028 : laneMaxV = std::numeric_limits<double>::max();
3029 : }
3030 : // the link was passed
3031 : // compute the velocity to use when the link is not blocked by other vehicles
3032 : // the vehicle shall be not faster when reaching the next lane than allowed
3033 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
3034 570952339 : const double va = MAX2(cfModel.freeSpeed(this, getSpeed(), seen, laneMaxV), vMinComfortable - NUMERICAL_EPS);
3035 1132241553 : v = MIN2(va, v);
3036 : #ifdef DEBUG_PLAN_MOVE
3037 : if (DEBUG_COND) {
3038 : std::cout << " laneMaxV=" << laneMaxV << " freeSpeed=" << va << " v=" << v << "\n";
3039 : }
3040 : #endif
3041 570952339 : if (lane->getEdge().isInternal()) {
3042 248078588 : seenInternal += lane->getLength();
3043 : } else {
3044 322873751 : seenNonInternal += lane->getLength();
3045 : }
3046 : // do not restrict results to the current vehicle to allow caching for the current time step
3047 570952339 : leaderLane = opposite ? lane->getParallelOpposite() : lane;
3048 570952339 : if (leaderLane == nullptr) {
3049 :
3050 : break;
3051 : }
3052 1141483638 : ahead = opposite ? MSLeaderInfo(leaderLane->getWidth()) : leaderLane->getLastVehicleInformation(nullptr, 0);
3053 570741819 : seen += lane->getLength();
3054 1141483638 : vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(lane->getLength(), v, cfModel.getMaxAccel()), laneMaxV); // upper bound
3055 : lastLink = &lfLinks.back();
3056 570741819 : }
3057 :
3058 : //#ifdef DEBUG_PLAN_MOVE
3059 : // if(DEBUG_COND){
3060 : // std::cout << "planMoveInternal found safe speed v = " << v << std::endl;
3061 : // }
3062 : //#endif
3063 :
3064 : #ifdef PARALLEL_STOPWATCH
3065 : myLane->getStopWatch()[0].stop();
3066 : #endif
3067 629460017 : }
3068 :
3069 :
3070 : double
3071 2786 : MSVehicle::slowDownForSchedule(double vMinComfortable) const {
3072 2786 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
3073 : const MSStop& stop = myStops.front();
3074 2786 : std::pair<double, double> timeDist = estimateTimeToNextStop();
3075 2786 : double arrivalDelay = SIMTIME + timeDist.first - STEPS2TIME(stop.pars.arrival);
3076 2786 : double t = STEPS2TIME(stop.pars.arrival - SIMSTEP);
3077 5572 : if (stop.pars.hasParameter(toString(SUMO_ATTR_FLEX_ARRIVAL))) {
3078 150 : SUMOTime flexStart = string2time(stop.pars.getParameter(toString(SUMO_ATTR_FLEX_ARRIVAL)));
3079 75 : arrivalDelay += STEPS2TIME(stop.pars.arrival - flexStart);
3080 75 : t = STEPS2TIME(flexStart - SIMSTEP);
3081 2711 : } else if (stop.pars.started >= 0 && MSGlobals::gUseStopStarted) {
3082 200 : arrivalDelay += STEPS2TIME(stop.pars.arrival - stop.pars.started);
3083 200 : t = STEPS2TIME(stop.pars.started - SIMSTEP);
3084 : }
3085 2786 : if (arrivalDelay < 0 && sfp < getChosenSpeedFactor()) {
3086 : // we can slow down to better match the schedule (and increase energy efficiency)
3087 2721 : const double vSlowDownMin = MAX2(myLane->getSpeedLimit() * sfp, vMinComfortable);
3088 2721 : const double s = timeDist.second;
3089 : const double b = getCarFollowModel().getMaxDecel();
3090 : // x = speed for arriving in t seconds
3091 : // u = time at full speed
3092 : // u * x + (t - u) * 0.5 * x = s
3093 : // t - u = x / b
3094 : // eliminate u, solve x
3095 2721 : const double radicand = 4 * t * t * b * b - 8 * s * b;
3096 2721 : const double x = radicand >= 0 ? t * b - sqrt(radicand) * 0.5 : vSlowDownMin;
3097 2721 : double vSlowDown = x < vSlowDownMin ? vSlowDownMin : x;
3098 : #ifdef DEBUG_PLAN_MOVE
3099 : if (DEBUG_COND) {
3100 : std::cout << SIMTIME << " veh=" << getID() << " ad=" << arrivalDelay << " t=" << t << " vsm=" << vSlowDownMin
3101 : << " r=" << radicand << " vs=" << vSlowDown << "\n";
3102 : }
3103 : #endif
3104 2721 : return vSlowDown;
3105 65 : } else if (arrivalDelay > 0 && sfp > getChosenSpeedFactor()) {
3106 : // in principle we could up to catch up with the schedule
3107 : // but at this point we can only lower the speed, the
3108 : // information would have to be used when computing getVehicleMaxSpeed
3109 : }
3110 65 : return getMaxSpeed();
3111 : }
3112 :
3113 : SUMOTime
3114 848728361 : MSVehicle::getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const {
3115 : const MSCFModel& cfModel = getCarFollowModel();
3116 : SUMOTime arrivalTime;
3117 848728361 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3118 : // @note intuitively it would make sense to compare arrivalSpeed with getSpeed() instead of v
3119 : // however, due to the current position update rule (ticket #860) the vehicle moves with v in this step
3120 : // subtract DELTA_T because t is the time at the end of this step and the movement is not carried out yet
3121 792314676 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, v, arrivalSpeed);
3122 : } else {
3123 56413685 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, myState.mySpeed, arrivalSpeed);
3124 : }
3125 848728361 : if (isStopped()) {
3126 2374323 : arrivalTime += MAX2((SUMOTime)0, myStops.front().duration);
3127 : }
3128 848728361 : return arrivalTime;
3129 : }
3130 :
3131 :
3132 : void
3133 1205178234 : MSVehicle::adaptToLeaders(const MSLeaderInfo& ahead, double latOffset,
3134 : const double seen, DriveProcessItem* const lastLink,
3135 : const MSLane* const lane, double& v, double& vLinkPass) const {
3136 : int rightmost;
3137 : int leftmost;
3138 1205178234 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3139 : #ifdef DEBUG_PLAN_MOVE
3140 : if (DEBUG_COND) std::cout << SIMTIME
3141 : << "\nADAPT_TO_LEADERS\nveh=" << getID()
3142 : << " lane=" << lane->getID()
3143 : << " latOffset=" << latOffset
3144 : << " rm=" << rightmost
3145 : << " lm=" << leftmost
3146 : << " shift=" << ahead.getSublaneOffset()
3147 : << " ahead=" << ahead.toString()
3148 : << "\n";
3149 : #endif
3150 : /*
3151 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
3152 : v = MIN2(v, myLaneChangeModel->getCommittedSpeed());
3153 : vLinkPass = MIN2(vLinkPass, myLaneChangeModel->getCommittedSpeed());
3154 : #ifdef DEBUG_PLAN_MOVE
3155 : if (DEBUG_COND) std::cout << " hasCommitted=" << myLaneChangeModel->getCommittedSpeed() << "\n";
3156 : #endif
3157 : return;
3158 : }
3159 : */
3160 2948688925 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3161 1743510691 : const MSVehicle* pred = ahead[sublane];
3162 1743510691 : if (pred != nullptr && pred != this) {
3163 : // @todo avoid multiple adaptations to the same leader
3164 1284794201 : const double predBack = pred->getBackPositionOnLane(lane);
3165 : double gap = (lastLink == nullptr
3166 1839507942 : ? predBack - myState.myPos - getVehicleType().getMinGap()
3167 554713741 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3168 : bool oncoming = false;
3169 1284794201 : if (myLaneChangeModel->isOpposite()) {
3170 26897 : if (pred->getLaneChangeModel().isOpposite() || lane == pred->getLaneChangeModel().getShadowLane()) {
3171 : // ego might and leader are driving against lane
3172 : gap = (lastLink == nullptr
3173 0 : ? myState.myPos - predBack - getVehicleType().getMinGap()
3174 0 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3175 : } else {
3176 : // ego and leader are driving in the same direction as lane (shadowlane for ego)
3177 : gap = (lastLink == nullptr
3178 27598 : ? predBack - (myLane->getLength() - myState.myPos) - getVehicleType().getMinGap()
3179 701 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3180 : }
3181 1284767304 : } else if (pred->getLaneChangeModel().isOpposite() && pred->getLaneChangeModel().getShadowLane() != lane) {
3182 : // must react to stopped / dangerous oncoming vehicles
3183 188251 : gap += -pred->getVehicleType().getLength() + getVehicleType().getMinGap() - MAX2(getVehicleType().getMinGap(), pred->getVehicleType().getMinGap());
3184 : // try to avoid collision in the next second
3185 188251 : const double predMaxDist = pred->getSpeed() + pred->getCarFollowModel().getMaxAccel();
3186 : #ifdef DEBUG_PLAN_MOVE
3187 : if (DEBUG_COND) {
3188 : std::cout << " fixedGap=" << gap << " predMaxDist=" << predMaxDist << "\n";
3189 : }
3190 : #endif
3191 188251 : if (gap < predMaxDist + getSpeed() || pred->getLane() == lane->getBidiLane()) {
3192 20601 : gap -= predMaxDist;
3193 : }
3194 1284579053 : } else if (pred->getLane() == lane->getBidiLane()) {
3195 46867 : gap -= pred->getVehicleType().getLengthWithGap();
3196 : oncoming = true;
3197 : }
3198 : #ifdef DEBUG_PLAN_MOVE
3199 : if (DEBUG_COND) {
3200 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << gap << " predBack=" << predBack << " seen=" << seen << " lane=" << lane->getID() << " myLane=" << myLane->getID() << " lastLink=" << (lastLink == nullptr ? "NULL" : lastLink->myLink->getDescription()) << " oncoming=" << oncoming << "\n";
3201 : }
3202 : #endif
3203 46867 : if (oncoming && gap >= 0) {
3204 46856 : adaptToOncomingLeader(std::make_pair(pred, gap), lastLink, v, vLinkPass);
3205 : } else {
3206 1284747345 : adaptToLeader(std::make_pair(pred, gap), seen, lastLink, v, vLinkPass);
3207 : }
3208 : }
3209 : }
3210 1205178234 : }
3211 :
3212 : void
3213 426650 : MSVehicle::adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
3214 : double seen,
3215 : DriveProcessItem* const lastLink,
3216 : double& v, double& vLinkPass) const {
3217 : int rightmost;
3218 : int leftmost;
3219 426650 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3220 : #ifdef DEBUG_PLAN_MOVE
3221 : if (DEBUG_COND) std::cout << SIMTIME
3222 : << "\nADAPT_TO_LEADERS_DISTANCE\nveh=" << getID()
3223 : << " latOffset=" << latOffset
3224 : << " rm=" << rightmost
3225 : << " lm=" << leftmost
3226 : << " ahead=" << ahead.toString()
3227 : << "\n";
3228 : #endif
3229 1045906 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3230 619256 : CLeaderDist predDist = ahead[sublane];
3231 619256 : const MSVehicle* pred = predDist.first;
3232 619256 : if (pred != nullptr && pred != this) {
3233 : #ifdef DEBUG_PLAN_MOVE
3234 : if (DEBUG_COND) {
3235 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << predDist.second << "\n";
3236 : }
3237 : #endif
3238 392929 : adaptToLeader(predDist, seen, lastLink, v, vLinkPass);
3239 : }
3240 : }
3241 426650 : }
3242 :
3243 :
3244 : void
3245 1285140274 : MSVehicle::adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3246 : double seen,
3247 : DriveProcessItem* const lastLink,
3248 : double& v, double& vLinkPass) const {
3249 1285140274 : if (leaderInfo.first != 0) {
3250 1285140274 : if (ignoreFoe(leaderInfo.first)) {
3251 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3252 : if (DEBUG_COND) {
3253 : std::cout << " foe ignored\n";
3254 : }
3255 : #endif
3256 : return;
3257 : }
3258 : const MSCFModel& cfModel = getCarFollowModel();
3259 : double vsafeLeader = 0;
3260 1285139454 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3261 : vsafeLeader = -std::numeric_limits<double>::max();
3262 : }
3263 : bool backOnRoute = true;
3264 1285139454 : if (leaderInfo.second < 0 && lastLink != nullptr && lastLink->myLink != nullptr) {
3265 : backOnRoute = false;
3266 : // this can either be
3267 : // a) a merging situation (leader back is is not our route) or
3268 : // b) a minGap violation / collision
3269 : MSLane* current = lastLink->myLink->getViaLaneOrLane();
3270 303048 : if (leaderInfo.first->getBackLane() == current) {
3271 : backOnRoute = true;
3272 : } else {
3273 674353 : for (MSLane* lane : getBestLanesContinuation()) {
3274 597725 : if (lane == current) {
3275 : break;
3276 : }
3277 445036 : if (leaderInfo.first->getBackLane() == lane) {
3278 : backOnRoute = true;
3279 : }
3280 : }
3281 : }
3282 : #ifdef DEBUG_PLAN_MOVE
3283 : if (DEBUG_COND) {
3284 : std::cout << SIMTIME << " current=" << current->getID() << " leaderBackLane=" << leaderInfo.first->getBackLane()->getID() << " backOnRoute=" << backOnRoute << "\n";
3285 : }
3286 : #endif
3287 229317 : if (!backOnRoute) {
3288 119982 : double stopDist = seen - current->getLength() - POSITION_EPS;
3289 119982 : if (lastLink->myLink->getInternalLaneBefore() != nullptr) {
3290 : // do not drive onto the junction conflict area
3291 101924 : stopDist -= lastLink->myLink->getInternalLaneBefore()->getLength();
3292 : }
3293 119982 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), stopDist);
3294 : }
3295 : }
3296 193713 : if (backOnRoute) {
3297 1285019472 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3298 : }
3299 1285139454 : if (lastLink != nullptr) {
3300 554706455 : const double futureVSafe = cfModel.followSpeed(this, lastLink->accelV, leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first, MSCFModel::CalcReason::FUTURE);
3301 : lastLink->adaptLeaveSpeed(futureVSafe);
3302 : #ifdef DEBUG_PLAN_MOVE
3303 : if (DEBUG_COND) {
3304 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3305 : }
3306 : #endif
3307 : }
3308 1285139454 : v = MIN2(v, vsafeLeader);
3309 2211567742 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3310 : #ifdef DEBUG_PLAN_MOVE
3311 : if (DEBUG_COND) std::cout
3312 : << SIMTIME
3313 : //std::cout << std::setprecision(10);
3314 : << " veh=" << getID()
3315 : << " lead=" << leaderInfo.first->getID()
3316 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3317 : << " gap=" << leaderInfo.second
3318 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3319 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3320 : << " myLane=" << myLane->getID()
3321 : << " v=" << v
3322 : << " vSafeLeader=" << vsafeLeader
3323 : << " vLinkPass=" << vLinkPass
3324 : << "\n";
3325 : #endif
3326 : }
3327 : }
3328 :
3329 :
3330 : void
3331 18285229 : MSVehicle::adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3332 : const double seen, DriveProcessItem* const lastLink,
3333 : const MSLane* const lane, double& v, double& vLinkPass,
3334 : double distToCrossing) const {
3335 18285229 : if (leaderInfo.first != 0) {
3336 18285229 : if (ignoreFoe(leaderInfo.first)) {
3337 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3338 : if (DEBUG_COND) {
3339 : std::cout << " junction foe ignored\n";
3340 : }
3341 : #endif
3342 : return;
3343 : }
3344 : const MSCFModel& cfModel = getCarFollowModel();
3345 : double vsafeLeader = 0;
3346 18285193 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3347 : vsafeLeader = -std::numeric_limits<double>::max();
3348 : }
3349 18285193 : if (leaderInfo.second >= 0) {
3350 15136192 : if (hasDeparted()) {
3351 15131666 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3352 : } else {
3353 : // called in the context of MSLane::isInsertionSuccess
3354 4526 : vsafeLeader = cfModel.insertionFollowSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3355 : }
3356 3149001 : } else if (leaderInfo.first != this) {
3357 : // the leading, in-lapping vehicle is occupying the complete next lane
3358 : // stop before entering this lane
3359 2726902 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), seen - lane->getLength() - POSITION_EPS);
3360 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3361 : if (DEBUG_COND) {
3362 : std::cout << SIMTIME << " veh=" << getID() << " stopping before junction: lane=" << lane->getID() << " seen=" << seen
3363 : << " laneLength=" << lane->getLength()
3364 : << " stopDist=" << seen - lane->getLength() - POSITION_EPS
3365 : << " vsafeLeader=" << vsafeLeader
3366 : << " distToCrossing=" << distToCrossing
3367 : << "\n";
3368 : }
3369 : #endif
3370 : }
3371 18285193 : if (distToCrossing >= 0) {
3372 : // can the leader still stop in the way?
3373 5555964 : const double vStop = cfModel.stopSpeed(this, getSpeed(), distToCrossing - getVehicleType().getMinGap());
3374 5555964 : if (leaderInfo.first == this) {
3375 : // braking for pedestrian
3376 410780 : const double vStopCrossing = cfModel.stopSpeed(this, getSpeed(), distToCrossing);
3377 : vsafeLeader = vStopCrossing;
3378 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3379 : if (DEBUG_COND) {
3380 : std::cout << " breaking for pedestrian distToCrossing=" << distToCrossing << " vStopCrossing=" << vStopCrossing << "\n";
3381 : }
3382 : #endif
3383 410780 : if (lastLink != nullptr) {
3384 : lastLink->adaptStopSpeed(vsafeLeader);
3385 : }
3386 5145184 : } else if (leaderInfo.second == -std::numeric_limits<double>::max()) {
3387 : // drive up to the crossing point and stop
3388 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3389 : if (DEBUG_COND) {
3390 : std::cout << " stop at crossing point for critical leader vStop=" << vStop << "\n";
3391 : };
3392 : #endif
3393 : vsafeLeader = MAX2(vsafeLeader, vStop);
3394 : } else {
3395 5086270 : const double leaderDistToCrossing = distToCrossing - leaderInfo.second;
3396 : // estimate the time at which the leader has gone past the crossing point
3397 5086270 : const double leaderPastCPTime = leaderDistToCrossing / MAX2(leaderInfo.first->getSpeed(), SUMO_const_haltingSpeed);
3398 : // reach distToCrossing after that time
3399 : // avgSpeed * leaderPastCPTime = distToCrossing
3400 : // ballistic: avgSpeed = (getSpeed + vFinal) / 2
3401 5086270 : const double vFinal = MAX2(getSpeed(), 2 * (distToCrossing - getVehicleType().getMinGap()) / leaderPastCPTime - getSpeed());
3402 5086270 : const double v2 = getSpeed() + ACCEL2SPEED((vFinal - getSpeed()) / leaderPastCPTime);
3403 : vsafeLeader = MAX2(vsafeLeader, MIN2(v2, vStop));
3404 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3405 : if (DEBUG_COND) {
3406 : std::cout << " driving up to the crossing point (distToCrossing=" << distToCrossing << ")"
3407 : << " leaderPastCPTime=" << leaderPastCPTime
3408 : << " vFinal=" << vFinal
3409 : << " v2=" << v2
3410 : << " vStop=" << vStop
3411 : << " vsafeLeader=" << vsafeLeader << "\n";
3412 : }
3413 : #endif
3414 : }
3415 : }
3416 17874413 : if (lastLink != nullptr) {
3417 : lastLink->adaptLeaveSpeed(vsafeLeader);
3418 : }
3419 18285193 : v = MIN2(v, vsafeLeader);
3420 34105812 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3421 : #ifdef DEBUG_PLAN_MOVE
3422 : if (DEBUG_COND) std::cout
3423 : << SIMTIME
3424 : //std::cout << std::setprecision(10);
3425 : << " veh=" << getID()
3426 : << " lead=" << leaderInfo.first->getID()
3427 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3428 : << " gap=" << leaderInfo.second
3429 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3430 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3431 : << " seen=" << seen
3432 : << " lane=" << lane->getID()
3433 : << " myLane=" << myLane->getID()
3434 : << " dTC=" << distToCrossing
3435 : << " v=" << v
3436 : << " vSafeLeader=" << vsafeLeader
3437 : << " vLinkPass=" << vLinkPass
3438 : << "\n";
3439 : #endif
3440 : }
3441 : }
3442 :
3443 :
3444 : void
3445 46856 : MSVehicle::adaptToOncomingLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3446 : DriveProcessItem* const lastLink,
3447 : double& v, double& vLinkPass) const {
3448 46856 : if (leaderInfo.first != 0) {
3449 46856 : if (ignoreFoe(leaderInfo.first)) {
3450 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3451 : if (DEBUG_COND) {
3452 : std::cout << " oncoming foe ignored\n";
3453 : }
3454 : #endif
3455 : return;
3456 : }
3457 : const MSCFModel& cfModel = getCarFollowModel();
3458 : const MSVehicle* lead = leaderInfo.first;
3459 : const MSCFModel& cfModelL = lead->getCarFollowModel();
3460 : // assume the leader reacts symmetrically (neither stopping instantly nor ignoring ego)
3461 46737 : const double leaderBrakeGap = cfModelL.brakeGap(lead->getSpeed(), cfModelL.getMaxDecel(), 0);
3462 46737 : const double egoBrakeGap = cfModel.brakeGap(getSpeed(), cfModel.getMaxDecel(), 0);
3463 46737 : const double gapSum = leaderBrakeGap + egoBrakeGap;
3464 : // ensure that both vehicles can leave an intersection if they are currently on it
3465 46737 : double egoExit = getDistanceToLeaveJunction();
3466 46737 : const double leaderExit = lead->getDistanceToLeaveJunction();
3467 : double gap = leaderInfo.second;
3468 46737 : if (egoExit + leaderExit < gap) {
3469 42973 : gap -= egoExit + leaderExit;
3470 : } else {
3471 : egoExit = 0;
3472 : }
3473 : // split any distance in excess of brakeGaps evenly
3474 46737 : const double freeGap = MAX2(0.0, gap - gapSum);
3475 : const double splitGap = MIN2(gap, gapSum);
3476 : // assume remaining distance is allocated in proportion to braking distance
3477 46737 : const double gapRatio = gapSum > 0 ? egoBrakeGap / gapSum : 0.5;
3478 46737 : const double vsafeLeader = cfModel.stopSpeed(this, getSpeed(), splitGap * gapRatio + egoExit + 0.5 * freeGap);
3479 46737 : if (lastLink != nullptr) {
3480 27133 : const double futureVSafe = cfModel.stopSpeed(this, lastLink->accelV, leaderInfo.second, MSCFModel::CalcReason::FUTURE);
3481 : lastLink->adaptLeaveSpeed(futureVSafe);
3482 : #ifdef DEBUG_PLAN_MOVE
3483 : if (DEBUG_COND) {
3484 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3485 : }
3486 : #endif
3487 : }
3488 46737 : v = MIN2(v, vsafeLeader);
3489 92274 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3490 : #ifdef DEBUG_PLAN_MOVE
3491 : if (DEBUG_COND) std::cout
3492 : << SIMTIME
3493 : //std::cout << std::setprecision(10);
3494 : << " veh=" << getID()
3495 : << " oncomingLead=" << lead->getID()
3496 : << " leadSpeed=" << lead->getSpeed()
3497 : << " gap=" << leaderInfo.second
3498 : << " gap2=" << gap
3499 : << " gapRatio=" << gapRatio
3500 : << " leadLane=" << lead->getLane()->getID()
3501 : << " predPos=" << lead->getPositionOnLane()
3502 : << " myLane=" << myLane->getID()
3503 : << " v=" << v
3504 : << " vSafeLeader=" << vsafeLeader
3505 : << " vLinkPass=" << vLinkPass
3506 : << "\n";
3507 : #endif
3508 : }
3509 : }
3510 :
3511 :
3512 : void
3513 787822094 : MSVehicle::checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
3514 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const {
3515 787822094 : if (MSGlobals::gUsingInternalLanes && (myInfluencer == nullptr || myInfluencer->getRespectJunctionLeaderPriority())) {
3516 : // we want to pass the link but need to check for foes on internal lanes
3517 787716134 : checkLinkLeader(link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
3518 787716134 : if (myLaneChangeModel->getShadowLane() != nullptr) {
3519 3138696 : const MSLink* const parallelLink = link->getParallelLink(myLaneChangeModel->getShadowDirection());
3520 3138696 : if (parallelLink != nullptr) {
3521 2178324 : checkLinkLeader(parallelLink, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest, true);
3522 : }
3523 : }
3524 : }
3525 :
3526 787822094 : }
3527 :
3528 : void
3529 790140627 : MSVehicle::checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
3530 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
3531 : bool isShadowLink) const {
3532 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3533 : if (DEBUG_COND) {
3534 : gDebugFlag1 = true; // See MSLink::getLeaderInfo
3535 : }
3536 : #endif
3537 790140627 : const MSLink::LinkLeaders linkLeaders = link->getLeaderInfo(this, seen, nullptr, isShadowLink);
3538 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3539 : if (DEBUG_COND) {
3540 : gDebugFlag1 = false; // See MSLink::getLeaderInfo
3541 : }
3542 : #endif
3543 809377718 : for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3544 : // the vehicle to enter the junction first has priority
3545 19237091 : const MSVehicle* leader = (*it).vehAndGap.first;
3546 19237091 : if (leader == nullptr) {
3547 : // leader is a pedestrian. Passing 'this' as a dummy.
3548 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3549 : if (DEBUG_COND) {
3550 : std::cout << SIMTIME << " veh=" << getID() << " is blocked on link to " << link->getViaLaneOrLane()->getID() << " by pedestrian. dist=" << it->distToCrossing << "\n";
3551 : }
3552 : #endif
3553 422795 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3554 422795 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3555 : #ifdef DEBUG_PLAN_MOVE
3556 : if (DEBUG_COND) {
3557 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring pedestrian (jmIgnoreJunctionFoeProb)\n";
3558 : }
3559 : #endif
3560 696 : continue;
3561 : }
3562 422099 : adaptToJunctionLeader(std::make_pair(this, -1), seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3563 : // if blocked by a pedestrian for too long we must yield our request
3564 422099 : if (v < SUMO_const_haltingSpeed && getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME)) {
3565 75599 : setRequest = false;
3566 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3567 : if (DEBUG_COND) {
3568 : std::cout << " aborting request\n";
3569 : }
3570 : #endif
3571 : }
3572 18814296 : } else if (isLeader(link, leader, (*it).vehAndGap.second) || (*it).inTheWay()) {
3573 18766146 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3574 18766146 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3575 : #ifdef DEBUG_PLAN_MOVE
3576 : if (DEBUG_COND) {
3577 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring linkLeader=" << leader->getID() << " (jmIgnoreJunctionFoeProb)\n";
3578 : }
3579 : #endif
3580 2177 : continue;
3581 : }
3582 25582941 : if (MSGlobals::gLateralResolution > 0 &&
3583 : // sibling link (XXX: could also be partial occupator where this check fails)
3584 6818972 : &leader->getLane()->getEdge() == &lane->getEdge()) {
3585 : // check for sublane obstruction (trivial for sibling link leaders)
3586 : const MSLane* conflictLane = link->getInternalLaneBefore();
3587 931685 : MSLeaderInfo linkLeadersAhead = MSLeaderInfo(conflictLane->getWidth());
3588 931685 : linkLeadersAhead.addLeader(leader, false, 0); // assume sibling lane has the same geometry as the leader lane
3589 931685 : const double latOffset = isShadowLink ? (getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge()) : 0;
3590 : // leader is neither on lane nor conflictLane (the conflict is only established geometrically)
3591 931685 : adaptToLeaders(linkLeadersAhead, latOffset, seen, lastLink, leader->getLane(), v, vLinkPass);
3592 : #ifdef DEBUG_PLAN_MOVE
3593 : if (DEBUG_COND) {
3594 : std::cout << SIMTIME << " veh=" << getID()
3595 : << " siblingFoe link=" << link->getViaLaneOrLane()->getID()
3596 : << " isShadowLink=" << isShadowLink
3597 : << " lane=" << lane->getID()
3598 : << " foe=" << leader->getID()
3599 : << " foeLane=" << leader->getLane()->getID()
3600 : << " latOffset=" << latOffset
3601 : << " latOffsetFoe=" << leader->getLatOffset(lane)
3602 : << " linkLeadersAhead=" << linkLeadersAhead.toString()
3603 : << "\n";
3604 : }
3605 : #endif
3606 931685 : } else {
3607 : #ifdef DEBUG_PLAN_MOVE
3608 : if (DEBUG_COND) {
3609 : std::cout << SIMTIME << " veh=" << getID() << " linkLeader=" << leader->getID() << " gap=" << it->vehAndGap.second
3610 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3611 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3612 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3613 : << "\n";
3614 : }
3615 : #endif
3616 17832284 : adaptToJunctionLeader(it->vehAndGap, seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3617 : }
3618 18763969 : if (lastLink != nullptr) {
3619 : // we are not yet on the junction with this linkLeader.
3620 : // at least we can drive up to the previous link and stop there
3621 36104330 : v = MAX2(v, lastLink->myVLinkWait);
3622 : }
3623 : // if blocked by a leader from the same or next lane we must yield our request
3624 : // also, if blocked by a stopped or blocked leader
3625 18763969 : if (v < SUMO_const_haltingSpeed
3626 : //&& leader->getSpeed() < SUMO_const_haltingSpeed
3627 18763969 : && (leader->getLane()->getLogicalPredecessorLane() == myLane->getLogicalPredecessorLane()
3628 10274002 : || leader->getLane()->getLogicalPredecessorLane() == myLane
3629 8051470 : || leader->isStopped()
3630 7972971 : || leader->getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME))) {
3631 4221681 : setRequest = false;
3632 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3633 : if (DEBUG_COND) {
3634 : std::cout << " aborting request\n";
3635 : }
3636 : #endif
3637 4221681 : if (lastLink != nullptr && leader->getLane()->getLogicalPredecessorLane() == myLane) {
3638 : // we are not yet on the junction so must abort that request as well
3639 : // (or maybe we are already on the junction and the leader is a partial occupator beyond)
3640 2210904 : lastLink->mySetRequest = false;
3641 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3642 : if (DEBUG_COND) {
3643 : std::cout << " aborting previous request\n";
3644 : }
3645 : #endif
3646 : }
3647 : }
3648 : }
3649 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3650 : else {
3651 : if (DEBUG_COND) {
3652 : std::cout << SIMTIME << " veh=" << getID() << " ignoring leader " << leader->getID() << " gap=" << (*it).vehAndGap.second << " dtC=" << (*it).distToCrossing
3653 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3654 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3655 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3656 : << "\n";
3657 : }
3658 : }
3659 : #endif
3660 : }
3661 : // if this is the link between two internal lanes we may have to slow down for pedestrians
3662 790140627 : vLinkWait = MIN2(vLinkWait, v);
3663 790140627 : }
3664 :
3665 :
3666 : double
3667 99269444 : MSVehicle::getDeltaPos(const double accel) const {
3668 99269444 : double vNext = myState.mySpeed + ACCEL2SPEED(accel);
3669 99269444 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3670 : // apply implicit Euler positional update
3671 0 : return SPEED2DIST(MAX2(vNext, 0.));
3672 : } else {
3673 : // apply ballistic update
3674 99269444 : if (vNext >= 0) {
3675 : // assume constant acceleration during this time step
3676 98646440 : return SPEED2DIST(myState.mySpeed + 0.5 * ACCEL2SPEED(accel));
3677 : } else {
3678 : // negative vNext indicates a stop within the middle of time step
3679 : // The corresponding stop time is s = mySpeed/deceleration \in [0,dt], and the
3680 : // covered distance is therefore deltaPos = mySpeed*s - 0.5*deceleration*s^2.
3681 : // Here, deceleration = (myState.mySpeed - vNext)/dt is the constant deceleration
3682 : // until the vehicle stops.
3683 623004 : return -SPEED2DIST(0.5 * myState.mySpeed * myState.mySpeed / ACCEL2SPEED(accel));
3684 : }
3685 : }
3686 : }
3687 :
3688 : void
3689 629460017 : MSVehicle::processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist) {
3690 :
3691 : const MSCFModel& cfModel = getCarFollowModel();
3692 : // Speed limit due to zipper merging
3693 : double vSafeZipper = std::numeric_limits<double>::max();
3694 :
3695 629460017 : myHaveToWaitOnNextLink = false;
3696 : bool canBrakeVSafeMin = false;
3697 :
3698 : // Get safe velocities from DriveProcessItems.
3699 : assert(myLFLinkLanes.size() != 0 || isRemoteControlled());
3700 1255577423 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
3701 1082219833 : MSLink* const link = dpi.myLink;
3702 :
3703 : #ifdef DEBUG_EXEC_MOVE
3704 : if (DEBUG_COND) {
3705 : std::cout
3706 : << SIMTIME
3707 : << " veh=" << getID()
3708 : << " link=" << (link == 0 ? "NULL" : link->getViaLaneOrLane()->getID())
3709 : << " req=" << dpi.mySetRequest
3710 : << " vP=" << dpi.myVLinkPass
3711 : << " vW=" << dpi.myVLinkWait
3712 : << " d=" << dpi.myDistance
3713 : << "\n";
3714 : gDebugFlag1 = true; // See MSLink_DEBUG_OPENED
3715 : }
3716 : #endif
3717 :
3718 : // the vehicle must change the lane on one of the next lanes (XXX: refs to code further below???, Leo)
3719 1082219833 : if (link != nullptr && dpi.mySetRequest) {
3720 :
3721 : const LinkState ls = link->getState();
3722 : // vehicles should brake when running onto a yellow light if the distance allows to halt in front
3723 : const bool yellow = link->haveYellow();
3724 646826204 : const bool canBrake = (dpi.myDistance > cfModel.brakeGap(myState.mySpeed, cfModel.getMaxDecel(), 0.)
3725 646826204 : || (MSGlobals::gSemiImplicitEulerUpdate && myState.mySpeed < ACCEL2SPEED(cfModel.getMaxDecel())));
3726 : assert(link->getLaneBefore() != nullptr);
3727 646826204 : const bool beyondStopLine = dpi.myDistance < link->getLaneBefore()->getVehicleStopOffset(this);
3728 646826204 : const bool ignoreRedLink = ignoreRed(link, canBrake) || beyondStopLine;
3729 646826204 : if (yellow && canBrake && !ignoreRedLink) {
3730 10 : vSafe = dpi.myVLinkWait;
3731 10 : myHaveToWaitOnNextLink = true;
3732 : #ifdef DEBUG_CHECKREWINDLINKLANES
3733 : if (DEBUG_COND) {
3734 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (yellow)\n";
3735 : }
3736 : #endif
3737 20708798 : break;
3738 : }
3739 646826194 : const bool influencerPrio = (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority());
3740 : MSLink::BlockingFoes collectFoes;
3741 646826194 : bool opened = (yellow || influencerPrio
3742 1940153184 : || link->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3743 646663495 : getVehicleType().getLength(),
3744 619406613 : canBrake ? getImpatience() : 1,
3745 : cfModel.getMaxDecel(),
3746 646663495 : getWaitingTimeFor(link), getLateralPositionOnLane(),
3747 : ls == LINKSTATE_ZIPPER ? &collectFoes : nullptr,
3748 646663495 : ignoreRedLink, this, dpi.myDistance));
3749 641155956 : if (opened && myLaneChangeModel->getShadowLane() != nullptr) {
3750 1908044 : const MSLink* const parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
3751 1908044 : if (parallelLink != nullptr) {
3752 1179075 : const double shadowLatPos = getLateralPositionOnLane() - myLaneChangeModel->getShadowDirection() * 0.5 * (
3753 1179075 : myLane->getWidth() + myLaneChangeModel->getShadowLane()->getWidth());
3754 2357380 : opened = yellow || influencerPrio || (opened && parallelLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3755 1178305 : getVehicleType().getLength(), getImpatience(),
3756 : cfModel.getMaxDecel(),
3757 : getWaitingTimeFor(link), shadowLatPos, nullptr,
3758 1178305 : ignoreRedLink, this, dpi.myDistance));
3759 : #ifdef DEBUG_EXEC_MOVE
3760 : if (DEBUG_COND) {
3761 : std::cout << SIMTIME
3762 : << " veh=" << getID()
3763 : << " shadowLane=" << myLaneChangeModel->getShadowLane()->getID()
3764 : << " shadowDir=" << myLaneChangeModel->getShadowDirection()
3765 : << " parallelLink=" << (parallelLink == 0 ? "NULL" : parallelLink->getViaLaneOrLane()->getID())
3766 : << " opened=" << opened
3767 : << "\n";
3768 : }
3769 : #endif
3770 : }
3771 : }
3772 : // vehicles should decelerate when approaching a minor link
3773 : #ifdef DEBUG_EXEC_MOVE
3774 : if (DEBUG_COND) {
3775 : std::cout << SIMTIME
3776 : << " opened=" << opened
3777 : << " influencerPrio=" << influencerPrio
3778 : << " linkPrio=" << link->havePriority()
3779 : << " lastContMajor=" << link->lastWasContMajor()
3780 : << " isCont=" << link->isCont()
3781 : << " ignoreRed=" << ignoreRedLink
3782 : << "\n";
3783 : }
3784 : #endif
3785 : double visibilityDistance = link->getFoeVisibilityDistance();
3786 646826194 : bool determinedFoePresence = dpi.myDistance <= visibilityDistance;
3787 646826194 : if (opened && !influencerPrio && !link->havePriority() && !link->lastWasContMajor() && !link->isCont() && !ignoreRedLink) {
3788 17306508 : if (!determinedFoePresence && (canBrake || !yellow)) {
3789 16345420 : vSafe = dpi.myVLinkWait;
3790 16345420 : myHaveToWaitOnNextLink = true;
3791 : #ifdef DEBUG_CHECKREWINDLINKLANES
3792 : if (DEBUG_COND) {
3793 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (minor)\n";
3794 : }
3795 : #endif
3796 16345420 : break;
3797 : } else {
3798 : // past the point of no return. we need to drive fast enough
3799 : // to make it across the link. However, minor slowdowns
3800 : // should be permissible to follow leading traffic safely
3801 : // basically, this code prevents dawdling
3802 : // (it's harder to do this later using
3803 : // SUMO_ATTR_JM_SIGMA_MINOR because we don't know whether the
3804 : // vehicle is already too close to stop at that part of the code)
3805 : //
3806 : // XXX: There is a problem in subsecond simulation: If we cannot
3807 : // make it across the minor link in one step, new traffic
3808 : // could appear on a major foe link and cause a collision. Refs. #1845, #2123
3809 961088 : vSafeMinDist = dpi.myDistance; // distance that must be covered
3810 961088 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3811 1758060 : vSafeMin = MIN3((double)DIST2SPEED(vSafeMinDist + POSITION_EPS), dpi.myVLinkPass, cfModel.maxNextSafeMin(getSpeed(), this));
3812 : } else {
3813 164116 : vSafeMin = MIN3((double)DIST2SPEED(2 * vSafeMinDist + NUMERICAL_EPS) - getSpeed(), dpi.myVLinkPass, cfModel.maxNextSafeMin(getSpeed(), this));
3814 : }
3815 : canBrakeVSafeMin = canBrake;
3816 : #ifdef DEBUG_EXEC_MOVE
3817 : if (DEBUG_COND) {
3818 : std::cout << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << " canBrake=" << canBrake << "\n";
3819 : }
3820 : #endif
3821 : }
3822 : }
3823 : // have waited; may pass if opened...
3824 630480774 : if (opened) {
3825 624789574 : vSafe = dpi.myVLinkPass;
3826 624789574 : if (vSafe < cfModel.getMaxDecel() && vSafe <= dpi.myVLinkWait && vSafe < cfModel.maxNextSpeed(getSpeed(), this)) {
3827 : // this vehicle is probably not gonna drive across the next junction (heuristic)
3828 54716585 : myHaveToWaitOnNextLink = true;
3829 : #ifdef DEBUG_CHECKREWINDLINKLANES
3830 : if (DEBUG_COND) {
3831 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (very slow)\n";
3832 : }
3833 : #endif
3834 : }
3835 624789574 : if (link->mustStop() && determinedFoePresence && myHaveStoppedFor == nullptr) {
3836 20820 : myHaveStoppedFor = link;
3837 : }
3838 5691200 : } else if (link->getState() == LINKSTATE_ZIPPER) {
3839 1327594 : vSafeZipper = MIN2(vSafeZipper,
3840 1327594 : link->getZipperSpeed(this, dpi.myDistance, dpi.myVLinkPass, dpi.myArrivalTime, &collectFoes));
3841 : } else if (!canBrake
3842 : // always brake hard for traffic lights (since an emergency stop is necessary anyway)
3843 1841 : && link->getTLLogic() == nullptr
3844 : // cannot brake even with emergency deceleration
3845 4364497 : && dpi.myDistance < cfModel.brakeGap(myState.mySpeed, cfModel.getEmergencyDecel(), 0.)) {
3846 : #ifdef DEBUG_EXEC_MOVE
3847 : if (DEBUG_COND) {
3848 : std::cout << SIMTIME << " too fast to brake for closed link\n";
3849 : }
3850 : #endif
3851 238 : vSafe = dpi.myVLinkPass;
3852 : } else {
3853 4363368 : vSafe = dpi.myVLinkWait;
3854 4363368 : myHaveToWaitOnNextLink = true;
3855 : #ifdef DEBUG_CHECKREWINDLINKLANES
3856 : if (DEBUG_COND) {
3857 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (closed)\n";
3858 : }
3859 : #endif
3860 : #ifdef DEBUG_EXEC_MOVE
3861 : if (DEBUG_COND) {
3862 : std::cout << SIMTIME << " braking for closed link=" << link->getViaLaneOrLane()->getID() << "\n";
3863 : }
3864 : #endif
3865 4363368 : break;
3866 : }
3867 626117406 : if (myLane->isInternal() && myJunctionEntryTime == SUMOTime_MAX) {
3868 : // request was renewed, restoring entry time
3869 : // @note: using myJunctionEntryTimeNeverYield could lead to inconsistencies with other vehicles already on the junction
3870 80358 : myJunctionEntryTime = SIMSTEP;;
3871 : }
3872 646826194 : } else {
3873 435393629 : if (link != nullptr && link->getInternalLaneBefore() != nullptr && myLane->isInternal() && link->getJunction() == myLane->getEdge().getToJunction()) {
3874 : // blocked on the junction. yield request so other vehicles may
3875 : // become junction leader
3876 : #ifdef DEBUG_EXEC_MOVE
3877 : if (DEBUG_COND) {
3878 : std::cout << SIMTIME << " resetting junctionEntryTime at junction '" << link->getJunction()->getID() << "' beause of non-request exitLink\n";
3879 : }
3880 : #endif
3881 244582 : myJunctionEntryTime = SUMOTime_MAX;
3882 244582 : myJunctionConflictEntryTime = SUMOTime_MAX;
3883 : }
3884 : // we have: i->link == 0 || !i->setRequest
3885 435393629 : vSafe = dpi.myVLinkWait;
3886 435393629 : if (link != nullptr || myStopDist < (myLane->getLength() - getPositionOnLane())) {
3887 106053036 : if (vSafe < getSpeed()) {
3888 16128665 : myHaveToWaitOnNextLink = true;
3889 : #ifdef DEBUG_CHECKREWINDLINKLANES
3890 : if (DEBUG_COND) {
3891 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, braking) vSafe=" << vSafe << "\n";
3892 : }
3893 : #endif
3894 89924371 : } else if (vSafe < SUMO_const_haltingSpeed) {
3895 62668948 : myHaveToWaitOnNextLink = true;
3896 : #ifdef DEBUG_CHECKREWINDLINKLANES
3897 : if (DEBUG_COND) {
3898 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, stopping)\n";
3899 : }
3900 : #endif
3901 : }
3902 : }
3903 333865343 : if (link == nullptr && myLFLinkLanes.size() == 1
3904 268739519 : && getBestLanesContinuation().size() > 1
3905 273785 : && getBestLanesContinuation()[1]->hadPermissionChanges()
3906 435529306 : && myLane->getFirstAnyVehicle() == this) {
3907 : // temporal lane closing without notification, visible to the
3908 : // vehicle at the front of the queue
3909 34092 : updateBestLanes(true);
3910 : //std::cout << SIMTIME << " veh=" << getID() << " updated bestLanes=" << toString(getBestLanesContinuation()) << "\n";
3911 : }
3912 : break;
3913 : }
3914 : }
3915 :
3916 : //#ifdef DEBUG_EXEC_MOVE
3917 : // if (DEBUG_COND) {
3918 : // std::cout << "\nvCurrent = " << toString(getSpeed(), 24) << "" << std::endl;
3919 : // std::cout << "vSafe = " << toString(vSafe, 24) << "" << std::endl;
3920 : // std::cout << "vSafeMin = " << toString(vSafeMin, 24) << "" << std::endl;
3921 : // std::cout << "vSafeMinDist = " << toString(vSafeMinDist, 24) << "" << std::endl;
3922 : //
3923 : // double gap = getLeader().second;
3924 : // std::cout << "gap = " << toString(gap, 24) << std::endl;
3925 : // std::cout << "vSafeStoppedLeader = " << toString(getCarFollowModel().stopSpeed(this, getSpeed(), gap, MSCFModel::CalcReason::FUTURE), 24)
3926 : // << "\n" << std::endl;
3927 : // }
3928 : //#endif
3929 :
3930 629460017 : if ((MSGlobals::gSemiImplicitEulerUpdate && vSafe + NUMERICAL_EPS < vSafeMin)
3931 629239462 : || (!MSGlobals::gSemiImplicitEulerUpdate && (vSafe + NUMERICAL_EPS < vSafeMin && vSafeMin != 0))) { // this might be good for the euler case as well
3932 : // XXX: (Leo) This often called stopSpeed with vSafeMinDist==0 (for the ballistic update), since vSafe can become negative
3933 : // For the Euler update the term '+ NUMERICAL_EPS' prevented a call here... Recheck, consider of -INVALID_SPEED instead of 0 to indicate absence of vSafeMin restrictions. Refs. #2577
3934 : #ifdef DEBUG_EXEC_MOVE
3935 : if (DEBUG_COND) {
3936 : std::cout << "vSafeMin Problem? vSafe=" << vSafe << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << std::endl;
3937 : }
3938 : #endif
3939 260751 : if (canBrakeVSafeMin && vSafe < getSpeed()) {
3940 : // cannot drive across a link so we need to stop before it
3941 126378 : vSafe = MIN2(vSafe, MAX2(getCarFollowModel().minNextSpeed(getSpeed(), this),
3942 63189 : getCarFollowModel().stopSpeed(this, getSpeed(), vSafeMinDist)));
3943 63189 : vSafeMin = 0;
3944 63189 : myHaveToWaitOnNextLink = true;
3945 : #ifdef DEBUG_CHECKREWINDLINKLANES
3946 : if (DEBUG_COND) {
3947 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (vSafe=" << vSafe << " < vSafeMin=" << vSafeMin << ")\n";
3948 : }
3949 : #endif
3950 : } else {
3951 : // if the link is yellow or visibility distance is large
3952 : // then we might not make it across the link in one step anyway..
3953 : // Possibly, the lane after the intersection has a lower speed limit so
3954 : // we really need to drive slower already
3955 : // -> keep driving without dawdling
3956 197562 : vSafeMin = vSafe;
3957 : }
3958 : }
3959 :
3960 : // vehicles inside a roundabout should maintain their requests
3961 629460017 : if (myLane->getEdge().isRoundabout()) {
3962 2659765 : myHaveToWaitOnNextLink = false;
3963 : }
3964 :
3965 629460017 : vSafe = MIN2(vSafe, vSafeZipper);
3966 629460017 : }
3967 :
3968 :
3969 : double
3970 698993676 : MSVehicle::processTraCISpeedControl(double vSafe, double vNext) {
3971 698993676 : if (myInfluencer != nullptr) {
3972 497644 : myInfluencer->setOriginalSpeed(vNext);
3973 : #ifdef DEBUG_TRACI
3974 : if DEBUG_COND2(this) {
3975 : std::cout << SIMTIME << " MSVehicle::processTraCISpeedControl() for vehicle '" << getID() << "'"
3976 : << " vSafe=" << vSafe << " (init)vNext=" << vNext << " keepStopping=" << keepStopping();
3977 : }
3978 : #endif
3979 497644 : if (myInfluencer->isRemoteControlled()) {
3980 6727 : vNext = myInfluencer->implicitSpeedRemote(this, myState.mySpeed);
3981 : }
3982 497644 : const double vMax = getVehicleType().getCarFollowModel().maxNextSpeed(myState.mySpeed, this);
3983 497644 : double vMin = getVehicleType().getCarFollowModel().minNextSpeed(myState.mySpeed, this);
3984 497644 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3985 : vMin = MAX2(0., vMin);
3986 : }
3987 497644 : vNext = myInfluencer->influenceSpeed(MSNet::getInstance()->getCurrentTimeStep(), vNext, vSafe, vMin, vMax);
3988 497644 : if (keepStopping() && myStops.front().getSpeed() == 0) {
3989 : // avoid driving while stopped (unless it's actually a waypoint
3990 3819 : vNext = myInfluencer->getOriginalSpeed();
3991 : }
3992 : #ifdef DEBUG_TRACI
3993 : if DEBUG_COND2(this) {
3994 : std::cout << " (processed)vNext=" << vNext << std::endl;
3995 : }
3996 : #endif
3997 : }
3998 698993676 : return vNext;
3999 : }
4000 :
4001 :
4002 : void
4003 71674676 : MSVehicle::removePassedDriveItems() {
4004 : #ifdef DEBUG_ACTIONSTEPS
4005 : if (DEBUG_COND) {
4006 : std::cout << SIMTIME << " veh=" << getID() << " removePassedDriveItems()\n"
4007 : << " Current items: ";
4008 : for (auto& j : myLFLinkLanes) {
4009 : if (j.myLink == 0) {
4010 : std::cout << "\n Stop at distance " << j.myDistance;
4011 : } else {
4012 : const MSLane* to = j.myLink->getViaLaneOrLane();
4013 : const MSLane* from = j.myLink->getLaneBefore();
4014 : std::cout << "\n Link at distance " << j.myDistance << ": '"
4015 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4016 : }
4017 : }
4018 : std::cout << "\n myNextDriveItem: ";
4019 : if (myLFLinkLanes.size() != 0) {
4020 : if (myNextDriveItem->myLink == 0) {
4021 : std::cout << "\n Stop at distance " << myNextDriveItem->myDistance;
4022 : } else {
4023 : const MSLane* to = myNextDriveItem->myLink->getViaLaneOrLane();
4024 : const MSLane* from = myNextDriveItem->myLink->getLaneBefore();
4025 : std::cout << "\n Link at distance " << myNextDriveItem->myDistance << ": '"
4026 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4027 : }
4028 : }
4029 : std::cout << std::endl;
4030 : }
4031 : #endif
4032 71999780 : for (auto j = myLFLinkLanes.begin(); j != myNextDriveItem; ++j) {
4033 : #ifdef DEBUG_ACTIONSTEPS
4034 : if (DEBUG_COND) {
4035 : std::cout << " Removing item: ";
4036 : if (j->myLink == 0) {
4037 : std::cout << "Stop at distance " << j->myDistance;
4038 : } else {
4039 : const MSLane* to = j->myLink->getViaLaneOrLane();
4040 : const MSLane* from = j->myLink->getLaneBefore();
4041 : std::cout << "Link at distance " << j->myDistance << ": '"
4042 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4043 : }
4044 : std::cout << std::endl;
4045 : }
4046 : #endif
4047 325104 : if (j->myLink != nullptr) {
4048 325031 : j->myLink->removeApproaching(this);
4049 : }
4050 : }
4051 71674676 : myLFLinkLanes.erase(myLFLinkLanes.begin(), myNextDriveItem);
4052 71674676 : myNextDriveItem = myLFLinkLanes.begin();
4053 71674676 : }
4054 :
4055 :
4056 : void
4057 1118555 : MSVehicle::updateDriveItems() {
4058 : #ifdef DEBUG_ACTIONSTEPS
4059 : if (DEBUG_COND) {
4060 : std::cout << SIMTIME << " updateDriveItems(), veh='" << getID() << "' (lane: '" << getLane()->getID() << "')\nCurrent drive items:" << std::endl;
4061 : for (const auto& dpi : myLFLinkLanes) {
4062 : std::cout
4063 : << " vPass=" << dpi.myVLinkPass
4064 : << " vWait=" << dpi.myVLinkWait
4065 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4066 : << " request=" << dpi.mySetRequest
4067 : << "\n";
4068 : }
4069 : std::cout << " myNextDriveItem's linked lane: " << (myNextDriveItem->myLink == 0 ? "NULL" : myNextDriveItem->myLink->getViaLaneOrLane()->getID()) << std::endl;
4070 : }
4071 : #endif
4072 1118555 : if (myLFLinkLanes.size() == 0) {
4073 : // nothing to update
4074 : return;
4075 : }
4076 : const MSLink* nextPlannedLink = nullptr;
4077 : // auto i = myLFLinkLanes.begin();
4078 1118555 : auto i = myNextDriveItem;
4079 2237064 : while (i != myLFLinkLanes.end() && nextPlannedLink == nullptr) {
4080 1118509 : nextPlannedLink = i->myLink;
4081 : ++i;
4082 : }
4083 :
4084 1118555 : if (nextPlannedLink == nullptr) {
4085 : // No link for upcoming item -> no need for an update
4086 : #ifdef DEBUG_ACTIONSTEPS
4087 : if (DEBUG_COND) {
4088 : std::cout << "Found no link-related drive item." << std::endl;
4089 : }
4090 : #endif
4091 : return;
4092 : }
4093 :
4094 543581 : if (getLane() == nextPlannedLink->getLaneBefore()) {
4095 : // Current lane approaches the stored next link, i.e. no LC happend and no update is required.
4096 : #ifdef DEBUG_ACTIONSTEPS
4097 : if (DEBUG_COND) {
4098 : std::cout << "Continuing on planned lane sequence, no update required." << std::endl;
4099 : }
4100 : #endif
4101 : return;
4102 : }
4103 : // Lane must have been changed, determine the change direction
4104 533684 : const MSLink* parallelLink = nextPlannedLink->getParallelLink(1);
4105 533684 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4106 : // lcDir = 1;
4107 : } else {
4108 264542 : parallelLink = nextPlannedLink->getParallelLink(-1);
4109 264542 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4110 : // lcDir = -1;
4111 : } else {
4112 : // If the vehicle's current lane is not the approaching lane for the next
4113 : // drive process item's link, it is expected to lead to a parallel link,
4114 : // XXX: What if the lc was an overtaking maneuver and there is no upcoming link?
4115 : // Then a stop item should be scheduled! -> TODO!
4116 : //assert(false);
4117 72587 : return;
4118 : }
4119 : }
4120 : #ifdef DEBUG_ACTIONSTEPS
4121 : if (DEBUG_COND) {
4122 : std::cout << "Changed lane. Drive items will be updated along the current lane continuation." << std::endl;
4123 : }
4124 : #endif
4125 : // Trace link sequence along current best lanes and transfer drive items to the corresponding links
4126 : // DriveItemVector::iterator driveItemIt = myLFLinkLanes.begin();
4127 461097 : DriveItemVector::iterator driveItemIt = myNextDriveItem;
4128 : // In the loop below, lane holds the currently considered lane on the vehicles continuation (including internal lanes)
4129 461097 : const MSLane* lane = myLane;
4130 : assert(myLane == parallelLink->getLaneBefore());
4131 : // *lit is a pointer to the next lane in best continuations for the current lane (always non-internal)
4132 461097 : std::vector<MSLane*>::const_iterator bestLaneIt = getBestLanesContinuation().begin() + 1;
4133 : // Pointer to the new link for the current drive process item
4134 : MSLink* newLink = nullptr;
4135 1722767 : while (driveItemIt != myLFLinkLanes.end()) {
4136 1290604 : if (driveItemIt->myLink == nullptr) {
4137 : // Items not related to a specific link are not updated
4138 : // (XXX: when a stop item corresponded to a dead end, which is overcome by the LC that made
4139 : // the update necessary, this may slow down the vehicle's continuation on the new lane...)
4140 : ++driveItemIt;
4141 158615 : continue;
4142 : }
4143 : // Continuation links for current best lanes are less than for the former drive items (myLFLinkLanes)
4144 : // We just remove the leftover link-items, as they cannot be mapped to new links.
4145 1131989 : if (bestLaneIt == getBestLanesContinuation().end()) {
4146 : #ifdef DEBUG_ACTIONSTEPS
4147 : if (DEBUG_COND) {
4148 : std::cout << "Reached end of the new continuation sequence. Erasing leftover link-items." << std::endl;
4149 : }
4150 : #endif
4151 91485 : while (driveItemIt != myLFLinkLanes.end()) {
4152 62551 : if (driveItemIt->myLink == nullptr) {
4153 : ++driveItemIt;
4154 14240 : continue;
4155 : } else {
4156 48311 : driveItemIt->myLink->removeApproaching(this);
4157 : driveItemIt = myLFLinkLanes.erase(driveItemIt);
4158 : }
4159 : }
4160 : break;
4161 : }
4162 : // Do the actual link-remapping for the item. And un/register approaching information on the corresponding links
4163 1103055 : const MSLane* const target = *bestLaneIt;
4164 : assert(!target->isInternal());
4165 : newLink = nullptr;
4166 1219467 : for (MSLink* const link : lane->getLinkCont()) {
4167 1219467 : if (link->getLane() == target) {
4168 : newLink = link;
4169 : break;
4170 : }
4171 : }
4172 :
4173 1103055 : if (newLink == driveItemIt->myLink) {
4174 : // new continuation merged into previous - stop update
4175 : #ifdef DEBUG_ACTIONSTEPS
4176 : if (DEBUG_COND) {
4177 : std::cout << "Old and new continuation sequences merge at link\n"
4178 : << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'"
4179 : << "\nNo update beyond merge required." << std::endl;
4180 : }
4181 : #endif
4182 : break;
4183 : }
4184 :
4185 : #ifdef DEBUG_ACTIONSTEPS
4186 : if (DEBUG_COND) {
4187 : std::cout << "lane=" << lane->getID() << "\nUpdating link\n '" << driveItemIt->myLink->getLaneBefore()->getID() << "'->'" << driveItemIt->myLink->getViaLaneOrLane()->getID() << "'"
4188 : << "==> " << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'" << std::endl;
4189 : }
4190 : #endif
4191 1103055 : newLink->setApproaching(this, driveItemIt->myLink->getApproaching(this));
4192 1103055 : driveItemIt->myLink->removeApproaching(this);
4193 1103055 : driveItemIt->myLink = newLink;
4194 : lane = newLink->getViaLaneOrLane();
4195 : ++driveItemIt;
4196 1103055 : if (!lane->isInternal()) {
4197 : ++bestLaneIt;
4198 : }
4199 : }
4200 : #ifdef DEBUG_ACTIONSTEPS
4201 : if (DEBUG_COND) {
4202 : std::cout << "Updated drive items:" << std::endl;
4203 : for (const auto& dpi : myLFLinkLanes) {
4204 : std::cout
4205 : << " vPass=" << dpi.myVLinkPass
4206 : << " vWait=" << dpi.myVLinkWait
4207 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4208 : << " request=" << dpi.mySetRequest
4209 : << "\n";
4210 : }
4211 : }
4212 : #endif
4213 : }
4214 :
4215 :
4216 : void
4217 698993676 : MSVehicle::setBrakingSignals(double vNext) {
4218 : // To avoid casual blinking brake lights at high speeds due to dawdling of the
4219 : // leading vehicle, we don't show brake lights when the deceleration could be caused
4220 : // by frictional forces and air resistance (i.e. proportional to v^2, coefficient could be adapted further)
4221 698993676 : double pseudoFriction = (0.05 + 0.005 * getSpeed()) * getSpeed();
4222 698993676 : bool brakelightsOn = vNext < getSpeed() - ACCEL2SPEED(pseudoFriction);
4223 :
4224 698993676 : if (vNext <= SUMO_const_haltingSpeed) {
4225 : brakelightsOn = true;
4226 : }
4227 698993676 : if (brakelightsOn && !isStopped()) {
4228 : switchOnSignal(VEH_SIGNAL_BRAKELIGHT);
4229 : } else {
4230 : switchOffSignal(VEH_SIGNAL_BRAKELIGHT);
4231 : }
4232 698993676 : }
4233 :
4234 :
4235 : void
4236 699113385 : MSVehicle::updateWaitingTime(double vNext) {
4237 699113385 : if (vNext <= SUMO_const_haltingSpeed && (!isStopped() || isIdling()) && myAcceleration <= accelThresholdForWaiting()) {
4238 90308145 : myWaitingTime += DELTA_T;
4239 90308145 : myWaitingTimeCollector.passTime(DELTA_T, true);
4240 : } else {
4241 608805240 : myWaitingTime = 0;
4242 608805240 : myWaitingTimeCollector.passTime(DELTA_T, false);
4243 608805240 : if (hasInfluencer()) {
4244 271370 : getInfluencer().setExtraImpatience(0);
4245 : }
4246 : }
4247 699113385 : }
4248 :
4249 :
4250 : void
4251 698993530 : MSVehicle::updateTimeLoss(double vNext) {
4252 : // update time loss (depends on the updated edge)
4253 698993530 : if (!isStopped()) {
4254 : // some cfModels (i.e. EIDM may drive faster than predicted by maxNextSpeed)
4255 688519562 : const double vmax = MIN2(myLane->getVehicleMaxSpeed(this), MAX2(myStopSpeed, vNext));
4256 685014100 : if (vmax > 0) {
4257 684733916 : myTimeLoss += TS * (vmax - vNext) / vmax;
4258 : }
4259 : }
4260 698993530 : }
4261 :
4262 :
4263 : double
4264 1547938148 : MSVehicle::checkReversal(bool& canReverse, double speedThreshold, double seen) const {
4265 54491269 : const bool stopOk = (myStops.empty() || myStops.front().edge != myCurrEdge
4266 1570506004 : || (myStops.front().getSpeed() > 0 && myState.myPos > myStops.front().pars.endPos - 2 * POSITION_EPS));
4267 : #ifdef DEBUG_REVERSE_BIDI
4268 : if (DEBUG_COND) std::cout << SIMTIME << " checkReversal lane=" << myLane->getID()
4269 : << " pos=" << myState.myPos
4270 : << " speed=" << std::setprecision(6) << getPreviousSpeed() << std::setprecision(gPrecision)
4271 : << " speedThreshold=" << speedThreshold
4272 : << " seen=" << seen
4273 : << " isRail=" << isRail()
4274 : << " speedOk=" << (getPreviousSpeed() <= speedThreshold)
4275 : << " posOK=" << (myState.myPos <= myLane->getLength())
4276 : << " normal=" << !myLane->isInternal()
4277 : << " routeOK=" << ((myCurrEdge + 1) != myRoute->end())
4278 : << " bidi=" << (myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1))
4279 : << " stopOk=" << stopOk
4280 : << "\n";
4281 : #endif
4282 1547938148 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4283 6877458 : && getPreviousSpeed() <= speedThreshold
4284 5851086 : && myState.myPos <= myLane->getLength()
4285 5850055 : && !myLane->isInternal()
4286 5782626 : && (myCurrEdge + 1) != myRoute->end()
4287 5689314 : && myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1)
4288 : // ensure there are no further stops on this edge
4289 1548787753 : && stopOk
4290 : ) {
4291 : //if (isSelected()) std::cout << " check1 passed\n";
4292 :
4293 : // ensure that the vehicle is fully on bidi edges that allow reversal
4294 180793 : const int neededFutureRoute = 1 + (int)(MSGlobals::gUsingInternalLanes
4295 : ? myFurtherLanes.size()
4296 504 : : ceil((double)myFurtherLanes.size() / 2.0));
4297 180793 : const int remainingRoute = int(myRoute->end() - myCurrEdge) - 1;
4298 180793 : if (remainingRoute < neededFutureRoute) {
4299 : #ifdef DEBUG_REVERSE_BIDI
4300 : if (DEBUG_COND) {
4301 : std::cout << " fail: remainingEdges=" << ((int)(myRoute->end() - myCurrEdge)) << " further=" << myFurtherLanes.size() << "\n";
4302 : }
4303 : #endif
4304 3567 : return getMaxSpeed();
4305 : }
4306 : //if (isSelected()) std::cout << " check2 passed\n";
4307 :
4308 : // ensure that the turn-around connection exists from the current edge to its bidi-edge
4309 177226 : const MSEdgeVector& succ = myLane->getEdge().getSuccessors();
4310 177226 : if (std::find(succ.begin(), succ.end(), myLane->getEdge().getBidiEdge()) == succ.end()) {
4311 : #ifdef DEBUG_REVERSE_BIDI
4312 : if (DEBUG_COND) {
4313 : std::cout << " noTurn (bidi=" << myLane->getEdge().getBidiEdge()->getID() << " succ=" << toString(succ) << "\n";
4314 : }
4315 : #endif
4316 909 : return getMaxSpeed();
4317 : }
4318 : //if (isSelected()) std::cout << " check3 passed\n";
4319 :
4320 : // ensure that the vehicle front will not move past a stop on the bidi edge of the current edge
4321 176317 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + 1)) {
4322 160006 : const double stopPos = myStops.front().getEndPos(*this);
4323 160006 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4324 160006 : const double newPos = myLane->getLength() - (getBackPositionOnLane() + brakeDist);
4325 160006 : if (newPos > stopPos) {
4326 : #ifdef DEBUG_REVERSE_BIDI
4327 : if (DEBUG_COND) {
4328 : std::cout << " reversal would go past stop on " << myLane->getBidiLane()->getID() << "\n";
4329 : }
4330 : #endif
4331 158332 : if (seen > MAX2(brakeDist, 1.0)) {
4332 157202 : return getMaxSpeed();
4333 : } else {
4334 : #ifdef DEBUG_REVERSE_BIDI
4335 : if (DEBUG_COND) {
4336 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4337 : }
4338 : #endif
4339 : }
4340 : }
4341 : }
4342 : //if (isSelected()) std::cout << " check4 passed\n";
4343 :
4344 : // ensure that bidi-edges exist for all further edges
4345 : // and that no stops will be skipped when reversing
4346 : // and that the train will not be on top of a red rail signal after reversal
4347 19115 : const MSLane* bidi = myLane->getBidiLane();
4348 : int view = 2;
4349 38572 : for (MSLane* further : myFurtherLanes) {
4350 21893 : if (!further->getEdge().isInternal()) {
4351 11393 : if (further->getEdge().getBidiEdge() != *(myCurrEdge + view)) {
4352 : #ifdef DEBUG_REVERSE_BIDI
4353 : if (DEBUG_COND) {
4354 : std::cout << " noBidi view=" << view << " further=" << further->getID() << " furtherBidi=" << Named::getIDSecure(further->getEdge().getBidiEdge()) << " future=" << (*(myCurrEdge + view))->getID() << "\n";
4355 : }
4356 : #endif
4357 2277 : return getMaxSpeed();
4358 : }
4359 9116 : const MSLane* nextBidi = further->getBidiLane();
4360 9116 : const MSLink* toNext = bidi->getLinkTo(nextBidi);
4361 9116 : if (toNext == nullptr) {
4362 : // can only happen if the route is invalid
4363 0 : return getMaxSpeed();
4364 : }
4365 9116 : if (toNext->haveRed()) {
4366 : #ifdef DEBUG_REVERSE_BIDI
4367 : if (DEBUG_COND) {
4368 : std::cout << " do not reverse on a red signal\n";
4369 : }
4370 : #endif
4371 0 : return getMaxSpeed();
4372 : }
4373 : bidi = nextBidi;
4374 9116 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + view)) {
4375 453 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4376 453 : const double stopPos = myStops.front().getEndPos(*this);
4377 453 : const double newPos = further->getLength() - (getBackPositionOnLane(further) + brakeDist);
4378 453 : if (newPos > stopPos) {
4379 : #ifdef DEBUG_REVERSE_BIDI
4380 : if (DEBUG_COND) {
4381 : std::cout << " reversal would go past stop on further-opposite lane " << further->getBidiLane()->getID() << "\n";
4382 : }
4383 : #endif
4384 171 : if (seen > MAX2(brakeDist, 1.0)) {
4385 159 : canReverse = false;
4386 159 : return getMaxSpeed();
4387 : } else {
4388 : #ifdef DEBUG_REVERSE_BIDI
4389 : if (DEBUG_COND) {
4390 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4391 : }
4392 : #endif
4393 : }
4394 : }
4395 : }
4396 8957 : view++;
4397 : }
4398 : }
4399 : // reverse as soon as comfortably possible
4400 16679 : const double vMinComfortable = getCarFollowModel().minNextSpeed(getSpeed(), this);
4401 : #ifdef DEBUG_REVERSE_BIDI
4402 : if (DEBUG_COND) {
4403 : std::cout << SIMTIME << " seen=" << seen << " vReverseOK=" << vMinComfortable << "\n";
4404 : }
4405 : #endif
4406 16679 : canReverse = true;
4407 16679 : return vMinComfortable;
4408 : }
4409 1547757355 : return getMaxSpeed();
4410 : }
4411 :
4412 :
4413 : void
4414 699209787 : MSVehicle::processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason) {
4415 714821939 : for (std::vector<MSLane*>::reverse_iterator i = myFurtherLanes.rbegin(); i != myFurtherLanes.rend(); ++i) {
4416 15612152 : passedLanes.push_back(*i);
4417 : }
4418 699209787 : if (passedLanes.size() == 0 || passedLanes.back() != myLane) {
4419 699209787 : passedLanes.push_back(myLane);
4420 : }
4421 : // let trains reverse direction
4422 699209787 : bool reverseTrain = false;
4423 699209787 : checkReversal(reverseTrain);
4424 699209787 : if (reverseTrain) {
4425 : // Train is 'reversing' so toggle the logical state
4426 810 : myAmReversed = !myAmReversed;
4427 : // add some slack to ensure that the back of train does appear looped
4428 810 : myState.myPos += 2 * (myLane->getLength() - myState.myPos) + myType->getLength() + NUMERICAL_EPS;
4429 810 : myState.mySpeed = 0;
4430 : #ifdef DEBUG_REVERSE_BIDI
4431 : if (DEBUG_COND) {
4432 : std::cout << SIMTIME << " reversing train=" << getID() << " newPos=" << myState.myPos << "\n";
4433 : }
4434 : #endif
4435 : }
4436 : // move on lane(s)
4437 699209787 : if (myState.myPos > myLane->getLength()) {
4438 : // The vehicle has moved at least to the next lane (maybe it passed even more than one)
4439 19839771 : if (myCurrEdge != myRoute->end() - 1) {
4440 16736550 : MSLane* approachedLane = myLane;
4441 : // move the vehicle forward
4442 16736550 : myNextDriveItem = myLFLinkLanes.begin();
4443 36114138 : while (myNextDriveItem != myLFLinkLanes.end() && approachedLane != nullptr && myState.myPos > approachedLane->getLength()) {
4444 19396424 : const MSLink* link = myNextDriveItem->myLink;
4445 19396424 : const double linkDist = myNextDriveItem->myDistance;
4446 : ++myNextDriveItem;
4447 : // check whether the vehicle was allowed to enter lane
4448 : // otherwise it is decelerated and we do not need to test for it's
4449 : // approach on the following lanes when a lane changing is performed
4450 : // proceed to the next lane
4451 19396424 : if (approachedLane->mustCheckJunctionCollisions()) {
4452 : // vehicle moves past approachedLane within a single step, collision checking must still be done
4453 61420 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(approachedLane);
4454 : }
4455 19396424 : if (link != nullptr) {
4456 19392320 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4457 42740 : && !myLane->isInternal()
4458 22583 : && myLane->getBidiLane() != nullptr
4459 13020 : && link->getLane()->getBidiLane() == myLane
4460 19393127 : && !reverseTrain) {
4461 : emergencyReason = " because it must reverse direction";
4462 : approachedLane = nullptr;
4463 : break;
4464 : }
4465 19392317 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4466 42737 : && myState.myPos < myLane->getLength() + NUMERICAL_EPS
4467 19392533 : && hasStops() && getNextStop().edge == myCurrEdge) {
4468 : // avoid skipping stop due to numerical instability
4469 : // this is a special case for rail vehicles because they
4470 : // continue myLFLinkLanes past stops
4471 202 : approachedLane = myLane;
4472 202 : myState.myPos = myLane->getLength();
4473 202 : break;
4474 : }
4475 19392115 : approachedLane = link->getViaLaneOrLane();
4476 19392115 : if (myInfluencer == nullptr || myInfluencer->getEmergencyBrakeRedLight()) {
4477 19390518 : bool beyondStopLine = linkDist < link->getLaneBefore()->getVehicleStopOffset(this);
4478 19390518 : if (link->haveRed() && !ignoreRed(link, false) && !beyondStopLine && !reverseTrain) {
4479 : emergencyReason = " because of a red traffic light";
4480 : break;
4481 : }
4482 : }
4483 19392056 : if (reverseTrain && approachedLane->isInternal()) {
4484 : // avoid getting stuck on a slow turn-around internal lane
4485 888 : myState.myPos += approachedLane->getLength();
4486 : }
4487 4104 : } else if (myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4488 : // avoid warning due to numerical instability
4489 163 : approachedLane = myLane;
4490 163 : myState.myPos = myLane->getLength();
4491 3941 : } else if (reverseTrain) {
4492 0 : approachedLane = (*(myCurrEdge + 1))->getLanes()[0];
4493 0 : link = myLane->getLinkTo(approachedLane);
4494 : assert(link != 0);
4495 0 : while (link->getViaLane() != nullptr) {
4496 0 : link = link->getViaLane()->getLinkCont()[0];
4497 : }
4498 : --myNextDriveItem;
4499 : } else {
4500 : emergencyReason = " because there is no connection to the next edge";
4501 : approachedLane = nullptr;
4502 : break;
4503 : }
4504 19392219 : if (approachedLane != myLane && approachedLane != nullptr) {
4505 19392056 : leaveLane(MSMoveReminder::NOTIFICATION_JUNCTION, approachedLane);
4506 19392056 : myState.myPos -= myLane->getLength();
4507 : assert(myState.myPos > 0);
4508 19392056 : enterLaneAtMove(approachedLane);
4509 19392056 : if (link->isEntryLink()) {
4510 7621283 : myJunctionEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4511 7621283 : myJunctionEntryTimeNeverYield = myJunctionEntryTime;
4512 7621283 : myHaveStoppedFor = nullptr;
4513 : }
4514 19392056 : if (link->isConflictEntryLink()) {
4515 7620670 : myJunctionConflictEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4516 : // renew yielded request
4517 7620670 : myJunctionEntryTime = myJunctionEntryTimeNeverYield;
4518 : }
4519 19392056 : if (link->isExitLink()) {
4520 : // passed junction, reset for approaching the next one
4521 7561071 : myJunctionEntryTime = SUMOTime_MAX;
4522 7561071 : myJunctionEntryTimeNeverYield = SUMOTime_MAX;
4523 7561071 : myJunctionConflictEntryTime = SUMOTime_MAX;
4524 : }
4525 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
4526 : if (DEBUG_COND) {
4527 : std::cout << "Update junctionTimes link=" << link->getViaLaneOrLane()->getID()
4528 : << " entry=" << link->isEntryLink() << " conflict=" << link->isConflictEntryLink() << " exit=" << link->isExitLink()
4529 : << " ET=" << myJunctionEntryTime
4530 : << " ETN=" << myJunctionEntryTimeNeverYield
4531 : << " CET=" << myJunctionConflictEntryTime
4532 : << "\n";
4533 : }
4534 : #endif
4535 19392056 : if (hasArrivedInternal()) {
4536 : break;
4537 : }
4538 19378181 : if (myLaneChangeModel->isChangingLanes()) {
4539 6570 : if (link->getDirection() == LinkDirection::LEFT || link->getDirection() == LinkDirection::RIGHT) {
4540 : // abort lane change
4541 0 : WRITE_WARNING("Vehicle '" + getID() + "' could not finish continuous lane change (turn lane) time=" +
4542 : time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4543 0 : myLaneChangeModel->endLaneChangeManeuver();
4544 : }
4545 : }
4546 19378181 : if (approachedLane->getEdge().isVaporizing()) {
4547 756 : leaveLane(MSMoveReminder::NOTIFICATION_VAPORIZED_VAPORIZER);
4548 : break;
4549 : }
4550 19377425 : passedLanes.push_back(approachedLane);
4551 : }
4552 : }
4553 : // NOTE: Passed drive items will be erased in the next simstep's planMove()
4554 :
4555 : #ifdef DEBUG_ACTIONSTEPS
4556 : if (DEBUG_COND && myNextDriveItem != myLFLinkLanes.begin()) {
4557 : std::cout << "Updated drive items:" << std::endl;
4558 : for (DriveItemVector::iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
4559 : std::cout
4560 : << " vPass=" << (*i).myVLinkPass
4561 : << " vWait=" << (*i).myVLinkWait
4562 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
4563 : << " request=" << (*i).mySetRequest
4564 : << "\n";
4565 : }
4566 : }
4567 : #endif
4568 3103221 : } else if (!hasArrivedInternal() && myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4569 : // avoid warning due to numerical instability when stopping at the end of the route
4570 63 : myState.myPos = myLane->getLength();
4571 : }
4572 :
4573 : }
4574 699209787 : }
4575 :
4576 :
4577 :
4578 : bool
4579 701134693 : MSVehicle::executeMove() {
4580 : #ifdef DEBUG_EXEC_MOVE
4581 : if (DEBUG_COND) {
4582 : std::cout << "\nEXECUTE_MOVE\n"
4583 : << SIMTIME
4584 : << " veh=" << getID()
4585 : << " speed=" << getSpeed() // toString(getSpeed(), 24)
4586 : << std::endl;
4587 : }
4588 : #endif
4589 :
4590 :
4591 : // Maximum safe velocity
4592 701134693 : double vSafe = std::numeric_limits<double>::max();
4593 : // Minimum safe velocity (lower bound).
4594 701134693 : double vSafeMin = -std::numeric_limits<double>::max();
4595 : // The distance to a link, which should either be crossed this step
4596 : // or in front of which we need to stop.
4597 701134693 : double vSafeMinDist = 0;
4598 :
4599 701134693 : if (myActionStep) {
4600 : // Actuate control (i.e. choose bounds for safe speed in current simstep (euler), resp. after current sim step (ballistic))
4601 629460017 : processLinkApproaches(vSafe, vSafeMin, vSafeMinDist);
4602 : #ifdef DEBUG_ACTIONSTEPS
4603 : if (DEBUG_COND) {
4604 : std::cout << SIMTIME << " vehicle '" << getID() << "'\n"
4605 : " vsafe from processLinkApproaches(): vsafe " << vSafe << std::endl;
4606 : }
4607 : #endif
4608 : } else {
4609 : // Continue with current acceleration
4610 71674676 : vSafe = getSpeed() + ACCEL2SPEED(myAcceleration);
4611 : #ifdef DEBUG_ACTIONSTEPS
4612 : if (DEBUG_COND) {
4613 : std::cout << SIMTIME << " vehicle '" << getID() << "' skips processLinkApproaches()\n"
4614 : " continues with constant accel " << myAcceleration << "...\n"
4615 : << "speed: " << getSpeed() << " -> " << vSafe << std::endl;
4616 : }
4617 : #endif
4618 : }
4619 :
4620 :
4621 : //#ifdef DEBUG_EXEC_MOVE
4622 : // if (DEBUG_COND) {
4623 : // std::cout << "vSafe = " << toString(vSafe,12) << "\n" << std::endl;
4624 : // }
4625 : //#endif
4626 :
4627 : // Determine vNext = speed after current sim step (ballistic), resp. in current simstep (euler)
4628 : // Call to finalizeSpeed applies speed reduction due to dawdling / lane changing but ensures minimum safe speed
4629 701134693 : double vNext = vSafe;
4630 : const MSCFModel& cfModel = getCarFollowModel();
4631 701134693 : const double rawAccel = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4632 701134693 : if (vNext <= SUMO_const_haltingSpeed * TS && myWaitingTime > MSGlobals::gStartupWaitThreshold && rawAccel <= accelThresholdForWaiting() && myActionStep) {
4633 73902584 : myTimeSinceStartup = 0;
4634 627232109 : } else if (isStopped()) {
4635 : // do not apply startupDelay for waypoints
4636 16108619 : if (cfModel.startupDelayStopped() && getNextStop().pars.speed <= 0) {
4637 13772 : myTimeSinceStartup = DELTA_T;
4638 : } else {
4639 : // do not apply startupDelay but signal that a stop has taken place
4640 16094847 : myTimeSinceStartup = cfModel.getStartupDelay() + DELTA_T;
4641 : }
4642 : } else {
4643 : // identify potential startup (before other effects reduce the speed again)
4644 611123490 : myTimeSinceStartup += DELTA_T;
4645 : }
4646 701134693 : if (myActionStep) {
4647 629460017 : vNext = cfModel.finalizeSpeed(this, vSafe);
4648 627318854 : if (vNext > 0) {
4649 585385961 : vNext = MAX2(vNext, vSafeMin);
4650 : }
4651 : }
4652 : // (Leo) to avoid tiny oscillations (< 1e-10) of vNext in a standing vehicle column (observed for ballistic update), we cap off vNext
4653 : // (We assure to do this only for vNext<<NUMERICAL_EPS since otherwise this would nullify the workaround for #2995
4654 : // (Jakob) We also need to make sure to reach a stop at the start of the next edge
4655 698993530 : if (fabs(vNext) < NUMERICAL_EPS_SPEED && (myStopDist > POSITION_EPS || (hasStops() && myCurrEdge == getNextStop().edge))) {
4656 : vNext = 0.;
4657 : }
4658 : #ifdef DEBUG_EXEC_MOVE
4659 : if (DEBUG_COND) {
4660 : std::cout << SIMTIME << " finalizeSpeed vSafe=" << vSafe << " vSafeMin=" << (vSafeMin == -std::numeric_limits<double>::max() ? "-Inf" : toString(vSafeMin))
4661 : << " vNext=" << vNext << " (i.e. accel=" << SPEED2ACCEL(vNext - getSpeed()) << ")" << std::endl;
4662 : }
4663 : #endif
4664 :
4665 : // vNext may be higher than vSafe without implying a bug:
4666 : // - when approaching a green light that suddenly switches to yellow
4667 : // - when using unregulated junctions
4668 : // - when using tau < step-size
4669 : // - when using unsafe car following models
4670 : // - when using TraCI and some speedMode / laneChangeMode settings
4671 : //if (vNext > vSafe + NUMERICAL_EPS) {
4672 : // WRITE_WARNING("vehicle '" + getID() + "' cannot brake hard enough to reach safe speed "
4673 : // + toString(vSafe, 4) + ", moving at " + toString(vNext, 4) + " instead. time="
4674 : // + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4675 : //}
4676 :
4677 698993530 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4678 : vNext = MAX2(vNext, 0.);
4679 : } else {
4680 : // (Leo) Ballistic: negative vNext can be used to indicate a stop within next step.
4681 : }
4682 :
4683 : // Check for speed advices from the traci client
4684 698993530 : vNext = processTraCISpeedControl(vSafe, vNext);
4685 :
4686 : // the acceleration of a vehicle equipped with the elecHybrid device is restricted by the maximal power of the electric drive as well
4687 698993530 : MSDevice_ElecHybrid* elecHybridOfVehicle = dynamic_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid)));
4688 981 : if (elecHybridOfVehicle != nullptr) {
4689 : // this is the consumption given by the car following model-computed acceleration
4690 981 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4691 : // but the maximum power of the electric motor may be lower
4692 : // it needs to be converted from [W] to [Wh/s] (3600s / 1h) so that TS can be taken into account
4693 981 : double maxPower = getEmissionParameters()->getDoubleOptional(SUMO_ATTR_MAXIMUMPOWER, 100000.) / 3600;
4694 981 : if (elecHybridOfVehicle->getConsum() / TS > maxPower) {
4695 : // no, we cannot accelerate that fast, recompute the maximum possible acceleration
4696 70 : double accel = elecHybridOfVehicle->acceleration(*this, maxPower, this->getSpeed());
4697 : // and update the speed of the vehicle
4698 70 : vNext = MIN2(vNext, this->getSpeed() + accel * TS);
4699 : vNext = MAX2(vNext, 0.);
4700 : // and set the vehicle consumption to reflect this
4701 70 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4702 : }
4703 : }
4704 :
4705 698993530 : setBrakingSignals(vNext);
4706 :
4707 : // update position and speed
4708 698993530 : int oldLaneOffset = myLane->getEdge().getNumLanes() - myLane->getIndex();
4709 : const MSLane* oldLaneMaybeOpposite = myLane;
4710 698993530 : if (myLaneChangeModel->isOpposite()) {
4711 : // transform to the forward-direction lane, move and then transform back
4712 404936 : myState.myPos = myLane->getOppositePos(myState.myPos);
4713 404936 : myLane = myLane->getParallelOpposite();
4714 : }
4715 698993530 : updateState(vNext);
4716 698993530 : updateWaitingTime(vNext);
4717 :
4718 : // Lanes, which the vehicle touched at some moment of the executed simstep
4719 : std::vector<MSLane*> passedLanes;
4720 : // remember previous lane (myLane is updated in processLaneAdvances)
4721 698993530 : const MSLane* oldLane = myLane;
4722 : // Reason for a possible emergency stop
4723 : std::string emergencyReason;
4724 698993530 : processLaneAdvances(passedLanes, emergencyReason);
4725 :
4726 698993530 : updateTimeLoss(vNext);
4727 698993530 : myCollisionImmunity = MAX2((SUMOTime) - 1, myCollisionImmunity - DELTA_T);
4728 :
4729 698993530 : if (!hasArrivedInternal() && !myLane->getEdge().isVaporizing()) {
4730 695695013 : if (myState.myPos > myLane->getLength()) {
4731 346 : if (emergencyReason == "") {
4732 31 : emergencyReason = TL(" for unknown reasons");
4733 : }
4734 1384 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency stop at the end of lane '%'% (decel=%, offset=%), time=%."),
4735 : getID(), myLane->getID(), emergencyReason, myAcceleration - myState.mySpeed,
4736 : myState.myPos - myLane->getLength(), time2string(SIMSTEP));
4737 346 : MSNet::getInstance()->getVehicleControl().registerEmergencyStop();
4738 346 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::EMERGENCYSTOP);
4739 346 : myState.myPos = myLane->getLength();
4740 346 : myState.mySpeed = 0;
4741 346 : myAcceleration = 0;
4742 : }
4743 695695013 : const MSLane* oldBackLane = getBackLane();
4744 695695013 : if (myLaneChangeModel->isOpposite()) {
4745 : passedLanes.clear(); // ignore back occupation
4746 : }
4747 : #ifdef DEBUG_ACTIONSTEPS
4748 : if (DEBUG_COND) {
4749 : std::cout << SIMTIME << " veh '" << getID() << "' updates further lanes." << std::endl;
4750 : }
4751 : #endif
4752 695695013 : myState.myBackPos = updateFurtherLanes(myFurtherLanes, myFurtherLanesPosLat, passedLanes);
4753 695695013 : if (passedLanes.size() > 1 && isRail()) {
4754 785584 : for (auto pi = passedLanes.rbegin(); pi != passedLanes.rend(); ++pi) {
4755 594892 : MSLane* pLane = *pi;
4756 594892 : if (pLane != myLane && std::find(myFurtherLanes.begin(), myFurtherLanes.end(), pLane) == myFurtherLanes.end()) {
4757 42448 : leaveLaneBack(MSMoveReminder::NOTIFICATION_JUNCTION, *pi);
4758 : }
4759 : }
4760 : }
4761 : // bestLanes need to be updated before lane changing starts. NOTE: This call is also a presumption for updateDriveItems()
4762 695695013 : updateBestLanes();
4763 695695013 : if (myLane != oldLane || oldBackLane != getBackLane()) {
4764 24593006 : if (myLaneChangeModel->getShadowLane() != nullptr || getLateralOverlap() > POSITION_EPS) {
4765 : // shadow lane must be updated if the front or back lane changed
4766 : // either if we already have a shadowLane or if there is lateral overlap
4767 548024 : myLaneChangeModel->updateShadowLane();
4768 : }
4769 24593006 : if (MSGlobals::gLateralResolution > 0 && !myLaneChangeModel->isOpposite()) {
4770 : // The vehicles target lane must be also be updated if the front or back lane changed
4771 4325170 : myLaneChangeModel->updateTargetLane();
4772 : }
4773 : }
4774 695695013 : setBlinkerInformation(); // needs updated bestLanes
4775 : //change the blue light only for emergency vehicles SUMOVehicleClass
4776 695695013 : if (myType->getVehicleClass() == SVC_EMERGENCY) {
4777 85869 : setEmergencyBlueLight(MSNet::getInstance()->getCurrentTimeStep());
4778 : }
4779 : // must be done before angle computation
4780 : // State needs to be reset for all vehicles before the next call to MSEdgeControl::changeLanes
4781 695695013 : if (myActionStep) {
4782 : // check (#2681): Can this be skipped?
4783 624041564 : myLaneChangeModel->prepareStep();
4784 : } else {
4785 71653449 : myLaneChangeModel->resetSpeedLat();
4786 : #ifdef DEBUG_ACTIONSTEPS
4787 : if (DEBUG_COND) {
4788 : std::cout << SIMTIME << " veh '" << getID() << "' skips LCM->prepareStep()." << std::endl;
4789 : }
4790 : #endif
4791 : }
4792 695695013 : myLaneChangeModel->setPreviousAngleOffset(myLaneChangeModel->getAngleOffset());
4793 695695013 : myAngle = computeAngle();
4794 : }
4795 :
4796 : #ifdef DEBUG_EXEC_MOVE
4797 : if (DEBUG_COND) {
4798 : std::cout << SIMTIME << " executeMove finished veh=" << getID() << " lane=" << myLane->getID() << " myPos=" << getPositionOnLane() << " myPosLat=" << getLateralPositionOnLane() << "\n";
4799 : gDebugFlag1 = false; // See MSLink_DEBUG_OPENED
4800 : }
4801 : #endif
4802 698993530 : if (myLaneChangeModel->isOpposite()) {
4803 : // transform back to the opposite-direction lane
4804 : MSLane* newOpposite = nullptr;
4805 404936 : const MSEdge* newOppositeEdge = myLane->getEdge().getOppositeEdge();
4806 404936 : if (newOppositeEdge != nullptr) {
4807 404886 : newOpposite = newOppositeEdge->getLanes()[newOppositeEdge->getNumLanes() - MAX2(1, oldLaneOffset)];
4808 : #ifdef DEBUG_EXEC_MOVE
4809 : if (DEBUG_COND) {
4810 : std::cout << SIMTIME << " newOppositeEdge=" << newOppositeEdge->getID() << " oldLaneOffset=" << oldLaneOffset << " leftMost=" << newOppositeEdge->getNumLanes() - 1 << " newOpposite=" << Named::getIDSecure(newOpposite) << "\n";
4811 : }
4812 : #endif
4813 : }
4814 404886 : if (newOpposite == nullptr) {
4815 50 : if (!myLaneChangeModel->hasBlueLight()) {
4816 : // unusual overtaking at junctions is ok for emergency vehicles
4817 0 : WRITE_WARNINGF(TL("Unexpected end of opposite lane for vehicle '%' at lane '%', time=%."),
4818 : getID(), myLane->getID(), time2string(SIMSTEP));
4819 : }
4820 50 : myLaneChangeModel->changedToOpposite();
4821 50 : if (myState.myPos < getLength()) {
4822 : // further lanes is always cleared during opposite driving
4823 50 : MSLane* oldOpposite = oldLane->getOpposite();
4824 50 : if (oldOpposite != nullptr) {
4825 50 : myFurtherLanes.push_back(oldOpposite);
4826 50 : myFurtherLanesPosLat.push_back(0);
4827 : // small value since the lane is going in the other direction
4828 50 : myState.myBackPos = getLength() - myState.myPos;
4829 50 : myAngle = computeAngle();
4830 : } else {
4831 : SOFT_ASSERT(false);
4832 : }
4833 : }
4834 : } else {
4835 404886 : myState.myPos = myLane->getOppositePos(myState.myPos);
4836 404886 : myLane = newOpposite;
4837 : oldLane = oldLaneMaybeOpposite;
4838 : //std::cout << SIMTIME << " updated myLane=" << Named::getIDSecure(myLane) << " oldLane=" << oldLane->getID() << "\n";
4839 404886 : myCachedPosition = Position::INVALID;
4840 404886 : myLaneChangeModel->updateShadowLane();
4841 : }
4842 : }
4843 698993530 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4844 : // Return whether the vehicle did move to another lane
4845 1397987060 : return myLane != oldLane;
4846 698993530 : }
4847 :
4848 : void
4849 216257 : MSVehicle::executeFractionalMove(double dist) {
4850 216257 : myState.myPos += dist;
4851 216257 : myState.myLastCoveredDist = dist;
4852 216257 : myCachedPosition = Position::INVALID;
4853 :
4854 216257 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(dist);
4855 216257 : const SUMOTime t = MSNet::getInstance()->getCurrentTimeStep();
4856 448519 : for (int i = 0; i < (int)lanes.size(); i++) {
4857 232262 : MSLink* link = nullptr;
4858 232262 : if (i + 1 < (int)lanes.size()) {
4859 16005 : const MSLane* const to = lanes[i + 1];
4860 16005 : const bool internal = to->isInternal();
4861 16010 : for (MSLink* const l : lanes[i]->getLinkCont()) {
4862 16010 : if ((internal && l->getViaLane() == to) || (!internal && l->getLane() == to)) {
4863 16005 : link = l;
4864 16005 : break;
4865 : }
4866 : }
4867 : }
4868 232262 : myLFLinkLanes.emplace_back(link, getSpeed(), getSpeed(), true, t, getSpeed(), 0, 0, dist);
4869 : }
4870 : // minimum execute move:
4871 : std::vector<MSLane*> passedLanes;
4872 : // Reason for a possible emergency stop
4873 216257 : if (lanes.size() > 1) {
4874 4005 : myLane->removeVehicle(this, MSMoveReminder::NOTIFICATION_JUNCTION, false);
4875 : }
4876 : std::string emergencyReason;
4877 216257 : processLaneAdvances(passedLanes, emergencyReason);
4878 : #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
4879 : if (DEBUG_COND) {
4880 : std::cout << SIMTIME << " veh=" << getID() << " executeFractionalMove dist=" << dist
4881 : << " passedLanes=" << toString(passedLanes) << " lanes=" << toString(lanes)
4882 : << " finalPos=" << myState.myPos
4883 : << " speed=" << getSpeed()
4884 : << " myFurtherLanes=" << toString(myFurtherLanes)
4885 : << "\n";
4886 : }
4887 : #endif
4888 216257 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4889 216257 : if (lanes.size() > 1) {
4890 4010 : for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
4891 : #ifdef DEBUG_FURTHER
4892 : if (DEBUG_COND) {
4893 : std::cout << SIMTIME << " leaveLane \n";
4894 : }
4895 : #endif
4896 5 : (*i)->resetPartialOccupation(this);
4897 : }
4898 : myFurtherLanes.clear();
4899 : myFurtherLanesPosLat.clear();
4900 4005 : myLane->forceVehicleInsertion(this, getPositionOnLane(), MSMoveReminder::NOTIFICATION_JUNCTION, getLateralPositionOnLane());
4901 : }
4902 216257 : }
4903 :
4904 :
4905 : void
4906 707159580 : MSVehicle::updateState(double vNext, bool parking) {
4907 : // update position and speed
4908 : double deltaPos; // positional change
4909 707159580 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4910 : // euler
4911 607890136 : deltaPos = SPEED2DIST(vNext);
4912 : } else {
4913 : // ballistic
4914 99269444 : deltaPos = getDeltaPos(SPEED2ACCEL(vNext - myState.mySpeed));
4915 : }
4916 :
4917 : // the *mean* acceleration during the next step (probably most appropriate for emission calculation)
4918 : // NOTE: for the ballistic update vNext may be negative, indicating a stop.
4919 707159580 : myAcceleration = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4920 :
4921 : #ifdef DEBUG_EXEC_MOVE
4922 : if (DEBUG_COND) {
4923 : std::cout << SIMTIME << " updateState() for veh '" << getID() << "': deltaPos=" << deltaPos
4924 : << " pos=" << myState.myPos << " newPos=" << myState.myPos + deltaPos << std::endl;
4925 : }
4926 : #endif
4927 707159580 : double decelPlus = -myAcceleration - getCarFollowModel().getMaxDecel() - NUMERICAL_EPS;
4928 707159580 : if (decelPlus > 0) {
4929 426830 : const double previousAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
4930 426830 : if (myAcceleration + NUMERICAL_EPS < previousAcceleration) {
4931 : // vehicle brakes beyond wished maximum deceleration (only warn at the start of the braking manoeuvre)
4932 292292 : decelPlus += 2 * NUMERICAL_EPS;
4933 292292 : const double emergencyFraction = decelPlus / MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel());
4934 292292 : if (emergencyFraction >= MSGlobals::gEmergencyDecelWarningThreshold) {
4935 94893 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency braking on lane '%' with decel=%, wished=%, severity=%, time=%."),
4936 : //+ " decelPlus=" + toString(decelPlus)
4937 : //+ " prevAccel=" + toString(previousAcceleration)
4938 : //+ " reserve=" + toString(MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel()))
4939 : getID(), myLane->getID(), -myAcceleration, getCarFollowModel().getMaxDecel(), emergencyFraction, time2string(SIMSTEP));
4940 31631 : MSNet::getInstance()->getVehicleControl().registerEmergencyBraking();
4941 : }
4942 : }
4943 : }
4944 :
4945 707159580 : myState.myPreviousSpeed = myState.mySpeed;
4946 707159580 : myState.mySpeed = MAX2(vNext, 0.);
4947 :
4948 707159580 : if (isRemoteControlled()) {
4949 6589 : deltaPos = myInfluencer->implicitDeltaPosRemote(this);
4950 : }
4951 :
4952 707159580 : myState.myPos += deltaPos;
4953 707159580 : myState.myLastCoveredDist = deltaPos;
4954 707159580 : myNextTurn.first -= deltaPos;
4955 :
4956 707159580 : if (!parking) {
4957 698993530 : myCachedPosition = Position::INVALID;
4958 : }
4959 707159580 : }
4960 :
4961 : void
4962 8166050 : MSVehicle::updateParkingState() {
4963 8166050 : updateState(0, true);
4964 : // deboard while parked
4965 8166050 : if (myPersonDevice != nullptr) {
4966 601935 : myPersonDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
4967 : }
4968 8166050 : if (myContainerDevice != nullptr) {
4969 59887 : myContainerDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
4970 : }
4971 16403758 : for (MSVehicleDevice* const dev : myDevices) {
4972 8237708 : dev->notifyParking();
4973 : }
4974 8166050 : }
4975 :
4976 :
4977 : void
4978 30650 : MSVehicle::replaceVehicleType(const MSVehicleType* type) {
4979 30650 : MSBaseVehicle::replaceVehicleType(type);
4980 30650 : delete myCFVariables;
4981 30650 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
4982 30650 : }
4983 :
4984 :
4985 : const MSLane*
4986 1375638229 : MSVehicle::getBackLane() const {
4987 1375638229 : if (myFurtherLanes.size() > 0) {
4988 18646079 : return myFurtherLanes.back();
4989 : } else {
4990 1356992150 : return myLane;
4991 : }
4992 : }
4993 :
4994 :
4995 : double
4996 701042907 : MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<double>& furtherLanesPosLat,
4997 : const std::vector<MSLane*>& passedLanes) {
4998 : #ifdef DEBUG_SETFURTHER
4999 : if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID()
5000 : << " updateFurtherLanes oldFurther=" << toString(furtherLanes)
5001 : << " oldFurtherPosLat=" << toString(furtherLanesPosLat)
5002 : << " passed=" << toString(passedLanes)
5003 : << "\n";
5004 : #endif
5005 716686542 : for (MSLane* further : furtherLanes) {
5006 15643635 : further->resetPartialOccupation(this);
5007 15643635 : if (further->getBidiLane() != nullptr
5008 15643635 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5009 25720 : further->getBidiLane()->resetPartialOccupation(this);
5010 : }
5011 : }
5012 :
5013 : std::vector<MSLane*> newFurther;
5014 : std::vector<double> newFurtherPosLat;
5015 701042907 : double backPosOnPreviousLane = myState.myPos - getLength();
5016 : bool widthShift = myFurtherLanesPosLat.size() > myFurtherLanes.size();
5017 701042907 : if (passedLanes.size() > 1) {
5018 : // There are candidates for further lanes. (passedLanes[-1] is the current lane, or current shadow lane in context of updateShadowLanes())
5019 : std::vector<MSLane*>::const_iterator fi = furtherLanes.begin();
5020 : std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
5021 44101157 : for (auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
5022 : // As long as vehicle back reaches into passed lane, add it to the further lanes
5023 15575490 : MSLane* further = *pi;
5024 15575490 : newFurther.push_back(further);
5025 15575490 : backPosOnPreviousLane += further->setPartialOccupation(this);
5026 15575490 : if (further->getBidiLane() != nullptr
5027 15575490 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5028 25235 : further->getBidiLane()->setPartialOccupation(this);
5029 : }
5030 15575490 : if (fi != furtherLanes.end() && further == *fi) {
5031 : // Lateral position on this lane is already known. Assume constant and use old value.
5032 5474600 : newFurtherPosLat.push_back(*fpi);
5033 : ++fi;
5034 : ++fpi;
5035 : } else {
5036 : // The lane *pi was not in furtherLanes before.
5037 : // If it is downstream, we assume as lateral position the current position
5038 : // If it is a new lane upstream (can appear as shadow further in case of LC-maneuvering, e.g.)
5039 : // we assign the last known lateral position.
5040 10100890 : if (newFurtherPosLat.size() == 0) {
5041 9488789 : if (widthShift) {
5042 1462177 : newFurtherPosLat.push_back(myFurtherLanesPosLat.back());
5043 : } else {
5044 8026612 : newFurtherPosLat.push_back(myState.myPosLat);
5045 : }
5046 : } else {
5047 612101 : newFurtherPosLat.push_back(newFurtherPosLat.back());
5048 : }
5049 : }
5050 : #ifdef DEBUG_SETFURTHER
5051 : if (DEBUG_COND) {
5052 : std::cout << SIMTIME << " updateFurtherLanes \n"
5053 : << " further lane '" << further->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
5054 : << std::endl;
5055 : }
5056 : #endif
5057 : }
5058 28525667 : furtherLanes = newFurther;
5059 28525667 : furtherLanesPosLat = newFurtherPosLat;
5060 : } else {
5061 : furtherLanes.clear();
5062 : furtherLanesPosLat.clear();
5063 : }
5064 : #ifdef DEBUG_SETFURTHER
5065 : if (DEBUG_COND) std::cout
5066 : << " newFurther=" << toString(furtherLanes)
5067 : << " newFurtherPosLat=" << toString(furtherLanesPosLat)
5068 : << " newBackPos=" << backPosOnPreviousLane
5069 : << "\n";
5070 : #endif
5071 701042907 : return backPosOnPreviousLane;
5072 701042907 : }
5073 :
5074 :
5075 : double
5076 33608154255 : MSVehicle::getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const {
5077 : #ifdef DEBUG_FURTHER
5078 : if (DEBUG_COND) {
5079 : std::cout << SIMTIME
5080 : << " getBackPositionOnLane veh=" << getID()
5081 : << " lane=" << Named::getIDSecure(lane)
5082 : << " cbgP=" << calledByGetPosition
5083 : << " pos=" << myState.myPos
5084 : << " backPos=" << myState.myBackPos
5085 : << " myLane=" << myLane->getID()
5086 : << " myLaneBidi=" << Named::getIDSecure(myLane->getBidiLane())
5087 : << " further=" << toString(myFurtherLanes)
5088 : << " furtherPosLat=" << toString(myFurtherLanesPosLat)
5089 : << "\n shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
5090 : << " shadowFurther=" << toString(myLaneChangeModel->getShadowFurtherLanes())
5091 : << " shadowFurtherPosLat=" << toString(myLaneChangeModel->getShadowFurtherLanesPosLat())
5092 : << "\n targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
5093 : << " furtherTargets=" << toString(myLaneChangeModel->getFurtherTargetLanes())
5094 : << std::endl;
5095 : }
5096 : #endif
5097 33608154255 : if (lane == myLane
5098 8060392314 : || lane == myLaneChangeModel->getShadowLane()
5099 38204901730 : || lane == myLaneChangeModel->getTargetLane()) {
5100 29012987063 : if (myLaneChangeModel->isOpposite()) {
5101 231298396 : if (lane == myLaneChangeModel->getShadowLane()) {
5102 199197109 : return lane->getLength() - myState.myPos - myType->getLength();
5103 : } else {
5104 36889749 : return myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5105 : }
5106 28781688667 : } else if (&lane->getEdge() != &myLane->getEdge()) {
5107 20834474 : return lane->getLength() - myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5108 : } else {
5109 : // account for parallel lanes of different lengths in the most conservative manner (i.e. while turning)
5110 57522410599 : return myState.myPos - myType->getLength() + MIN2(0.0, lane->getLength() - myLane->getLength());
5111 : }
5112 4595167192 : } else if (lane == myLane->getBidiLane()) {
5113 3965030 : return lane->getLength() - myState.myPos + myType->getLength() * (calledByGetPosition ? -1 : 1);
5114 4592706302 : } else if (myFurtherLanes.size() > 0 && lane == myFurtherLanes.back()) {
5115 4545224405 : return myState.myBackPos;
5116 47481897 : } else if ((myLaneChangeModel->getShadowFurtherLanes().size() > 0 && lane == myLaneChangeModel->getShadowFurtherLanes().back())
5117 48059712 : || (myLaneChangeModel->getFurtherTargetLanes().size() > 0 && lane == myLaneChangeModel->getFurtherTargetLanes().back())) {
5118 : assert(myFurtherLanes.size() > 0);
5119 19039468 : if (lane->getLength() == myFurtherLanes.back()->getLength()) {
5120 18375404 : return myState.myBackPos;
5121 : } else {
5122 : // interpolate
5123 : //if (DEBUG_COND) {
5124 : //if (myFurtherLanes.back()->getLength() != lane->getLength()) {
5125 : // std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " further=" << myFurtherLanes.back()->getID()
5126 : // << " len=" << lane->getLength() << " fLen=" << myFurtherLanes.back()->getLength()
5127 : // << " backPos=" << myState.myBackPos << " result=" << myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength() << "\n";
5128 : //}
5129 664064 : return myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength();
5130 : }
5131 : } else {
5132 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherLanes=" << toString(myFurtherLanes) << "\n";
5133 28442429 : double leftLength = myType->getLength() - myState.myPos;
5134 :
5135 : std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin();
5136 30340514 : while (leftLength > 0 && i != myFurtherLanes.end()) {
5137 30315037 : leftLength -= (*i)->getLength();
5138 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5139 30315037 : if (*i == lane) {
5140 28128548 : return -leftLength;
5141 2186489 : } else if (*i == lane->getBidiLane()) {
5142 288404 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5143 : }
5144 : ++i;
5145 : }
5146 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
5147 25477 : leftLength = myType->getLength() - myState.myPos;
5148 25477 : i = myLaneChangeModel->getShadowFurtherLanes().begin();
5149 25477 : while (leftLength > 0 && i != myLaneChangeModel->getShadowFurtherLanes().end()) {
5150 25447 : leftLength -= (*i)->getLength();
5151 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5152 25447 : if (*i == lane) {
5153 25447 : return -leftLength;
5154 : }
5155 : ++i;
5156 : }
5157 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherTargetLanes=" << toString(myLaneChangeModel->getFurtherTargetLanes()) << "\n";
5158 : leftLength = myType->getLength() - myState.myPos;
5159 : i = getFurtherLanes().begin();
5160 30 : const std::vector<MSLane*> furtherTargetLanes = myLaneChangeModel->getFurtherTargetLanes();
5161 : auto j = furtherTargetLanes.begin();
5162 31 : while (leftLength > 0 && j != furtherTargetLanes.end()) {
5163 3 : leftLength -= (*i)->getLength();
5164 : // if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5165 3 : if (*j == lane) {
5166 2 : return -leftLength;
5167 : }
5168 : ++i;
5169 : ++j;
5170 : }
5171 196 : WRITE_WARNING("Request backPos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane)
5172 : + "' time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".")
5173 : SOFT_ASSERT(false);
5174 28 : return myState.myBackPos;
5175 30 : }
5176 : }
5177 :
5178 :
5179 : double
5180 27245937940 : MSVehicle::getPositionOnLane(const MSLane* lane) const {
5181 27245937940 : return getBackPositionOnLane(lane, true) + myType->getLength();
5182 : }
5183 :
5184 :
5185 : bool
5186 425515155 : MSVehicle::isFrontOnLane(const MSLane* lane) const {
5187 425515155 : return lane == myLane || lane == myLaneChangeModel->getShadowLane() || lane == myLane->getBidiLane();
5188 : }
5189 :
5190 :
5191 : void
5192 629460017 : MSVehicle::checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const {
5193 629460017 : if (MSGlobals::gUsingInternalLanes && !myLane->getEdge().isRoundabout() && !myLaneChangeModel->isOpposite()) {
5194 626273909 : double seenSpace = -lengthsInFront;
5195 : #ifdef DEBUG_CHECKREWINDLINKLANES
5196 : if (DEBUG_COND) {
5197 : std::cout << "\nCHECK_REWIND_LINKLANES\n" << " veh=" << getID() << " lengthsInFront=" << lengthsInFront << "\n";
5198 : };
5199 : #endif
5200 626273909 : bool foundStopped = false;
5201 : // compute available space until a stopped vehicle is found
5202 : // this is the sum of non-interal lane length minus in-between vehicle lengths
5203 1818670137 : for (int i = 0; i < (int)lfLinks.size(); ++i) {
5204 : // skip unset links
5205 1192396228 : DriveProcessItem& item = lfLinks[i];
5206 : #ifdef DEBUG_CHECKREWINDLINKLANES
5207 : if (DEBUG_COND) std::cout << SIMTIME
5208 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5209 : << " foundStopped=" << foundStopped;
5210 : #endif
5211 1192396228 : if (item.myLink == nullptr || foundStopped) {
5212 394958724 : if (!foundStopped) {
5213 343233427 : item.availableSpace += seenSpace;
5214 : } else {
5215 51725297 : item.availableSpace = seenSpace;
5216 : }
5217 : #ifdef DEBUG_CHECKREWINDLINKLANES
5218 : if (DEBUG_COND) {
5219 : std::cout << " avail=" << item.availableSpace << "\n";
5220 : }
5221 : #endif
5222 394958724 : continue;
5223 : }
5224 : // get the next lane, determine whether it is an internal lane
5225 : const MSLane* approachedLane = item.myLink->getViaLane();
5226 797437504 : if (approachedLane != nullptr) {
5227 435103178 : if (keepClear(item.myLink)) {
5228 134030145 : seenSpace = seenSpace - approachedLane->getBruttoVehLenSum();
5229 134030145 : if (approachedLane == myLane) {
5230 48432 : seenSpace += getVehicleType().getLengthWithGap();
5231 : }
5232 : } else {
5233 301073033 : seenSpace = seenSpace + approachedLane->getSpaceTillLastStanding(this, foundStopped);// - approachedLane->getBruttoVehLenSum() + approachedLane->getLength();
5234 : }
5235 435103178 : item.availableSpace = seenSpace;
5236 : #ifdef DEBUG_CHECKREWINDLINKLANES
5237 : if (DEBUG_COND) std::cout
5238 : << " approached=" << approachedLane->getID()
5239 : << " approachedBrutto=" << approachedLane->getBruttoVehLenSum()
5240 : << " avail=" << item.availableSpace
5241 : << " seenSpace=" << seenSpace
5242 : << " hadStoppedVehicle=" << item.hadStoppedVehicle
5243 : << " lengthsInFront=" << lengthsInFront
5244 : << "\n";
5245 : #endif
5246 435103178 : continue;
5247 : }
5248 : approachedLane = item.myLink->getLane();
5249 362334326 : const MSVehicle* last = approachedLane->getLastAnyVehicle();
5250 362334326 : if (last == nullptr || last == this) {
5251 55663077 : if (approachedLane->getLength() > getVehicleType().getLength()
5252 55663077 : || keepClear(item.myLink)) {
5253 53337694 : seenSpace += approachedLane->getLength();
5254 : }
5255 55663077 : item.availableSpace = seenSpace;
5256 : #ifdef DEBUG_CHECKREWINDLINKLANES
5257 : if (DEBUG_COND) {
5258 : std::cout << " last=" << Named::getIDSecure(last) << " laneLength=" << approachedLane->getLength() << " avail=" << item.availableSpace << "\n";
5259 : }
5260 : #endif
5261 : } else {
5262 306671249 : bool foundStopped2 = false;
5263 306671249 : double spaceTillLastStanding = approachedLane->getSpaceTillLastStanding(this, foundStopped2);
5264 306671249 : if (approachedLane->getBidiLane() != nullptr) {
5265 76249 : const MSVehicle* oncomingVeh = approachedLane->getBidiLane()->getFirstFullVehicle();
5266 76249 : if (oncomingVeh) {
5267 24164 : const double oncomingGap = approachedLane->getLength() - oncomingVeh->getPositionOnLane();
5268 24164 : const double oncomingBGap = oncomingVeh->getBrakeGap(true);
5269 : // oncoming movement until ego enters the junction
5270 24164 : const double oncomingMove = STEPS2TIME(item.myArrivalTime - SIMSTEP) * oncomingVeh->getSpeed();
5271 24164 : const double spaceTillOncoming = oncomingGap - oncomingBGap - oncomingMove;
5272 : spaceTillLastStanding = MIN2(spaceTillLastStanding, spaceTillOncoming);
5273 24164 : if (spaceTillOncoming <= getVehicleType().getLengthWithGap()) {
5274 19465 : foundStopped = true;
5275 : }
5276 : #ifdef DEBUG_CHECKREWINDLINKLANES
5277 : if (DEBUG_COND) {
5278 : std::cout << " oVeh=" << oncomingVeh->getID()
5279 : << " oGap=" << oncomingGap
5280 : << " bGap=" << oncomingBGap
5281 : << " mGap=" << oncomingMove
5282 : << " sto=" << spaceTillOncoming;
5283 : }
5284 : #endif
5285 : }
5286 : }
5287 306671249 : seenSpace += spaceTillLastStanding;
5288 306671249 : if (foundStopped2) {
5289 20581505 : foundStopped = true;
5290 20581505 : item.hadStoppedVehicle = true;
5291 : }
5292 306671249 : item.availableSpace = seenSpace;
5293 306671249 : if (last->myHaveToWaitOnNextLink || last->isStopped()) {
5294 30139409 : foundStopped = true;
5295 30139409 : item.hadStoppedVehicle = true;
5296 : }
5297 : #ifdef DEBUG_CHECKREWINDLINKLANES
5298 : if (DEBUG_COND) std::cout
5299 : << " approached=" << approachedLane->getID()
5300 : << " last=" << last->getID()
5301 : << " lastHasToWait=" << last->myHaveToWaitOnNextLink
5302 : << " lastBrakeLight=" << last->signalSet(VEH_SIGNAL_BRAKELIGHT)
5303 : << " lastBrakeGap=" << last->getCarFollowModel().brakeGap(last->getSpeed())
5304 : << " lastGap=" << (last->getBackPositionOnLane(approachedLane) + last->getCarFollowModel().brakeGap(last->getSpeed()) - last->getSpeed() * last->getCarFollowModel().getHeadwayTime()
5305 : // gap of last up to the next intersection
5306 : - last->getVehicleType().getMinGap())
5307 : << " stls=" << spaceTillLastStanding
5308 : << " avail=" << item.availableSpace
5309 : << " seenSpace=" << seenSpace
5310 : << " foundStopped=" << foundStopped
5311 : << " foundStopped2=" << foundStopped2
5312 : << "\n";
5313 : #endif
5314 : }
5315 : }
5316 :
5317 : // check which links allow continuation and add pass available to the previous item
5318 1192396228 : for (int i = ((int)lfLinks.size() - 1); i > 0; --i) {
5319 566122319 : DriveProcessItem& item = lfLinks[i - 1];
5320 566122319 : DriveProcessItem& nextItem = lfLinks[i];
5321 566122319 : const bool canLeaveJunction = item.myLink->getViaLane() == nullptr || nextItem.myLink == nullptr || nextItem.mySetRequest;
5322 : const bool opened = (item.myLink != nullptr
5323 566122319 : && (canLeaveJunction || (
5324 : // indirect bicycle turn
5325 27041783 : nextItem.myLink != nullptr && nextItem.myLink->isInternalJunctionLink() && nextItem.myLink->haveRed()))
5326 539094598 : && (
5327 539094598 : item.myLink->havePriority()
5328 26787477 : || i == 1 // the upcoming link (item 0) is checked in executeMove anyway. No need to use outdata approachData here
5329 4959506 : || (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority())
5330 4929993 : || item.myLink->opened(item.myArrivalTime, item.myArrivalSpeed,
5331 4929993 : item.getLeaveSpeed(), getVehicleType().getLength(),
5332 4929993 : getImpatience(), getCarFollowModel().getMaxDecel(), getWaitingTime(), getLateralPositionOnLane(), nullptr, false, this)));
5333 566122319 : bool allowsContinuation = (item.myLink == nullptr || item.myLink->isCont() || opened) && !item.hadStoppedVehicle;
5334 : #ifdef DEBUG_CHECKREWINDLINKLANES
5335 : if (DEBUG_COND) std::cout
5336 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5337 : << " canLeave=" << canLeaveJunction
5338 : << " opened=" << opened
5339 : << " allowsContinuation=" << allowsContinuation
5340 : << " foundStopped=" << foundStopped
5341 : << "\n";
5342 : #endif
5343 566122319 : if (!opened && item.myLink != nullptr) {
5344 27765634 : foundStopped = true;
5345 27765634 : if (i > 1) {
5346 4484455 : DriveProcessItem& item2 = lfLinks[i - 2];
5347 4484455 : if (item2.myLink != nullptr && item2.myLink->isCont()) {
5348 : allowsContinuation = true;
5349 : }
5350 : }
5351 : }
5352 563377071 : if (allowsContinuation) {
5353 507590949 : item.availableSpace = nextItem.availableSpace;
5354 : #ifdef DEBUG_CHECKREWINDLINKLANES
5355 : if (DEBUG_COND) std::cout
5356 : << " link=" << (item.myLink == nullptr ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5357 : << " copy nextAvail=" << nextItem.availableSpace
5358 : << "\n";
5359 : #endif
5360 : }
5361 : }
5362 :
5363 : // find removalBegin
5364 : int removalBegin = -1;
5365 753129779 : for (int i = 0; foundStopped && i < (int)lfLinks.size() && removalBegin < 0; ++i) {
5366 : // skip unset links
5367 126855870 : const DriveProcessItem& item = lfLinks[i];
5368 126855870 : if (item.myLink == nullptr) {
5369 6503669 : continue;
5370 : }
5371 : /*
5372 : double impatienceCorrection = MAX2(0., double(double(myWaitingTime)));
5373 : if (seenSpace<getVehicleType().getLengthWithGap()-impatienceCorrection/10.&&nextSeenNonInternal!=0) {
5374 : removalBegin = lastLinkToInternal;
5375 : }
5376 : */
5377 :
5378 120352201 : const double leftSpace = item.availableSpace - getVehicleType().getLengthWithGap();
5379 : #ifdef DEBUG_CHECKREWINDLINKLANES
5380 : if (DEBUG_COND) std::cout
5381 : << SIMTIME
5382 : << " veh=" << getID()
5383 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5384 : << " avail=" << item.availableSpace
5385 : << " leftSpace=" << leftSpace
5386 : << "\n";
5387 : #endif
5388 120352201 : if (leftSpace < 0/* && item.myLink->willHaveBlockedFoe()*/) {
5389 : double impatienceCorrection = 0;
5390 : /*
5391 : if(item.myLink->getState()==LINKSTATE_MINOR) {
5392 : impatienceCorrection = MAX2(0., STEPS2TIME(myWaitingTime));
5393 : }
5394 : */
5395 : // may ignore keepClear rules
5396 76213542 : if (leftSpace < -impatienceCorrection / 10. && keepClear(item.myLink)) {
5397 : removalBegin = i;
5398 : }
5399 : //removalBegin = i;
5400 : }
5401 : }
5402 : // abort requests
5403 626273909 : if (removalBegin != -1 && !(removalBegin == 0 && myLane->getEdge().isInternal())) {
5404 30053343 : const double brakeGap = getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.);
5405 102735820 : while (removalBegin < (int)(lfLinks.size())) {
5406 77485240 : DriveProcessItem& dpi = lfLinks[removalBegin];
5407 77485240 : if (dpi.myLink == nullptr) {
5408 : break;
5409 : }
5410 72682477 : dpi.myVLinkPass = dpi.myVLinkWait;
5411 : #ifdef DEBUG_CHECKREWINDLINKLANES
5412 : if (DEBUG_COND) {
5413 : std::cout << " removalBegin=" << removalBegin << " brakeGap=" << brakeGap << " dist=" << dpi.myDistance << " speed=" << myState.mySpeed << " a2s=" << ACCEL2SPEED(getCarFollowModel().getMaxDecel()) << "\n";
5414 : }
5415 : #endif
5416 72682477 : if (dpi.myDistance >= brakeGap + POSITION_EPS) {
5417 : // always leave junctions after requesting to enter
5418 72673887 : if (!dpi.myLink->isExitLink() || !lfLinks[removalBegin - 1].mySetRequest) {
5419 72666207 : dpi.mySetRequest = false;
5420 : }
5421 : }
5422 72682477 : ++removalBegin;
5423 : }
5424 : }
5425 : }
5426 629460017 : }
5427 :
5428 :
5429 : void
5430 701134693 : MSVehicle::setApproachingForAllLinks() {
5431 701134693 : if (!myActionStep) {
5432 : return;
5433 : }
5434 629460017 : removeApproachingInformation(myLFLinkLanesPrev);
5435 1829661853 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5436 1200201836 : if (dpi.myLink != nullptr) {
5437 848728361 : if (dpi.myLink->getState() == LINKSTATE_ALLWAY_STOP) {
5438 2850520 : dpi.myArrivalTime += (SUMOTime)RandHelper::rand((int)2, getRNG()); // tie braker
5439 : }
5440 848728361 : dpi.myLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5441 848728361 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance, getLateralPositionOnLane());
5442 : }
5443 : }
5444 629460017 : if (isRail()) {
5445 7783186 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5446 6495387 : if (dpi.myLink != nullptr && dpi.myLink->getTLLogic() != nullptr && dpi.myLink->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL) {
5447 592770 : MSRailSignalControl::getInstance().notifyApproach(dpi.myLink);
5448 : }
5449 : }
5450 : }
5451 629460017 : if (myLaneChangeModel->getShadowLane() != nullptr) {
5452 : // register on all shadow links
5453 7547230 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
5454 5002303 : if (dpi.myLink != nullptr) {
5455 3413794 : MSLink* parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
5456 3413794 : if (parallelLink == nullptr && getLaneChangeModel().isOpposite() && dpi.myLink->isEntryLink()) {
5457 : // register on opposite direction entry link to warn foes at minor side road
5458 169486 : parallelLink = dpi.myLink->getOppositeDirectionLink();
5459 : }
5460 3413794 : if (parallelLink != nullptr) {
5461 2430790 : const double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
5462 2430790 : parallelLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5463 2430790 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance,
5464 : latOffset);
5465 2430790 : myLaneChangeModel->setShadowApproachingInformation(parallelLink);
5466 : }
5467 : }
5468 : }
5469 : }
5470 : #ifdef DEBUG_PLAN_MOVE
5471 : if (DEBUG_COND) {
5472 : std::cout << SIMTIME
5473 : << " veh=" << getID()
5474 : << " after checkRewindLinkLanes\n";
5475 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5476 : std::cout
5477 : << " vPass=" << dpi.myVLinkPass
5478 : << " vWait=" << dpi.myVLinkWait
5479 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
5480 : << " request=" << dpi.mySetRequest
5481 : << " atime=" << dpi.myArrivalTime
5482 : << "\n";
5483 : }
5484 : }
5485 : #endif
5486 : }
5487 :
5488 :
5489 : void
5490 1842 : MSVehicle::registerInsertionApproach(MSLink* link, double dist) {
5491 : DriveProcessItem dpi(0, dist);
5492 1842 : dpi.myLink = link;
5493 1842 : const double arrivalSpeedBraking = getCarFollowModel().getMinimalArrivalSpeedEuler(dist, getSpeed());
5494 1842 : link->setApproaching(this, SUMOTime_MAX, 0, 0, false, arrivalSpeedBraking, 0, dpi.myDistance, 0);
5495 : // ensure cleanup in the next step
5496 1842 : myLFLinkLanes.push_back(dpi);
5497 1842 : MSRailSignalControl::getInstance().notifyApproach(link);
5498 1842 : }
5499 :
5500 :
5501 : void
5502 19409575 : MSVehicle::enterLaneAtMove(MSLane* enteredLane, bool onTeleporting) {
5503 19409575 : myAmOnNet = !onTeleporting;
5504 : // vaporizing edge?
5505 : /*
5506 : if (enteredLane->getEdge().isVaporizing()) {
5507 : // yep, let's do the vaporization...
5508 : myLane = enteredLane;
5509 : return true;
5510 : }
5511 : */
5512 : // Adjust MoveReminder offset to the next lane
5513 19409575 : adaptLaneEntering2MoveReminder(*enteredLane);
5514 : // set the entered lane as the current lane
5515 19409575 : MSLane* oldLane = myLane;
5516 19409575 : myLane = enteredLane;
5517 19409575 : myLastBestLanesEdge = nullptr;
5518 :
5519 : // internal edges are not a part of the route...
5520 19409575 : if (!enteredLane->getEdge().isInternal()) {
5521 : ++myCurrEdge;
5522 : assert(myLaneChangeModel->isOpposite() || haveValidStopEdges());
5523 : }
5524 19409575 : if (myInfluencer != nullptr) {
5525 9033 : myInfluencer->adaptLaneTimeLine(myLane->getIndex() - oldLane->getIndex());
5526 : }
5527 19409575 : if (!onTeleporting) {
5528 19392056 : activateReminders(MSMoveReminder::NOTIFICATION_JUNCTION, enteredLane);
5529 19392056 : if (MSGlobals::gLateralResolution > 0) {
5530 3763868 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5531 : // transform lateral position when the lane width changes
5532 : assert(oldLane != nullptr);
5533 3763868 : const MSLink* const link = oldLane->getLinkTo(myLane);
5534 3763868 : if (link != nullptr) {
5535 3763826 : myState.myPosLat += link->getLateralShift();
5536 : } else {
5537 42 : myState.myPosLat += (oldLane->getCenterOnEdge() - myLane->getCanonicalPredecessorLane()->getRightSideOnEdge()) / 2;
5538 : }
5539 15628188 : } else if (fabs(myState.myPosLat) > NUMERICAL_EPS) {
5540 242965 : const double overlap = MAX2(0.0, getLateralOverlap(myState.myPosLat, oldLane));
5541 242965 : const double range = (oldLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5542 242965 : const double range2 = (myLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5543 242965 : myState.myPosLat *= range2 / range;
5544 : }
5545 19392056 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5546 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5547 : // (unless the lane is shared with cars)
5548 9462 : myLane->getBidiLane()->setPartialOccupation(this);
5549 : }
5550 : } else {
5551 : // normal move() isn't called so reset position here. must be done
5552 : // before calling reminders
5553 17519 : myState.myPos = 0;
5554 17519 : myCachedPosition = Position::INVALID;
5555 17519 : activateReminders(MSMoveReminder::NOTIFICATION_TELEPORT, enteredLane);
5556 : }
5557 : // update via
5558 19409575 : if (myParameter->via.size() > 0 && myLane->getEdge().getID() == myParameter->via.front()) {
5559 7153 : myParameter->via.erase(myParameter->via.begin());
5560 : }
5561 19409575 : }
5562 :
5563 :
5564 : void
5565 1074397 : MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
5566 1074397 : myAmOnNet = true;
5567 1074397 : myLane = enteredLane;
5568 1074397 : myCachedPosition = Position::INVALID;
5569 : // need to update myCurrentLaneInBestLanes
5570 1074397 : updateBestLanes();
5571 : // switch to and activate the new lane's reminders
5572 : // keep OldLaneReminders
5573 1271913 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5574 197516 : addReminder(*rem);
5575 : }
5576 1074397 : activateReminders(MSMoveReminder::NOTIFICATION_LANE_CHANGE, enteredLane);
5577 1074397 : MSLane* lane = myLane;
5578 1074397 : double leftLength = getVehicleType().getLength() - myState.myPos;
5579 : int deleteFurther = 0;
5580 : #ifdef DEBUG_SETFURTHER
5581 : if (DEBUG_COND) {
5582 : std::cout << SIMTIME << " enterLaneAtLaneChange entered=" << Named::getIDSecure(enteredLane) << " oldFurther=" << toString(myFurtherLanes) << "\n";
5583 : }
5584 : #endif
5585 1074397 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5586 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5587 : // (unless the lane is shared with cars)
5588 8187 : myLane->getBidiLane()->setPartialOccupation(this);
5589 : }
5590 1157745 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
5591 83348 : if (lane != nullptr) {
5592 80304 : lane = lane->getLogicalPredecessorLane(myFurtherLanes[i]->getEdge());
5593 : }
5594 : #ifdef DEBUG_SETFURTHER
5595 : if (DEBUG_COND) {
5596 : std::cout << " enterLaneAtLaneChange i=" << i << " lane=" << Named::getIDSecure(lane) << " leftLength=" << leftLength << "\n";
5597 : }
5598 : #endif
5599 83348 : if (leftLength > 0) {
5600 82791 : if (lane != nullptr) {
5601 33393 : myFurtherLanes[i]->resetPartialOccupation(this);
5602 33393 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5603 33393 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5604 60 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5605 : }
5606 : // lane changing onto longer lanes may reduce the number of
5607 : // remaining further lanes
5608 33393 : myFurtherLanes[i] = lane;
5609 33393 : myFurtherLanesPosLat[i] = myState.myPosLat;
5610 33393 : leftLength -= lane->setPartialOccupation(this);
5611 33393 : if (lane->getBidiLane() != nullptr
5612 33393 : && (!isRailway(getVClass()) || (lane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5613 540 : lane->getBidiLane()->setPartialOccupation(this);
5614 : }
5615 33393 : myState.myBackPos = -leftLength;
5616 : #ifdef DEBUG_SETFURTHER
5617 : if (DEBUG_COND) {
5618 : std::cout << SIMTIME << " newBackPos=" << myState.myBackPos << "\n";
5619 : }
5620 : #endif
5621 : } else {
5622 : // keep the old values, but ensure there is no shadow
5623 49398 : if (myLaneChangeModel->isChangingLanes()) {
5624 0 : myLaneChangeModel->setNoShadowPartialOccupator(myFurtherLanes[i]);
5625 : }
5626 49398 : if (myState.myBackPos < 0) {
5627 43 : myState.myBackPos += myFurtherLanes[i]->getLength();
5628 : }
5629 : #ifdef DEBUG_SETFURTHER
5630 : if (DEBUG_COND) {
5631 : std::cout << SIMTIME << " i=" << i << " further=" << myFurtherLanes[i]->getID() << " newBackPos=" << myState.myBackPos << "\n";
5632 : }
5633 : #endif
5634 : }
5635 : } else {
5636 557 : myFurtherLanes[i]->resetPartialOccupation(this);
5637 557 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5638 557 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5639 0 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5640 : }
5641 557 : deleteFurther++;
5642 : }
5643 : }
5644 1074397 : if (deleteFurther > 0) {
5645 : #ifdef DEBUG_SETFURTHER
5646 : if (DEBUG_COND) {
5647 : std::cout << SIMTIME << " veh=" << getID() << " shortening myFurtherLanes by " << deleteFurther << "\n";
5648 : }
5649 : #endif
5650 526 : myFurtherLanes.erase(myFurtherLanes.end() - deleteFurther, myFurtherLanes.end());
5651 526 : myFurtherLanesPosLat.erase(myFurtherLanesPosLat.end() - deleteFurther, myFurtherLanesPosLat.end());
5652 : }
5653 : #ifdef DEBUG_SETFURTHER
5654 : if (DEBUG_COND) {
5655 : std::cout << SIMTIME << " enterLaneAtLaneChange new furtherLanes=" << toString(myFurtherLanes)
5656 : << " furterLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
5657 : }
5658 : #endif
5659 1074397 : myAngle = computeAngle();
5660 1074397 : }
5661 :
5662 :
5663 : void
5664 3519633 : MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision) {
5665 : // build the list of lanes the vehicle is lapping into
5666 3519633 : if (!myLaneChangeModel->isOpposite()) {
5667 3497455 : double leftLength = myType->getLength() - pos;
5668 3497455 : MSLane* clane = enteredLane;
5669 3497455 : int routeIndex = getRoutePosition();
5670 3602660 : while (leftLength > 0) {
5671 235020 : if (routeIndex > 0 && clane->getEdge().isNormal()) {
5672 : // get predecessor lane that corresponds to prior route
5673 4523 : routeIndex--;
5674 4523 : const MSEdge* fromRouteEdge = myRoute->getEdges()[routeIndex];
5675 : MSLane* target = clane;
5676 4523 : clane = nullptr;
5677 6037 : for (auto ili : target->getIncomingLanes()) {
5678 6030 : if (ili.lane->getEdge().getNormalBefore() == fromRouteEdge) {
5679 4516 : clane = ili.lane;
5680 4516 : break;
5681 : }
5682 : }
5683 : } else {
5684 230497 : clane = clane->getLogicalPredecessorLane();
5685 : }
5686 145569 : if (clane == nullptr || clane == myLane || clane == myLane->getBidiLane()
5687 380581 : || (clane->isInternal() && (
5688 122349 : clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN
5689 81993 : || clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN_LEFTHAND))) {
5690 : break;
5691 : }
5692 105205 : if (!collision || std::find(myFurtherLanes.begin(), myFurtherLanes.end(), clane) == myFurtherLanes.end()) {
5693 104802 : myFurtherLanes.push_back(clane);
5694 104802 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5695 104802 : clane->setPartialOccupation(this);
5696 104802 : if (clane->getBidiLane() != nullptr
5697 104802 : && (!isRailway(getVClass()) || (clane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5698 5 : clane->getBidiLane()->setPartialOccupation(this);
5699 : }
5700 : }
5701 105205 : leftLength -= clane->getLength();
5702 : }
5703 3497455 : myState.myBackPos = -leftLength;
5704 : #ifdef DEBUG_SETFURTHER
5705 : if (DEBUG_COND) {
5706 : std::cout << SIMTIME << " computeFurtherLanes veh=" << getID() << " pos=" << pos << " myFurtherLanes=" << toString(myFurtherLanes) << " backPos=" << myState.myBackPos << "\n";
5707 : }
5708 : #endif
5709 : } else {
5710 : // clear partial occupation
5711 22579 : for (MSLane* further : myFurtherLanes) {
5712 : #ifdef DEBUG_SETFURTHER
5713 : if (DEBUG_COND) {
5714 : std::cout << SIMTIME << " opposite: resetPartialOccupation " << further->getID() << " \n";
5715 : }
5716 : #endif
5717 401 : further->resetPartialOccupation(this);
5718 401 : if (further->getBidiLane() != nullptr
5719 401 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5720 0 : further->getBidiLane()->resetPartialOccupation(this);
5721 : }
5722 : }
5723 : myFurtherLanes.clear();
5724 : myFurtherLanesPosLat.clear();
5725 : }
5726 3519633 : }
5727 :
5728 :
5729 : void
5730 3519217 : MSVehicle::enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification) {
5731 3519217 : myState = State(pos, speed, posLat, pos - getVehicleType().getLength(), hasDeparted() ? myState.myPreviousSpeed : speed);
5732 3519217 : if (myDeparture == NOT_YET_DEPARTED) {
5733 3446013 : onDepart();
5734 : }
5735 3519217 : myCachedPosition = Position::INVALID;
5736 : assert(myState.myPos >= 0);
5737 : assert(myState.mySpeed >= 0);
5738 3519217 : myLane = enteredLane;
5739 3519217 : myAmOnNet = true;
5740 : // schedule action for the next timestep
5741 3519217 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + DELTA_T;
5742 3519217 : if (notification != MSMoveReminder::NOTIFICATION_TELEPORT) {
5743 3508007 : if (notification == MSMoveReminder::NOTIFICATION_PARKING && myInfluencer != nullptr) {
5744 12 : drawOutsideNetwork(false);
5745 : }
5746 : // set and activate the new lane's reminders, teleports already did that at enterLaneAtMove
5747 7469955 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5748 3961948 : addReminder(*rem);
5749 : }
5750 3508007 : activateReminders(notification, enteredLane);
5751 : } else {
5752 11210 : myLastBestLanesEdge = nullptr;
5753 11210 : myLastBestLanesInternalLane = nullptr;
5754 11210 : myLaneChangeModel->resetState();
5755 12415 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()
5756 11912 : && myStops.front().pars.endPos < pos) {
5757 0 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5758 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5759 0 : cleanupParkingReservation();
5760 0 : myStops.pop_front();
5761 : }
5762 : // avoid startup-effects after teleport
5763 11210 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
5764 11210 : myStopSpeed = std::numeric_limits<double>::max();
5765 : }
5766 3519215 : computeFurtherLanes(enteredLane, pos);
5767 3519215 : if (MSGlobals::gLateralResolution > 0) {
5768 507297 : myLaneChangeModel->updateShadowLane();
5769 507297 : myLaneChangeModel->updateTargetLane();
5770 3011918 : } else if (MSGlobals::gLaneChangeDuration > 0) {
5771 34065 : myLaneChangeModel->updateShadowLane();
5772 : }
5773 3519215 : if (notification != MSMoveReminder::NOTIFICATION_LOAD_STATE) {
5774 3517846 : myAngle = computeAngle();
5775 3517846 : if (myLaneChangeModel->isOpposite()) {
5776 22178 : myAngle += M_PI;
5777 : }
5778 : }
5779 3519215 : if (MSNet::getInstance()->hasPersons()) {
5780 58315 : for (MSLane* further : myFurtherLanes) {
5781 870 : if (further->mustCheckJunctionCollisions()) {
5782 4 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(further);
5783 : }
5784 : }
5785 : }
5786 3519215 : }
5787 :
5788 :
5789 : void
5790 23882112 : MSVehicle::leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane) {
5791 66193695 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5792 42311583 : if (rem->first->notifyLeave(*this, myState.myPos + rem->second, reason, approachedLane)) {
5793 : #ifdef _DEBUG
5794 : if (myTraceMoveReminders) {
5795 : traceMoveReminder("notifyLeave", rem->first, rem->second, true);
5796 : }
5797 : #endif
5798 : ++rem;
5799 : } else {
5800 : #ifdef _DEBUG
5801 : if (myTraceMoveReminders) {
5802 : traceMoveReminder("notifyLeave", rem->first, rem->second, false);
5803 : }
5804 : #endif
5805 : rem = myMoveReminders.erase(rem);
5806 : }
5807 : }
5808 23882112 : if ((reason == MSMoveReminder::NOTIFICATION_JUNCTION
5809 23882112 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT
5810 4478250 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT_CONTINUATION)
5811 19409807 : && myLane != nullptr) {
5812 19409778 : myOdometer += getLane()->getLength();
5813 : }
5814 23882083 : if (myLane != nullptr && myLane->getBidiLane() != nullptr && myAmOnNet
5815 23924809 : && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5816 18188 : myLane->getBidiLane()->resetPartialOccupation(this);
5817 : }
5818 23882112 : if (reason != MSMoveReminder::NOTIFICATION_JUNCTION && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5819 : // @note. In case of lane change, myFurtherLanes and partial occupation
5820 : // are handled in enterLaneAtLaneChange()
5821 3404354 : for (MSLane* further : myFurtherLanes) {
5822 : #ifdef DEBUG_FURTHER
5823 : if (DEBUG_COND) {
5824 : std::cout << SIMTIME << " leaveLane \n";
5825 : }
5826 : #endif
5827 32853 : further->resetPartialOccupation(this);
5828 32853 : if (further->getBidiLane() != nullptr
5829 32853 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5830 0 : further->getBidiLane()->resetPartialOccupation(this);
5831 : }
5832 : }
5833 : myFurtherLanes.clear();
5834 : myFurtherLanesPosLat.clear();
5835 : }
5836 3371501 : if (reason >= MSMoveReminder::NOTIFICATION_TELEPORT) {
5837 3371501 : myAmOnNet = false;
5838 3371501 : myWaitingTime = 0;
5839 : }
5840 23882112 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && resumeFromStopping()) {
5841 18 : myStopDist = std::numeric_limits<double>::max();
5842 18 : if (myPastStops.back().speed <= 0) {
5843 54 : WRITE_WARNINGF(TL("Vehicle '%' aborts stop."), getID());
5844 : }
5845 : }
5846 23882112 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5847 22748873 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()) {
5848 1469 : if (myStops.front().getSpeed() <= 0) {
5849 3405 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5850 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5851 1135 : cleanupParkingReservation();
5852 1135 : if (MSStopOut::active()) {
5853 : // clean up if stopBlocked was called
5854 17 : MSStopOut::getInstance()->stopNotStarted(this);
5855 : }
5856 1135 : myStops.pop_front();
5857 : } else {
5858 : MSStop& stop = myStops.front();
5859 : // passed waypoint at the end of the lane
5860 334 : if (!stop.reached) {
5861 334 : if (MSStopOut::active()) {
5862 21 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), MSNet::getInstance()->getCurrentTimeStep());
5863 : }
5864 334 : stop.reached = true;
5865 : // enter stopping place so leaveFrom works as expected
5866 334 : if (stop.busstop != nullptr) {
5867 : // let the bus stop know the vehicle
5868 25 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5869 : }
5870 334 : if (stop.containerstop != nullptr) {
5871 : // let the container stop know the vehicle
5872 13 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5873 : }
5874 : // do not enter parkingarea!
5875 334 : if (stop.chargingStation != nullptr) {
5876 : // let the container stop know the vehicle
5877 122 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5878 : }
5879 : }
5880 334 : resumeFromStopping();
5881 : }
5882 1469 : myStopDist = std::numeric_limits<double>::max();
5883 : }
5884 : }
5885 23882112 : }
5886 :
5887 :
5888 : void
5889 42448 : MSVehicle::leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane* leftLane) {
5890 181659 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5891 139211 : if (rem->first->notifyLeaveBack(*this, reason, leftLane)) {
5892 : #ifdef _DEBUG
5893 : if (myTraceMoveReminders) {
5894 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, true);
5895 : }
5896 : #endif
5897 : ++rem;
5898 : } else {
5899 : #ifdef _DEBUG
5900 : if (myTraceMoveReminders) {
5901 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, false);
5902 : }
5903 : #endif
5904 : rem = myMoveReminders.erase(rem);
5905 : }
5906 : }
5907 : #ifdef DEBUG_MOVEREMINDERS
5908 : if (DEBUG_COND) {
5909 : std::cout << SIMTIME << " veh=" << getID() << " myReminders:";
5910 : for (auto rem : myMoveReminders) {
5911 : std::cout << rem.first->getDescription() << " ";
5912 : }
5913 : std::cout << "\n";
5914 : }
5915 : #endif
5916 42448 : }
5917 :
5918 :
5919 : MSAbstractLaneChangeModel&
5920 10264333731 : MSVehicle::getLaneChangeModel() {
5921 10264333731 : return *myLaneChangeModel;
5922 : }
5923 :
5924 :
5925 : const MSAbstractLaneChangeModel&
5926 4883986517 : MSVehicle::getLaneChangeModel() const {
5927 4883986517 : return *myLaneChangeModel;
5928 : }
5929 :
5930 : bool
5931 515998 : MSVehicle::isOppositeLane(const MSLane* lane) const {
5932 515998 : return (lane->isInternal()
5933 515998 : ? & (lane->getLinkCont()[0]->getLane()->getEdge()) != *(myCurrEdge + 1)
5934 514258 : : &lane->getEdge() != *myCurrEdge);
5935 : }
5936 :
5937 : const std::vector<MSVehicle::LaneQ>&
5938 1339712662 : MSVehicle::getBestLanes() const {
5939 1339712662 : return *myBestLanes.begin();
5940 : }
5941 :
5942 :
5943 : void
5944 1872660249 : MSVehicle::updateBestLanes(bool forceRebuild, const MSLane* startLane) {
5945 : #ifdef DEBUG_BESTLANES
5946 : if (DEBUG_COND) {
5947 : std::cout << SIMTIME << " updateBestLanes veh=" << getID() << " force=" << forceRebuild << " startLane1=" << Named::getIDSecure(startLane) << " myLane=" << Named::getIDSecure(myLane) << "\n";
5948 : }
5949 : #endif
5950 1872660249 : if (startLane == nullptr) {
5951 989970830 : startLane = myLane;
5952 : }
5953 : assert(startLane != 0);
5954 1872660249 : if (myLaneChangeModel->isOpposite()) {
5955 : // depending on the calling context, startLane might be the forward lane
5956 : // or the reverse-direction lane. In the latter case we need to
5957 : // transform it to the forward lane.
5958 515998 : if (isOppositeLane(startLane)) {
5959 : // use leftmost lane of forward edge
5960 110886 : startLane = startLane->getEdge().getOppositeEdge()->getLanes().back();
5961 : assert(startLane != 0);
5962 : #ifdef DEBUG_BESTLANES
5963 : if (DEBUG_COND) {
5964 : std::cout << " startLaneIsOpposite newStartLane=" << startLane->getID() << "\n";
5965 : }
5966 : #endif
5967 : }
5968 : }
5969 1872660249 : if (forceRebuild) {
5970 1748238 : myLastBestLanesEdge = nullptr;
5971 1748238 : myLastBestLanesInternalLane = nullptr;
5972 : }
5973 1872660249 : if (myBestLanes.size() > 0 && !forceRebuild && myLastBestLanesEdge == &startLane->getEdge()) {
5974 1842208548 : updateOccupancyAndCurrentBestLane(startLane);
5975 : #ifdef DEBUG_BESTLANES
5976 : if (DEBUG_COND) {
5977 : std::cout << " only updateOccupancyAndCurrentBestLane\n";
5978 : }
5979 : #endif
5980 1842208548 : return;
5981 : }
5982 30451701 : if (startLane->getEdge().isInternal()) {
5983 14414906 : if (myBestLanes.size() == 0 || forceRebuild) {
5984 : // rebuilt from previous non-internal lane (may backtrack twice if behind an internal junction)
5985 2301 : updateBestLanes(true, startLane->getLogicalPredecessorLane());
5986 : }
5987 14414906 : if (myLastBestLanesInternalLane == startLane && !forceRebuild) {
5988 : #ifdef DEBUG_BESTLANES
5989 : if (DEBUG_COND) {
5990 : std::cout << " nothing to do on internal\n";
5991 : }
5992 : #endif
5993 : return;
5994 : }
5995 : // adapt best lanes to fit the current internal edge:
5996 : // keep the entries that are reachable from this edge
5997 5217961 : const MSEdge* nextEdge = startLane->getNextNormal();
5998 : assert(!nextEdge->isInternal());
5999 10299700 : for (std::vector<std::vector<LaneQ> >::iterator it = myBestLanes.begin(); it != myBestLanes.end();) {
6000 : std::vector<LaneQ>& lanes = *it;
6001 : assert(lanes.size() > 0);
6002 10299700 : if (&(lanes[0].lane->getEdge()) == nextEdge) {
6003 : // keep those lanes which are successors of internal lanes from the edge of startLane
6004 5217961 : std::vector<LaneQ> oldLanes = lanes;
6005 : lanes.clear();
6006 : const std::vector<MSLane*>& sourceLanes = startLane->getEdge().getLanes();
6007 11805139 : for (std::vector<MSLane*>::const_iterator it_source = sourceLanes.begin(); it_source != sourceLanes.end(); ++it_source) {
6008 11140671 : for (std::vector<LaneQ>::iterator it_lane = oldLanes.begin(); it_lane != oldLanes.end(); ++it_lane) {
6009 11140671 : if ((*it_source)->getLinkCont()[0]->getLane() == (*it_lane).lane) {
6010 6587178 : lanes.push_back(*it_lane);
6011 : break;
6012 : }
6013 : }
6014 : }
6015 : assert(lanes.size() == startLane->getEdge().getLanes().size());
6016 : // patch invalid bestLaneOffset and updated myCurrentLaneInBestLanes
6017 11805139 : for (int i = 0; i < (int)lanes.size(); ++i) {
6018 6587178 : if (i + lanes[i].bestLaneOffset < 0) {
6019 105454 : lanes[i].bestLaneOffset = -i;
6020 : }
6021 6587178 : if (i + lanes[i].bestLaneOffset >= (int)lanes.size()) {
6022 24889 : lanes[i].bestLaneOffset = (int)lanes.size() - i - 1;
6023 : }
6024 : assert(i + lanes[i].bestLaneOffset >= 0);
6025 : assert(i + lanes[i].bestLaneOffset < (int)lanes.size());
6026 6587178 : if (lanes[i].bestContinuations[0] != 0) {
6027 : // patch length of bestContinuation to match expectations (only once)
6028 6411069 : lanes[i].bestContinuations.insert(lanes[i].bestContinuations.begin(), (MSLane*)nullptr);
6029 : }
6030 6587178 : if (startLane->getLinkCont()[0]->getLane() == lanes[i].lane) {
6031 5262083 : myCurrentLaneInBestLanes = lanes.begin() + i;
6032 : }
6033 : assert(&(lanes[i].lane->getEdge()) == nextEdge);
6034 : }
6035 5217961 : myLastBestLanesInternalLane = startLane;
6036 5217961 : updateOccupancyAndCurrentBestLane(startLane);
6037 : #ifdef DEBUG_BESTLANES
6038 : if (DEBUG_COND) {
6039 : std::cout << " updated for internal\n";
6040 : }
6041 : #endif
6042 : return;
6043 5217961 : } else {
6044 : // remove passed edges
6045 5081739 : it = myBestLanes.erase(it);
6046 : }
6047 : }
6048 : assert(false); // should always find the next edge
6049 : }
6050 : // start rebuilding
6051 16036795 : myLastBestLanesInternalLane = nullptr;
6052 16036795 : myLastBestLanesEdge = &startLane->getEdge();
6053 : myBestLanes.clear();
6054 :
6055 : // get information about the next stop
6056 16036795 : MSRouteIterator nextStopEdge = myRoute->end();
6057 : const MSLane* nextStopLane = nullptr;
6058 : double nextStopPos = 0;
6059 : bool nextStopIsWaypoint = false;
6060 16036795 : if (!myStops.empty()) {
6061 : const MSStop& nextStop = myStops.front();
6062 259611 : nextStopLane = nextStop.lane;
6063 259611 : if (nextStop.isOpposite) {
6064 : // target leftmost lane in forward direction
6065 340 : nextStopLane = nextStopLane->getEdge().getOppositeEdge()->getLanes().back();
6066 : }
6067 259611 : nextStopEdge = nextStop.edge;
6068 259611 : nextStopPos = nextStop.pars.startPos;
6069 259611 : nextStopIsWaypoint = nextStop.getSpeed() > 0;
6070 : }
6071 : // myArrivalTime = -1 in the context of validating departSpeed with departLane=best
6072 16036795 : if (myParameter->arrivalLaneProcedure >= ArrivalLaneDefinition::GIVEN && nextStopEdge == myRoute->end() && myArrivalLane >= 0) {
6073 309507 : nextStopEdge = (myRoute->end() - 1);
6074 309507 : nextStopLane = (*nextStopEdge)->getLanes()[myArrivalLane];
6075 309507 : nextStopPos = myArrivalPos;
6076 : }
6077 16036795 : if (nextStopEdge != myRoute->end()) {
6078 : // make sure that the "wrong" lanes get a penalty. (penalty needs to be
6079 : // large enough to overcome a magic threshold in MSLaneChangeModel::DK2004.cpp:383)
6080 569118 : nextStopPos = MAX2(POSITION_EPS, MIN2((double)nextStopPos, (double)(nextStopLane->getLength() - 2 * POSITION_EPS)));
6081 569118 : if (nextStopLane->isInternal()) {
6082 : // switch to the correct lane before entering the intersection
6083 171 : nextStopPos = (*nextStopEdge)->getLength();
6084 : }
6085 : }
6086 :
6087 : // go forward along the next lanes;
6088 : // trains do not have to deal with lane-changing for stops but their best
6089 : // lanes lookahead is needed for rail signal control
6090 16036795 : const bool continueAfterStop = nextStopIsWaypoint || isRailway(getVClass());
6091 : int seen = 0;
6092 : double seenLength = 0;
6093 : bool progress = true;
6094 : // bestLanes must cover the braking distance even when at the very end of the current lane to avoid unecessary slow down
6095 32073590 : const double maxBrakeDist = startLane->getLength() + getCarFollowModel().getHeadwayTime() * getMaxSpeed() + getCarFollowModel().brakeGap(getMaxSpeed()) + getVehicleType().getMinGap();
6096 16036795 : const double lookahead = getLaneChangeModel().getStrategicLookahead();
6097 80641521 : for (MSRouteIterator ce = myCurrEdge; progress;) {
6098 : std::vector<LaneQ> currentLanes;
6099 : const std::vector<MSLane*>* allowed = nullptr;
6100 : const MSEdge* nextEdge = nullptr;
6101 64604726 : if (ce != myRoute->end() && ce + 1 != myRoute->end()) {
6102 52767960 : nextEdge = *(ce + 1);
6103 52767960 : allowed = (*ce)->allowedLanes(*nextEdge, myType->getVehicleClass());
6104 : }
6105 64604726 : const std::vector<MSLane*>& lanes = (*ce)->getLanes();
6106 163380533 : for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
6107 : LaneQ q;
6108 98775807 : MSLane* cl = *i;
6109 98775807 : q.lane = cl;
6110 98775807 : q.bestContinuations.push_back(cl);
6111 98775807 : q.bestLaneOffset = 0;
6112 98775807 : q.length = cl->allowsVehicleClass(myType->getVehicleClass()) ? (*ce)->getLength() : 0;
6113 98775807 : q.currentLength = q.length;
6114 : // if all lanes are forbidden (i.e. due to a dynamic closing) we want to express no preference
6115 98775807 : q.allowsContinuation = allowed == nullptr || std::find(allowed->begin(), allowed->end(), cl) != allowed->end();
6116 98775807 : q.occupation = 0;
6117 98775807 : q.nextOccupation = 0;
6118 98775807 : currentLanes.push_back(q);
6119 : }
6120 : //
6121 : if (nextStopEdge == ce
6122 : // already past the stop edge
6123 64604726 : && !(ce == myCurrEdge && myLane != nullptr && myLane->isInternal())) {
6124 561568 : if (!nextStopLane->isInternal() && !continueAfterStop) {
6125 : progress = false;
6126 : }
6127 561568 : const MSLane* normalStopLane = nextStopLane->getNormalPredecessorLane();
6128 1787586 : for (std::vector<LaneQ>::iterator q = currentLanes.begin(); q != currentLanes.end(); ++q) {
6129 1226018 : if (nextStopLane != nullptr && normalStopLane != (*q).lane) {
6130 664450 : (*q).allowsContinuation = false;
6131 664450 : (*q).length = nextStopPos;
6132 664450 : (*q).currentLength = (*q).length;
6133 : }
6134 : }
6135 : }
6136 :
6137 64604726 : myBestLanes.push_back(currentLanes);
6138 64604726 : ++seen;
6139 64604726 : seenLength += currentLanes[0].lane->getLength();
6140 : ++ce;
6141 64604726 : if (lookahead >= 0) {
6142 45 : progress &= (seen <= 2 || seenLength < lookahead); // custom (but we need to look at least one edge ahead)
6143 : } else {
6144 85738282 : progress &= (seen <= 4 || seenLength < MAX2(maxBrakeDist, 3000.0)); // motorway
6145 69404600 : progress &= (seen <= 8 || seenLength < MAX2(maxBrakeDist, 200.0) || isRailway(getVClass())); // urban
6146 : }
6147 64604726 : progress &= ce != myRoute->end();
6148 : /*
6149 : if(progress) {
6150 : progress &= (currentLanes.size()!=1||(*ce)->getLanes().size()!=1);
6151 : }
6152 : */
6153 64604726 : }
6154 :
6155 : // we are examining the last lane explicitly
6156 16036795 : if (myBestLanes.size() != 0) {
6157 : double bestLength = -1;
6158 : // minimum and maximum lane index with best length
6159 : int bestThisIndex = 0;
6160 : int bestThisMaxIndex = 0;
6161 : int index = 0;
6162 : std::vector<LaneQ>& last = myBestLanes.back();
6163 41720853 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6164 25684058 : if ((*j).length > bestLength) {
6165 : bestLength = (*j).length;
6166 : bestThisIndex = index;
6167 : bestThisMaxIndex = index;
6168 6105734 : } else if ((*j).length == bestLength) {
6169 : bestThisMaxIndex = index;
6170 : }
6171 : }
6172 : index = 0;
6173 : bool requiredChangeRightForbidden = false;
6174 : int requireChangeToLeftForbidden = -1;
6175 41720853 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6176 25684058 : if ((*j).length < bestLength) {
6177 3971807 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6178 128751 : (*j).bestLaneOffset = bestThisIndex - index;
6179 : } else {
6180 3843056 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6181 : }
6182 3971807 : if (!(*j).allowsContinuation) {
6183 599110 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6184 281628 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6185 278956 : || requiredChangeRightForbidden)) {
6186 : // this lane and all further lanes to the left cannot be used
6187 : requiredChangeRightForbidden = true;
6188 2682 : (*j).length = 0;
6189 596428 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6190 317441 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6191 : // this lane and all previous lanes to the right cannot be used
6192 16252 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6193 : }
6194 : }
6195 : }
6196 : }
6197 16053062 : for (int i = requireChangeToLeftForbidden; i >= 0; i--) {
6198 16267 : if (last[i].bestLaneOffset > 0) {
6199 16267 : last[i].length = 0;
6200 : }
6201 : }
6202 : #ifdef DEBUG_BESTLANES
6203 : if (DEBUG_COND) {
6204 : std::cout << " last edge=" << last.front().lane->getEdge().getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6205 : std::vector<LaneQ>& laneQs = myBestLanes.back();
6206 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6207 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << "\n";
6208 : }
6209 : }
6210 : #endif
6211 : }
6212 : // go backward through the lanes
6213 : // track back best lane and compute the best prior lane(s)
6214 64604726 : for (std::vector<std::vector<LaneQ> >::reverse_iterator i = myBestLanes.rbegin() + 1; i != myBestLanes.rend(); ++i) {
6215 : std::vector<LaneQ>& nextLanes = (*(i - 1));
6216 : std::vector<LaneQ>& clanes = (*i);
6217 48567931 : MSEdge* const cE = &clanes[0].lane->getEdge();
6218 : int index = 0;
6219 : double bestConnectedLength = -1;
6220 : double bestLength = -1;
6221 120986734 : for (const LaneQ& j : nextLanes) {
6222 144837606 : if (j.lane->isApproachedFrom(cE) && bestConnectedLength < j.length) {
6223 : bestConnectedLength = j.length;
6224 : }
6225 72418803 : if (bestLength < j.length) {
6226 : bestLength = j.length;
6227 : }
6228 : }
6229 : // compute index of the best lane (highest length and least offset from the best next lane)
6230 : int bestThisIndex = 0;
6231 : int bestThisMaxIndex = 0;
6232 48567931 : if (bestConnectedLength > 0) {
6233 : index = 0;
6234 121627237 : for (LaneQ& j : clanes) {
6235 : const LaneQ* bestConnectedNext = nullptr;
6236 73070948 : if (j.allowsContinuation) {
6237 174075464 : for (const LaneQ& m : nextLanes) {
6238 120388191 : if ((m.lane->allowsVehicleClass(getVClass()) || m.lane->hadPermissionChanges())
6239 110857103 : && m.lane->isApproachedFrom(cE, j.lane)) {
6240 65394519 : if (betterContinuation(bestConnectedNext, m)) {
6241 : bestConnectedNext = &m;
6242 : }
6243 : }
6244 : }
6245 63273437 : if (bestConnectedNext != nullptr) {
6246 63273433 : if (bestConnectedNext->length == bestConnectedLength && abs(bestConnectedNext->bestLaneOffset) < 2) {
6247 61563851 : j.length += bestLength;
6248 : } else {
6249 1709582 : j.length += bestConnectedNext->length;
6250 : }
6251 63273433 : j.bestLaneOffset = bestConnectedNext->bestLaneOffset;
6252 : }
6253 : }
6254 63273433 : if (bestConnectedNext != nullptr && (bestConnectedNext->allowsContinuation || bestConnectedNext->length > 0)) {
6255 63235464 : copy(bestConnectedNext->bestContinuations.begin(), bestConnectedNext->bestContinuations.end(), back_inserter(j.bestContinuations));
6256 : } else {
6257 9835484 : j.allowsContinuation = false;
6258 : }
6259 73070948 : if (clanes[bestThisIndex].length < j.length
6260 66062206 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) > abs(j.bestLaneOffset))
6261 200902026 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset) &&
6262 61906025 : nextLinkPriority(clanes[bestThisIndex].bestContinuations) < nextLinkPriority(j.bestContinuations))
6263 : ) {
6264 : bestThisIndex = index;
6265 : bestThisMaxIndex = index;
6266 65913183 : } else if (clanes[bestThisIndex].length == j.length
6267 61894282 : && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset)
6268 127807338 : && nextLinkPriority(clanes[bestThisIndex].bestContinuations) == nextLinkPriority(j.bestContinuations)) {
6269 : bestThisMaxIndex = index;
6270 : }
6271 73070948 : index++;
6272 : }
6273 :
6274 : //vehicle with elecHybrid device prefers running under an overhead wire
6275 48556289 : if (getDevice(typeid(MSDevice_ElecHybrid)) != nullptr) {
6276 : index = 0;
6277 215 : for (const LaneQ& j : clanes) {
6278 155 : std::string overheadWireSegmentID = MSNet::getInstance()->getStoppingPlaceID(j.lane, j.currentLength / 2., SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6279 155 : if (overheadWireSegmentID != "") {
6280 : bestThisIndex = index;
6281 : bestThisMaxIndex = index;
6282 : }
6283 155 : index++;
6284 : }
6285 : }
6286 :
6287 : } else {
6288 : // only needed in case of disconnected routes
6289 : int bestNextIndex = 0;
6290 11642 : int bestDistToNeeded = (int) clanes.size();
6291 : index = 0;
6292 32443 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6293 20801 : if ((*j).allowsContinuation) {
6294 : int nextIndex = 0;
6295 51684 : for (std::vector<LaneQ>::const_iterator m = nextLanes.begin(); m != nextLanes.end(); ++m, ++nextIndex) {
6296 31081 : if ((*m).lane->isApproachedFrom(cE, (*j).lane)) {
6297 5677 : if (bestDistToNeeded > abs((*m).bestLaneOffset)) {
6298 : bestDistToNeeded = abs((*m).bestLaneOffset);
6299 : bestThisIndex = index;
6300 : bestThisMaxIndex = index;
6301 : bestNextIndex = nextIndex;
6302 : }
6303 : }
6304 : }
6305 : }
6306 : }
6307 11642 : clanes[bestThisIndex].length += nextLanes[bestNextIndex].length;
6308 11642 : copy(nextLanes[bestNextIndex].bestContinuations.begin(), nextLanes[bestNextIndex].bestContinuations.end(), back_inserter(clanes[bestThisIndex].bestContinuations));
6309 :
6310 : }
6311 : // set bestLaneOffset for all lanes
6312 : index = 0;
6313 : bool requiredChangeRightForbidden = false;
6314 : int requireChangeToLeftForbidden = -1;
6315 121659680 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6316 73091749 : if ((*j).length < clanes[bestThisIndex].length
6317 61586562 : || ((*j).length == clanes[bestThisIndex].length && abs((*j).bestLaneOffset) > abs(clanes[bestThisIndex].bestLaneOffset))
6318 134678082 : || (nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)
6319 : ) {
6320 11680731 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6321 764602 : (*j).bestLaneOffset = bestThisIndex - index;
6322 : } else {
6323 10916129 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6324 : }
6325 11680731 : if ((nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)) {
6326 : // try to move away from the lower-priority lane before it ends
6327 10030799 : (*j).length = (*j).currentLength;
6328 : }
6329 11680731 : if (!(*j).allowsContinuation) {
6330 9835401 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6331 2514287 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6332 2500108 : || requiredChangeRightForbidden)) {
6333 : // this lane and all further lanes to the left cannot be used
6334 : requiredChangeRightForbidden = true;
6335 28483 : if ((*j).length == (*j).currentLength) {
6336 28483 : (*j).length = 0;
6337 : }
6338 9806918 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6339 7263802 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6340 : // this lane and all previous lanes to the right cannot be used
6341 101480 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6342 : }
6343 : }
6344 : } else {
6345 61411018 : (*j).bestLaneOffset = 0;
6346 : }
6347 : }
6348 48687624 : for (int idx = requireChangeToLeftForbidden; idx >= 0; idx--) {
6349 119693 : if (clanes[idx].length == clanes[idx].currentLength) {
6350 119693 : clanes[idx].length = 0;
6351 : };
6352 : }
6353 :
6354 : //vehicle with elecHybrid device prefers running under an overhead wire
6355 48567931 : if (static_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid))) != 0) {
6356 : index = 0;
6357 60 : std::string overheadWireID = MSNet::getInstance()->getStoppingPlaceID(clanes[bestThisIndex].lane, (clanes[bestThisIndex].currentLength) / 2, SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6358 60 : if (overheadWireID != "") {
6359 205 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6360 149 : (*j).bestLaneOffset = bestThisIndex - index;
6361 : }
6362 : }
6363 : }
6364 :
6365 : #ifdef DEBUG_BESTLANES
6366 : if (DEBUG_COND) {
6367 : std::cout << " edge=" << cE->getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6368 : std::vector<LaneQ>& laneQs = clanes;
6369 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6370 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << " allowCont=" << (*j).allowsContinuation << "\n";
6371 : }
6372 : }
6373 : #endif
6374 :
6375 : }
6376 16036795 : if (myBestLanes.front().front().lane->isInternal()) {
6377 : // route starts on an internal lane
6378 28 : if (myLane != nullptr) {
6379 : startLane = myLane;
6380 : } else {
6381 : // vehicle not yet departed
6382 12 : startLane = myBestLanes.front().front().lane;
6383 : }
6384 : }
6385 16036795 : updateOccupancyAndCurrentBestLane(startLane);
6386 : #ifdef DEBUG_BESTLANES
6387 : if (DEBUG_COND) {
6388 : std::cout << SIMTIME << " veh=" << getID() << " bestCont=" << toString(getBestLanesContinuation()) << "\n";
6389 : }
6390 : #endif
6391 : }
6392 :
6393 : void
6394 236 : MSVehicle::updateLaneBruttoSum() {
6395 236 : if (myLane != nullptr) {
6396 236 : myLane->markRecalculateBruttoSum();
6397 : }
6398 236 : }
6399 :
6400 : bool
6401 65394519 : MSVehicle::betterContinuation(const LaneQ* bestConnectedNext, const LaneQ& m) const {
6402 65394519 : if (bestConnectedNext == nullptr) {
6403 : return true;
6404 2121086 : } else if (m.lane->getBidiLane() != nullptr && bestConnectedNext->lane->getBidiLane() == nullptr) {
6405 : return false;
6406 2120348 : } else if (bestConnectedNext->lane->getBidiLane() != nullptr && m.lane->getBidiLane() == nullptr) {
6407 : return true;
6408 2120348 : } else if (bestConnectedNext->length < m.length) {
6409 : return true;
6410 1762542 : } else if (bestConnectedNext->length == m.length) {
6411 1240845 : if (abs(bestConnectedNext->bestLaneOffset) > abs(m.bestLaneOffset)) {
6412 : return true;
6413 : }
6414 1078773 : const double contRight = getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_CONTRIGHT, 1);
6415 : if (contRight < 1
6416 : // if we don't check for adjacency, the rightmost line will get
6417 : // multiple chances to be better which leads to an uninituitve distribution
6418 1006 : && (m.lane->getIndex() - bestConnectedNext->lane->getIndex()) == 1
6419 1079552 : && RandHelper::rand(getRNG()) > contRight) {
6420 : return true;
6421 : }
6422 : }
6423 : return false;
6424 : }
6425 :
6426 :
6427 : int
6428 394134488 : MSVehicle::nextLinkPriority(const std::vector<MSLane*>& conts) {
6429 394134488 : if (conts.size() < 2) {
6430 : return -1;
6431 : } else {
6432 359044123 : const MSLink* const link = conts[0]->getLinkTo(conts[1]);
6433 359044123 : if (link != nullptr) {
6434 359026850 : return link->havePriority() ? 1 : 0;
6435 : } else {
6436 : // disconnected route
6437 : return -1;
6438 : }
6439 : }
6440 : }
6441 :
6442 :
6443 : void
6444 1863463304 : MSVehicle::updateOccupancyAndCurrentBestLane(const MSLane* startLane) {
6445 : std::vector<LaneQ>& currLanes = *myBestLanes.begin();
6446 : std::vector<LaneQ>::iterator i;
6447 : #ifdef _DEBUG
6448 : bool found = false;
6449 : #endif
6450 5331967178 : for (i = currLanes.begin(); i != currLanes.end(); ++i) {
6451 : double nextOccupation = 0;
6452 7613026695 : for (std::vector<MSLane*>::const_iterator j = (*i).bestContinuations.begin() + 1; j != (*i).bestContinuations.end(); ++j) {
6453 4144522821 : nextOccupation += (*j)->getBruttoVehLenSum();
6454 : }
6455 3468503874 : (*i).nextOccupation = nextOccupation;
6456 : #ifdef DEBUG_BESTLANES
6457 : if (DEBUG_COND) {
6458 : std::cout << " lane=" << (*i).lane->getID() << " nextOccupation=" << nextOccupation << "\n";
6459 : }
6460 : #endif
6461 3468503874 : if ((*i).lane == startLane) {
6462 1858245343 : myCurrentLaneInBestLanes = i;
6463 : #ifdef _DEBUG
6464 : found = true;
6465 : #endif
6466 : }
6467 : }
6468 : #ifdef _DEBUG
6469 : assert(found || startLane->isInternal());
6470 : #endif
6471 1863463304 : }
6472 :
6473 :
6474 : const std::vector<MSLane*>&
6475 2031114159 : MSVehicle::getBestLanesContinuation() const {
6476 2031114159 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6477 : return myEmptyLaneVector;
6478 : }
6479 2031114159 : return (*myCurrentLaneInBestLanes).bestContinuations;
6480 : }
6481 :
6482 :
6483 : const std::vector<MSLane*>&
6484 68341063 : MSVehicle::getBestLanesContinuation(const MSLane* const l) const {
6485 : const MSLane* lane = l;
6486 : // XXX: shouldn't this be a "while" to cover more than one internal lane? (Leo) Refs. #2575
6487 68341063 : if (lane->getEdge().isInternal()) {
6488 : // internal edges are not kept inside the bestLanes structure
6489 4841663 : lane = lane->getLinkCont()[0]->getLane();
6490 : }
6491 68341063 : if (myBestLanes.size() == 0) {
6492 : return myEmptyLaneVector;
6493 : }
6494 112971183 : for (std::vector<LaneQ>::const_iterator i = myBestLanes[0].begin(); i != myBestLanes[0].end(); ++i) {
6495 112959127 : if ((*i).lane == lane) {
6496 68329007 : return (*i).bestContinuations;
6497 : }
6498 : }
6499 : return myEmptyLaneVector;
6500 : }
6501 :
6502 : const std::vector<const MSLane*>
6503 288721 : MSVehicle::getUpcomingLanesUntil(double distance) const {
6504 : std::vector<const MSLane*> lanes;
6505 :
6506 288721 : if (distance <= 0. || hasArrived()) {
6507 : // WRITE_WARNINGF(TL("MSVehicle::getUpcomingLanesUntil(): distance ('%') should be greater than 0."), distance);
6508 : return lanes;
6509 : }
6510 :
6511 288513 : if (!myLaneChangeModel->isOpposite()) {
6512 285187 : distance += getPositionOnLane();
6513 : } else {
6514 3326 : distance += myLane->getOppositePos(getPositionOnLane());
6515 : }
6516 288513 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6517 296546 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6518 8033 : lanes.insert(lanes.end(), lane);
6519 8033 : distance -= lane->getLength();
6520 13513 : lane = lane->getLinkCont().front()->getViaLaneOrLane();
6521 : }
6522 :
6523 288513 : const std::vector<MSLane*>& contLanes = getBestLanesContinuation();
6524 288513 : if (contLanes.empty()) {
6525 : return lanes;
6526 : }
6527 : auto contLanesIt = contLanes.begin();
6528 288513 : MSRouteIterator routeIt = myCurrEdge; // keep track of covered edges in myRoute
6529 617489 : while (distance > 0.) {
6530 336781 : MSLane* l = nullptr;
6531 336781 : if (contLanesIt != contLanes.end()) {
6532 320890 : l = *contLanesIt;
6533 : if (l != nullptr) {
6534 : assert(l->getEdge().getID() == (*routeIt)->getLanes().front()->getEdge().getID());
6535 : }
6536 : ++contLanesIt;
6537 320890 : if (l != nullptr || myLane->isInternal()) {
6538 : ++routeIt;
6539 : }
6540 320890 : if (l == nullptr) {
6541 5476 : continue;
6542 : }
6543 15891 : } else if (routeIt != myRoute->end()) { // bestLanes didn't get us far enough
6544 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6545 8975 : l = (*routeIt)->getLanes().back();
6546 : ++routeIt;
6547 : } else { // the search distance goes beyond our route
6548 : break;
6549 : }
6550 :
6551 : assert(l != nullptr);
6552 :
6553 : // insert internal lanes if applicable
6554 324389 : const MSLane* internalLane = lanes.size() > 0 ? lanes.back()->getInternalFollowingLane(l) : nullptr;
6555 368542 : while ((internalLane != nullptr) && internalLane->isInternal() && (distance > 0.)) {
6556 44153 : lanes.insert(lanes.end(), internalLane);
6557 44153 : distance -= internalLane->getLength();
6558 70564 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6559 : }
6560 324389 : if (distance <= 0.) {
6561 : break;
6562 : }
6563 :
6564 323500 : lanes.insert(lanes.end(), l);
6565 323500 : distance -= l->getLength();
6566 : }
6567 :
6568 : return lanes;
6569 0 : }
6570 :
6571 : const std::vector<const MSLane*>
6572 6691 : MSVehicle::getPastLanesUntil(double distance) const {
6573 : std::vector<const MSLane*> lanes;
6574 :
6575 6691 : if (distance <= 0.) {
6576 : // WRITE_WARNINGF(TL("MSVehicle::getPastLanesUntil(): distance ('%') should be greater than 0."), distance);
6577 : return lanes;
6578 : }
6579 :
6580 6583 : MSRouteIterator routeIt = myCurrEdge;
6581 6583 : if (!myLaneChangeModel->isOpposite()) {
6582 6559 : distance += myLane->getLength() - getPositionOnLane();
6583 : } else {
6584 24 : distance += myLane->getParallelOpposite()->getLength() - myLane->getOppositePos(getPositionOnLane());
6585 : }
6586 6583 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6587 6604 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6588 21 : lanes.insert(lanes.end(), lane);
6589 21 : distance -= lane->getLength();
6590 21 : lane = lane->getLogicalPredecessorLane();
6591 : }
6592 :
6593 10127 : while (distance > 0.) {
6594 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6595 8793 : MSLane* l = (*routeIt)->getLanes().back();
6596 :
6597 : // insert internal lanes if applicable
6598 8793 : const MSEdge* internalEdge = lanes.size() > 0 ? (*routeIt)->getInternalFollowingEdge(&(lanes.back()->getEdge()), getVClass()) : nullptr;
6599 8814 : const MSLane* internalLane = internalEdge != nullptr ? internalEdge->getLanes().front() : nullptr;
6600 : std::vector<const MSLane*> internalLanes;
6601 11017 : while ((internalLane != nullptr) && internalLane->isInternal()) { // collect all internal successor lanes
6602 2224 : internalLanes.insert(internalLanes.begin(), internalLane);
6603 4434 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6604 : }
6605 11017 : for (auto it = internalLanes.begin(); (it != internalLanes.end()) && (distance > 0.); ++it) { // check remaining distance in correct order
6606 2224 : lanes.insert(lanes.end(), *it);
6607 2224 : distance -= (*it)->getLength();
6608 : }
6609 8793 : if (distance <= 0.) {
6610 : break;
6611 : }
6612 :
6613 8777 : lanes.insert(lanes.end(), l);
6614 8777 : distance -= l->getLength();
6615 :
6616 : // NOTE: we're going backwards with the (bi-directional) Iterator
6617 : // TODO: consider make reverse_iterator() when moving on to C++14 or later
6618 8777 : if (routeIt != myRoute->begin()) {
6619 : --routeIt;
6620 : } else { // we went backwards to begin() and already processed the first and final element
6621 : break;
6622 : }
6623 8793 : }
6624 :
6625 : return lanes;
6626 0 : }
6627 :
6628 :
6629 : const std::vector<MSLane*>
6630 6355 : MSVehicle::getUpstreamOppositeLanes() const {
6631 6355 : const std::vector<const MSLane*> routeLanes = getPastLanesUntil(myLane->getMaximumBrakeDist());
6632 : std::vector<MSLane*> result;
6633 15441 : for (const MSLane* lane : routeLanes) {
6634 9859 : MSLane* opposite = lane->getOpposite();
6635 9859 : if (opposite != nullptr) {
6636 9086 : result.push_back(opposite);
6637 : } else {
6638 : break;
6639 : }
6640 : }
6641 6355 : return result;
6642 6355 : }
6643 :
6644 :
6645 : int
6646 306731325 : MSVehicle::getBestLaneOffset() const {
6647 306731325 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6648 : return 0;
6649 : } else {
6650 306443926 : return (*myCurrentLaneInBestLanes).bestLaneOffset;
6651 : }
6652 : }
6653 :
6654 : double
6655 23387 : MSVehicle::getBestLaneDist() const {
6656 23387 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6657 : return -1;
6658 : } else {
6659 23387 : return (*myCurrentLaneInBestLanes).length;
6660 : }
6661 : }
6662 :
6663 :
6664 :
6665 : void
6666 645036691 : MSVehicle::adaptBestLanesOccupation(int laneIndex, double density) {
6667 : std::vector<MSVehicle::LaneQ>& preb = myBestLanes.front();
6668 : assert(laneIndex < (int)preb.size());
6669 645036691 : preb[laneIndex].occupation = density + preb[laneIndex].nextOccupation;
6670 645036691 : }
6671 :
6672 :
6673 : void
6674 64284 : MSVehicle::fixPosition() {
6675 64284 : if (MSGlobals::gLaneChangeDuration > 0 && !myLaneChangeModel->isChangingLanes()) {
6676 33682 : myState.myPosLat = 0;
6677 : }
6678 64284 : }
6679 :
6680 : std::pair<const MSLane*, double>
6681 299 : MSVehicle::getLanePosAfterDist(double distance) const {
6682 299 : if (distance == 0) {
6683 251 : return std::make_pair(myLane, getPositionOnLane());
6684 : }
6685 48 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(distance);
6686 48 : distance += getPositionOnLane();
6687 48 : for (const MSLane* lane : lanes) {
6688 48 : if (lane->getLength() > distance) {
6689 : return std::make_pair(lane, distance);
6690 : }
6691 0 : distance -= lane->getLength();
6692 : }
6693 0 : return std::make_pair(nullptr, -1);
6694 48 : }
6695 :
6696 :
6697 : double
6698 14927 : MSVehicle::getDistanceToPosition(double destPos, const MSLane* destLane) const {
6699 14927 : if (isOnRoad() && destLane != nullptr) {
6700 14890 : return myRoute->getDistanceBetween(getPositionOnLane(), destPos, myLane, destLane);
6701 : }
6702 : return std::numeric_limits<double>::max();
6703 : }
6704 :
6705 :
6706 : std::pair<const MSVehicle* const, double>
6707 76408905 : MSVehicle::getLeader(double dist, bool considerCrossingFoes) const {
6708 76408905 : if (myLane == nullptr) {
6709 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6710 : }
6711 76408905 : if (dist == 0) {
6712 2460 : dist = getCarFollowModel().brakeGap(getSpeed()) + getVehicleType().getMinGap();
6713 : }
6714 : const MSVehicle* lead = nullptr;
6715 76408905 : const MSLane* lane = myLane; // ensure lane does not change between getVehiclesSecure and releaseVehicles;
6716 76408905 : const MSLane::VehCont& vehs = lane->getVehiclesSecure();
6717 : // vehicle might be outside the road network
6718 76408905 : MSLane::VehCont::const_iterator it = std::find(vehs.begin(), vehs.end(), this);
6719 76408905 : if (it != vehs.end() && it + 1 != vehs.end()) {
6720 72696650 : lead = *(it + 1);
6721 : }
6722 72696650 : if (lead != nullptr) {
6723 : std::pair<const MSVehicle* const, double> result(
6724 72696650 : lead, lead->getBackPositionOnLane(myLane) - getPositionOnLane() - getVehicleType().getMinGap());
6725 72696650 : lane->releaseVehicles();
6726 72696650 : return result;
6727 : }
6728 3712255 : const double seen = myLane->getLength() - getPositionOnLane();
6729 3712255 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(myLane);
6730 3712255 : std::pair<const MSVehicle* const, double> result = myLane->getLeaderOnConsecutive(dist, seen, getSpeed(), *this, bestLaneConts, considerCrossingFoes);
6731 3712241 : lane->releaseVehicles();
6732 3712241 : return result;
6733 : }
6734 :
6735 :
6736 : std::pair<const MSVehicle* const, double>
6737 2272429 : MSVehicle::getFollower(double dist) const {
6738 2272429 : if (myLane == nullptr) {
6739 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6740 : }
6741 2272429 : if (dist == 0) {
6742 810921 : dist = getCarFollowModel().brakeGap(myLane->getEdge().getSpeedLimit() * 2, 4.5, 0);
6743 : }
6744 2272429 : return myLane->getFollower(this, getPositionOnLane(), dist, MSLane::MinorLinkMode::FOLLOW_NEVER);
6745 : }
6746 :
6747 :
6748 : double
6749 0 : MSVehicle::getTimeGapOnLane() const {
6750 : // calling getLeader with 0 would induce a dist calculation but we only want to look for the leaders on the current lane
6751 0 : std::pair<const MSVehicle* const, double> leaderInfo = getLeader(-1);
6752 0 : if (leaderInfo.first == nullptr || getSpeed() == 0) {
6753 0 : return -1;
6754 : }
6755 0 : return (leaderInfo.second + getVehicleType().getMinGap()) / getSpeed();
6756 : }
6757 :
6758 :
6759 : void
6760 2152537 : MSVehicle::addTransportable(MSTransportable* transportable) {
6761 2152537 : MSBaseVehicle::addTransportable(transportable);
6762 11388 : if (myStops.size() > 0 && myStops.front().reached) {
6763 8193 : if (transportable->isPerson()) {
6764 7614 : if (myStops.front().triggered && myStops.front().numExpectedPerson > 0) {
6765 1778 : myStops.front().numExpectedPerson -= (int)myStops.front().pars.awaitedPersons.count(transportable->getID());
6766 : }
6767 : } else {
6768 579 : if (myStops.front().pars.containerTriggered && myStops.front().numExpectedContainer > 0) {
6769 20 : myStops.front().numExpectedContainer -= (int)myStops.front().pars.awaitedContainers.count(transportable->getID());
6770 : }
6771 : }
6772 : }
6773 11388 : }
6774 :
6775 :
6776 : void
6777 695695013 : MSVehicle::setBlinkerInformation() {
6778 : switchOffSignal(VEH_SIGNAL_BLINKER_RIGHT | VEH_SIGNAL_BLINKER_LEFT);
6779 695695013 : int state = myLaneChangeModel->getOwnState();
6780 : // do not set blinker for sublane changes or when blocked from changing to the right
6781 695695013 : const bool blinkerManoeuvre = (((state & LCA_SUBLANE) == 0) && (
6782 606290218 : (state & LCA_KEEPRIGHT) == 0 || (state & LCA_BLOCKED) == 0));
6783 : Signalling left = VEH_SIGNAL_BLINKER_LEFT;
6784 : Signalling right = VEH_SIGNAL_BLINKER_RIGHT;
6785 695695013 : if (MSGlobals::gLefthand) {
6786 : // lane indices increase from left to right
6787 : std::swap(left, right);
6788 : }
6789 695695013 : if ((state & LCA_LEFT) != 0 && blinkerManoeuvre) {
6790 19394961 : switchOnSignal(left);
6791 676300052 : } else if ((state & LCA_RIGHT) != 0 && blinkerManoeuvre) {
6792 5563507 : switchOnSignal(right);
6793 670736545 : } else if (myLaneChangeModel->isChangingLanes()) {
6794 248750 : if (myLaneChangeModel->getLaneChangeDirection() == 1) {
6795 159552 : switchOnSignal(left);
6796 : } else {
6797 89198 : switchOnSignal(right);
6798 : }
6799 : } else {
6800 670487795 : const MSLane* lane = getLane();
6801 670487795 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, 1, *lane, getBestLanesContinuation());
6802 670487795 : if (link != lane->getLinkCont().end() && lane->getLength() - getPositionOnLane() < lane->getVehicleMaxSpeed(this) * (double) 7.) {
6803 167370714 : switch ((*link)->getDirection()) {
6804 : case LinkDirection::TURN:
6805 : case LinkDirection::LEFT:
6806 : case LinkDirection::PARTLEFT:
6807 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT);
6808 : break;
6809 : case LinkDirection::RIGHT:
6810 : case LinkDirection::PARTRIGHT:
6811 : switchOnSignal(VEH_SIGNAL_BLINKER_RIGHT);
6812 : break;
6813 : default:
6814 : break;
6815 : }
6816 : }
6817 : }
6818 : // stopping related signals
6819 695695013 : if (hasStops()
6820 695695013 : && (myStops.begin()->reached ||
6821 15538690 : (myStopDist < (myLane->getLength() - getPositionOnLane())
6822 4383194 : && myStopDist < getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this), getCarFollowModel().getMaxDecel(), 3)))) {
6823 17334671 : if (myStops.begin()->lane->getIndex() > 0 && myStops.begin()->lane->getParallelLane(-1)->allowsVehicleClass(getVClass())) {
6824 : // not stopping on the right. Activate emergency blinkers
6825 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT | VEH_SIGNAL_BLINKER_RIGHT);
6826 17079922 : } else if (!myStops.begin()->reached && (myStops.begin()->pars.parking == ParkingType::OFFROAD)) {
6827 : // signal upcoming parking stop on the current lane when within braking distance (~2 seconds before braking)
6828 1618318 : switchOnSignal(MSGlobals::gLefthand ? VEH_SIGNAL_BLINKER_LEFT : VEH_SIGNAL_BLINKER_RIGHT);
6829 : }
6830 : }
6831 695695013 : if (myInfluencer != nullptr && myInfluencer->getSignals() >= 0) {
6832 14 : mySignals = myInfluencer->getSignals();
6833 : myInfluencer->setSignals(-1); // overwrite computed signals only once
6834 : }
6835 695695013 : }
6836 :
6837 : void
6838 85869 : MSVehicle::setEmergencyBlueLight(SUMOTime currentTime) {
6839 :
6840 : //TODO look if timestep ist SIMSTEP
6841 85869 : if (currentTime % 1000 == 0) {
6842 26078 : if (signalSet(VEH_SIGNAL_EMERGENCY_BLUE)) {
6843 : switchOffSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6844 : } else {
6845 : switchOnSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6846 : }
6847 : }
6848 85869 : }
6849 :
6850 :
6851 : int
6852 22341968 : MSVehicle::getLaneIndex() const {
6853 22341968 : return myLane == nullptr ? -1 : myLane->getIndex();
6854 : }
6855 :
6856 :
6857 : void
6858 14618469 : MSVehicle::setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat) {
6859 14618469 : myLane = lane;
6860 14618469 : myState.myPos = pos;
6861 14618469 : myState.myPosLat = posLat;
6862 14618469 : myState.myBackPos = pos - getVehicleType().getLength();
6863 14618469 : }
6864 :
6865 :
6866 : double
6867 382709361 : MSVehicle::getRightSideOnLane() const {
6868 382709361 : return myState.myPosLat + 0.5 * myLane->getWidth() - 0.5 * getVehicleType().getWidth();
6869 : }
6870 :
6871 :
6872 : double
6873 377577945 : MSVehicle::getLeftSideOnLane() const {
6874 377577945 : return myState.myPosLat + 0.5 * myLane->getWidth() + 0.5 * getVehicleType().getWidth();
6875 : }
6876 :
6877 :
6878 : double
6879 303130118 : MSVehicle::getRightSideOnLane(const MSLane* lane) const {
6880 303130118 : return myState.myPosLat + 0.5 * lane->getWidth() - 0.5 * getVehicleType().getWidth();
6881 : }
6882 :
6883 :
6884 : double
6885 302641782 : MSVehicle::getLeftSideOnLane(const MSLane* lane) const {
6886 302641782 : return myState.myPosLat + 0.5 * lane->getWidth() + 0.5 * getVehicleType().getWidth();
6887 : }
6888 :
6889 :
6890 : double
6891 243123850 : MSVehicle::getRightSideOnEdge(const MSLane* lane) const {
6892 243123850 : return getCenterOnEdge(lane) - 0.5 * getVehicleType().getWidth();
6893 : }
6894 :
6895 :
6896 : double
6897 31118768 : MSVehicle::getLeftSideOnEdge(const MSLane* lane) const {
6898 31118768 : return getCenterOnEdge(lane) + 0.5 * getVehicleType().getWidth();
6899 : }
6900 :
6901 :
6902 : double
6903 711658170 : MSVehicle::getCenterOnEdge(const MSLane* lane) const {
6904 711658170 : if (lane == nullptr || &lane->getEdge() == &myLane->getEdge()) {
6905 711192534 : return myLane->getRightSideOnEdge() + myState.myPosLat + 0.5 * myLane->getWidth();
6906 465636 : } else if (lane == myLaneChangeModel->getShadowLane()) {
6907 13722 : if (myLaneChangeModel->isOpposite() && &lane->getEdge() != &myLane->getEdge()) {
6908 13715 : return lane->getRightSideOnEdge() + lane->getWidth() - myState.myPosLat + 0.5 * myLane->getWidth();
6909 : }
6910 7 : if (myLaneChangeModel->getShadowDirection() == -1) {
6911 0 : return lane->getRightSideOnEdge() + lane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6912 : } else {
6913 7 : return lane->getRightSideOnEdge() - myLane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6914 : }
6915 451914 : } else if (lane == myLane->getBidiLane()) {
6916 1679 : return lane->getRightSideOnEdge() - myState.myPosLat + 0.5 * lane->getWidth();
6917 : } else {
6918 : assert(myFurtherLanes.size() == myFurtherLanesPosLat.size());
6919 526033 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6920 499509 : if (myFurtherLanes[i] == lane) {
6921 : #ifdef DEBUG_FURTHER
6922 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat=" << myFurtherLanesPosLat[i]
6923 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6924 : << "\n";
6925 : #endif
6926 423638 : return lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6927 75871 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6928 : #ifdef DEBUG_FURTHER
6929 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat(bidi)=" << myFurtherLanesPosLat[i]
6930 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6931 : << "\n";
6932 : #endif
6933 73 : return lane->getRightSideOnEdge() - myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6934 : }
6935 : }
6936 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6937 26524 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6938 26791 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6939 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
6940 26791 : if (shadowFurther[i] == lane) {
6941 : assert(myLaneChangeModel->getShadowLane() != 0);
6942 26524 : return (lane->getRightSideOnEdge() + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] + 0.5 * lane->getWidth()
6943 26524 : + (myLane->getCenterOnEdge() - myLaneChangeModel->getShadowLane()->getCenterOnEdge()));
6944 : }
6945 : }
6946 : assert(false);
6947 0 : throw ProcessError("Request lateral pos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
6948 : }
6949 : }
6950 :
6951 :
6952 : double
6953 3264862310 : MSVehicle::getLatOffset(const MSLane* lane) const {
6954 : assert(lane != 0);
6955 3264862310 : if (&lane->getEdge() == &myLane->getEdge()) {
6956 3215377471 : return myLane->getRightSideOnEdge() - lane->getRightSideOnEdge();
6957 49484839 : } else if (myLane->getParallelOpposite() == lane) {
6958 2160201 : return (myLane->getWidth() + lane->getWidth()) * 0.5 - 2 * getLateralPositionOnLane();
6959 47324638 : } else if (myLane->getBidiLane() == lane) {
6960 179388 : return -2 * getLateralPositionOnLane();
6961 : } else {
6962 : // Check whether the lane is a further lane for the vehicle
6963 53279936 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6964 52295514 : if (myFurtherLanes[i] == lane) {
6965 : #ifdef DEBUG_FURTHER
6966 : if (DEBUG_COND) {
6967 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherLat=" << myFurtherLanesPosLat[i] << "\n";
6968 : }
6969 : #endif
6970 46134616 : return myFurtherLanesPosLat[i] - myState.myPosLat;
6971 6160898 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6972 : #ifdef DEBUG_FURTHER
6973 : if (DEBUG_COND) {
6974 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
6975 : }
6976 : #endif
6977 26212 : return -2 * (myFurtherLanesPosLat[i] - myState.myPosLat);
6978 : }
6979 : }
6980 : #ifdef DEBUG_FURTHER
6981 : if (DEBUG_COND) {
6982 : std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6983 : }
6984 : #endif
6985 : // Check whether the lane is a "shadow further lane" for the vehicle
6986 984422 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6987 995360 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6988 992548 : if (shadowFurther[i] == lane) {
6989 : #ifdef DEBUG_FURTHER
6990 : if (DEBUG_COND) std::cout << " getLatOffset veh=" << getID()
6991 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
6992 : << " lane=" << lane->getID()
6993 : << " i=" << i
6994 : << " posLat=" << myState.myPosLat
6995 : << " shadowPosLat=" << getLatOffset(myLaneChangeModel->getShadowLane())
6996 : << " shadowFurtherLat=" << myLaneChangeModel->getShadowFurtherLanesPosLat()[i]
6997 : << "\n";
6998 : #endif
6999 981610 : return getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
7000 : }
7001 : }
7002 : // Check whether the vehicle issued a maneuverReservation on the lane.
7003 : const std::vector<MSLane*>& furtherTargets = myLaneChangeModel->getFurtherTargetLanes();
7004 3150 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
7005 : // Further target lanes are just neighboring lanes of the vehicle's further lanes, @see MSAbstractLaneChangeModel::updateTargetLane()
7006 3136 : MSLane* targetLane = furtherTargets[i];
7007 3136 : if (targetLane == lane) {
7008 2798 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
7009 2798 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
7010 : #ifdef DEBUG_TARGET_LANE
7011 : if (DEBUG_COND) {
7012 : std::cout << " getLatOffset veh=" << getID()
7013 : << " wrt targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
7014 : << "\n i=" << i
7015 : << " posLat=" << myState.myPosLat
7016 : << " furtherPosLat=" << myFurtherLanesPosLat[i]
7017 : << " maneuverDist=" << myLaneChangeModel->getManeuverDist()
7018 : << " targetDir=" << targetDir
7019 : << " latOffset=" << latOffset
7020 : << std::endl;
7021 : }
7022 : #endif
7023 2798 : return latOffset;
7024 : }
7025 : }
7026 : assert(false);
7027 84 : throw ProcessError("Request lateral offset of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
7028 : }
7029 : }
7030 :
7031 :
7032 : double
7033 34986110 : MSVehicle::lateralDistanceToLane(const int offset) const {
7034 : // compute the distance when changing to the neighboring lane
7035 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
7036 : assert(offset == 0 || offset == 1 || offset == -1);
7037 : assert(myLane != nullptr);
7038 : assert(myLane->getParallelLane(offset) != nullptr || myLane->getParallelOpposite() != nullptr);
7039 34986110 : const double halfCurrentLaneWidth = 0.5 * myLane->getWidth();
7040 34986110 : const double halfVehWidth = 0.5 * (getWidth() + NUMERICAL_EPS);
7041 34986110 : const double latPos = getLateralPositionOnLane();
7042 34986110 : const double oppositeSign = getLaneChangeModel().isOpposite() ? -1 : 1;
7043 34986110 : double leftLimit = halfCurrentLaneWidth - halfVehWidth - oppositeSign * latPos;
7044 34986110 : double rightLimit = -halfCurrentLaneWidth + halfVehWidth - oppositeSign * latPos;
7045 : double latLaneDist = 0; // minimum distance to move the vehicle fully onto the new lane
7046 34986110 : if (offset == 0) {
7047 8 : if (latPos + halfVehWidth > halfCurrentLaneWidth) {
7048 : // correct overlapping left
7049 4 : latLaneDist = halfCurrentLaneWidth - latPos - halfVehWidth;
7050 4 : } else if (latPos - halfVehWidth < -halfCurrentLaneWidth) {
7051 : // correct overlapping right
7052 4 : latLaneDist = -halfCurrentLaneWidth - latPos + halfVehWidth;
7053 : }
7054 8 : latLaneDist *= oppositeSign;
7055 34986102 : } else if (offset == -1) {
7056 15867880 : latLaneDist = rightLimit - (getWidth() + NUMERICAL_EPS);
7057 19118222 : } else if (offset == 1) {
7058 19118222 : latLaneDist = leftLimit + (getWidth() + NUMERICAL_EPS);
7059 : }
7060 : #ifdef DEBUG_ACTIONSTEPS
7061 : if (DEBUG_COND) {
7062 : std::cout << SIMTIME
7063 : << " veh=" << getID()
7064 : << " halfCurrentLaneWidth=" << halfCurrentLaneWidth
7065 : << " halfVehWidth=" << halfVehWidth
7066 : << " latPos=" << latPos
7067 : << " latLaneDist=" << latLaneDist
7068 : << " leftLimit=" << leftLimit
7069 : << " rightLimit=" << rightLimit
7070 : << "\n";
7071 : }
7072 : #endif
7073 34986110 : return latLaneDist;
7074 : }
7075 :
7076 :
7077 : double
7078 4992017668 : MSVehicle::getLateralOverlap(double posLat, const MSLane* lane) const {
7079 4992017668 : return (fabs(posLat) + 0.5 * getVehicleType().getWidth()
7080 4992017668 : - 0.5 * lane->getWidth());
7081 : }
7082 :
7083 : double
7084 0 : MSVehicle::getLateralOverlap(const MSLane* lane) const {
7085 0 : return getLateralOverlap(getLateralPositionOnLane(), lane);
7086 : }
7087 :
7088 : double
7089 4803631611 : MSVehicle::getLateralOverlap() const {
7090 4803631611 : return getLateralOverlap(getLateralPositionOnLane(), myLane);
7091 : }
7092 :
7093 :
7094 : void
7095 637293638 : MSVehicle::removeApproachingInformation(const DriveItemVector& lfLinks) const {
7096 1840746258 : for (const DriveProcessItem& dpi : lfLinks) {
7097 1203452620 : if (dpi.myLink != nullptr) {
7098 848438927 : dpi.myLink->removeApproaching(this);
7099 : }
7100 : }
7101 : // unregister on all shadow links
7102 637293638 : myLaneChangeModel->removeShadowApproachingInformation();
7103 637293638 : }
7104 :
7105 :
7106 : bool
7107 836750 : MSVehicle::unsafeLinkAhead(const MSLane* lane, double zipperDist) const {
7108 : // the following links are unsafe:
7109 : // - zipper links if they are close enough and have approaching vehicles in the relevant time range
7110 : // - unprioritized links if the vehicle is currently approaching a prioritzed link and unable to stop in time
7111 836750 : double seen = myLane->getLength() - getPositionOnLane();
7112 836750 : const double dist = MAX2(zipperDist, getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0));
7113 836750 : if (seen < dist) {
7114 70888 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(lane);
7115 : int view = 1;
7116 70888 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7117 : DriveItemVector::const_iterator di = myLFLinkLanes.begin();
7118 117622 : while (!lane->isLinkEnd(link) && seen <= dist) {
7119 71441 : if ((!lane->isInternal()
7120 49082 : && (((*link)->getState() == LINKSTATE_ZIPPER && seen < (*link)->getFoeVisibilityDistance())
7121 26403 : || !(*link)->havePriority()))
7122 97653 : || (lane->isInternal() && zipperDist > 0)) {
7123 : // find the drive item corresponding to this link
7124 : bool found = false;
7125 52344 : while (di != myLFLinkLanes.end() && !found) {
7126 27107 : if ((*di).myLink != nullptr) {
7127 : const MSLane* diPredLane = (*di).myLink->getLaneBefore();
7128 27107 : if (diPredLane != nullptr) {
7129 27107 : if (&diPredLane->getEdge() == &lane->getEdge()) {
7130 : found = true;
7131 : }
7132 : }
7133 : }
7134 27107 : if (!found) {
7135 : di++;
7136 : }
7137 : }
7138 25237 : if (found) {
7139 25237 : const SUMOTime leaveTime = (*link)->getLeaveTime((*di).myArrivalTime, (*di).myArrivalSpeed,
7140 25237 : (*di).getLeaveSpeed(), getVehicleType().getLength());
7141 25237 : const MSLink* entry = (*link)->getCorrespondingEntryLink();
7142 : //if (DEBUG_COND) {
7143 : // std::cout << SIMTIME << " veh=" << getID() << " changeTo=" << Named::getIDSecure(bestLaneConts.front()) << " linkState=" << toString((*link)->getState()) << " seen=" << seen << " dist=" << dist << " zipperDist=" << zipperDist << " aT=" << STEPS2TIME((*di).myArrivalTime) << " lT=" << STEPS2TIME(leaveTime) << "\n";
7144 : //}
7145 25237 : if (entry->hasApproachingFoe((*di).myArrivalTime, leaveTime, (*di).myArrivalSpeed, getCarFollowModel().getMaxDecel())) {
7146 : //std::cout << SIMTIME << " veh=" << getID() << " aborting changeTo=" << Named::getIDSecure(bestLaneConts.front()) << " linkState=" << toString((*link)->getState()) << " seen=" << seen << " dist=" << dist << "\n";
7147 : return true;
7148 : }
7149 : }
7150 : // no drive item is found if the vehicle aborts its request within dist
7151 : }
7152 46734 : lane = (*link)->getViaLaneOrLane();
7153 46734 : if (!lane->getEdge().isInternal()) {
7154 24354 : view++;
7155 : }
7156 46734 : seen += lane->getLength();
7157 46734 : link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7158 : }
7159 : }
7160 : return false;
7161 : }
7162 :
7163 :
7164 : PositionVector
7165 6726239 : MSVehicle::getBoundingBox(double offset) const {
7166 6726239 : PositionVector centerLine;
7167 6726239 : Position pos = getPosition();
7168 6726239 : centerLine.push_back(pos);
7169 6726239 : switch (myType->getGuiShape()) {
7170 1772 : case SUMOVehicleShape::BUS_FLEXIBLE:
7171 : case SUMOVehicleShape::RAIL:
7172 : case SUMOVehicleShape::RAIL_CAR:
7173 : case SUMOVehicleShape::RAIL_CARGO:
7174 : case SUMOVehicleShape::TRUCK_SEMITRAILER:
7175 : case SUMOVehicleShape::TRUCK_1TRAILER: {
7176 4554 : for (MSLane* lane : myFurtherLanes) {
7177 2782 : centerLine.push_back(lane->getShape().back());
7178 : }
7179 : break;
7180 : }
7181 : default:
7182 : break;
7183 : }
7184 6726239 : double l = getLength();
7185 6726239 : Position backPos = getBackPosition();
7186 6726239 : if (pos.distanceTo2D(backPos) > l + NUMERICAL_EPS) {
7187 : // getBackPosition may not match the visual back in networks without internal lanes
7188 358031 : double a = getAngle() + M_PI; // angle pointing backwards
7189 358031 : backPos = pos + Position(l * cos(a), l * sin(a));
7190 : }
7191 6726239 : centerLine.push_back(backPos);
7192 6726239 : if (offset != 0) {
7193 6543 : centerLine.extrapolate2D(offset);
7194 : }
7195 : PositionVector result = centerLine;
7196 13448188 : result.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7197 13448188 : centerLine.move2side(MIN2(0.0, -0.5 * myType->getWidth() - offset));
7198 6726239 : result.append(centerLine.reverse(), POSITION_EPS);
7199 6726239 : return result;
7200 6726239 : }
7201 :
7202 :
7203 : PositionVector
7204 72798 : MSVehicle::getBoundingPoly(double offset) const {
7205 72798 : switch (myType->getGuiShape()) {
7206 72318 : case SUMOVehicleShape::PASSENGER:
7207 : case SUMOVehicleShape::PASSENGER_SEDAN:
7208 : case SUMOVehicleShape::PASSENGER_HATCHBACK:
7209 : case SUMOVehicleShape::PASSENGER_WAGON:
7210 : case SUMOVehicleShape::PASSENGER_VAN: {
7211 : // box with corners cut off
7212 72318 : PositionVector result;
7213 72318 : PositionVector centerLine;
7214 72318 : centerLine.push_back(getPosition());
7215 72318 : centerLine.push_back(getBackPosition());
7216 72318 : if (offset != 0) {
7217 1600 : centerLine.extrapolate2D(offset);
7218 : }
7219 : PositionVector line1 = centerLine;
7220 : PositionVector line2 = centerLine;
7221 144636 : line1.move2side(MAX2(0.0, 0.3 * myType->getWidth() + offset));
7222 144636 : line2.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7223 72318 : line2.scaleRelative(0.8);
7224 72318 : result.push_back(line1[0]);
7225 72318 : result.push_back(line2[0]);
7226 72318 : result.push_back(line2[1]);
7227 72318 : result.push_back(line1[1]);
7228 144636 : line1.move2side(MIN2(0.0, -0.6 * myType->getWidth() - offset));
7229 144636 : line2.move2side(MIN2(0.0, -1.0 * myType->getWidth() - offset));
7230 72318 : result.push_back(line1[1]);
7231 72318 : result.push_back(line2[1]);
7232 72318 : result.push_back(line2[0]);
7233 72318 : result.push_back(line1[0]);
7234 : return result;
7235 72318 : }
7236 480 : default:
7237 480 : return getBoundingBox();
7238 : }
7239 : }
7240 :
7241 :
7242 : bool
7243 562366 : MSVehicle::onFurtherEdge(const MSEdge* edge) const {
7244 648371 : for (std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
7245 179494 : if (&(*i)->getEdge() == edge) {
7246 : return true;
7247 : }
7248 : }
7249 : return false;
7250 : }
7251 :
7252 :
7253 : bool
7254 7479762732 : MSVehicle::isBidiOn(const MSLane* lane) const {
7255 7480882953 : return lane->getBidiLane() != nullptr && (
7256 1120221 : myLane == lane->getBidiLane()
7257 562366 : || onFurtherEdge(&lane->getBidiLane()->getEdge()));
7258 : }
7259 :
7260 :
7261 : bool
7262 16 : MSVehicle::rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg) {
7263 : // this function is based on MSTriggeredRerouter::rerouteParkingArea in order to keep
7264 : // consistency in the behaviour.
7265 :
7266 : // get vehicle params
7267 16 : MSParkingArea* destParkArea = getNextParkingArea();
7268 16 : const MSRoute& route = getRoute();
7269 16 : const MSEdge* lastEdge = route.getLastEdge();
7270 :
7271 16 : if (destParkArea == nullptr) {
7272 : // not driving towards a parking area
7273 0 : errorMsg = "Vehicle " + getID() + " is not driving to a parking area so it cannot be rerouted.";
7274 0 : return false;
7275 : }
7276 :
7277 : // if the current route ends at the parking area, the new route will also and at the new area
7278 16 : bool newDestination = (&destParkArea->getLane().getEdge() == route.getLastEdge()
7279 8 : && getArrivalPos() >= destParkArea->getBeginLanePosition()
7280 24 : && getArrivalPos() <= destParkArea->getEndLanePosition());
7281 :
7282 : // retrieve info on the new parking area
7283 16 : MSParkingArea* newParkingArea = (MSParkingArea*) MSNet::getInstance()->getStoppingPlace(
7284 : parkingAreaID, SumoXMLTag::SUMO_TAG_PARKING_AREA);
7285 :
7286 16 : if (newParkingArea == nullptr) {
7287 0 : errorMsg = "Parking area ID " + toString(parkingAreaID) + " not found in the network.";
7288 0 : return false;
7289 : }
7290 :
7291 16 : const MSEdge* newEdge = &(newParkingArea->getLane().getEdge());
7292 16 : SUMOAbstractRouter<MSEdge, SUMOVehicle>& router = getRouterTT();
7293 :
7294 : // Compute the route from the current edge to the parking area edge
7295 : ConstMSEdgeVector edgesToPark;
7296 16 : router.compute(getEdge(), getPositionOnLane(), newEdge, newParkingArea->getEndLanePosition(), this, MSNet::getInstance()->getCurrentTimeStep(), edgesToPark);
7297 :
7298 : // Compute the route from the parking area edge to the end of the route
7299 : ConstMSEdgeVector edgesFromPark;
7300 16 : if (!newDestination) {
7301 12 : router.compute(newEdge, lastEdge, this, MSNet::getInstance()->getCurrentTimeStep(), edgesFromPark);
7302 : } else {
7303 : // adapt plans of any riders
7304 8 : for (MSTransportable* p : getPersons()) {
7305 4 : p->rerouteParkingArea(getNextParkingArea(), newParkingArea);
7306 : }
7307 : }
7308 :
7309 : // we have a new destination, let's replace the vehicle route
7310 16 : ConstMSEdgeVector edges = edgesToPark;
7311 16 : if (edgesFromPark.size() > 0) {
7312 12 : edges.insert(edges.end(), edgesFromPark.begin() + 1, edgesFromPark.end());
7313 : }
7314 :
7315 16 : if (newDestination && getParameter().arrivalPosProcedure != ArrivalPosDefinition::DEFAULT) {
7316 4 : SUMOVehicleParameter* newParameter = new SUMOVehicleParameter();
7317 4 : *newParameter = getParameter();
7318 4 : newParameter->arrivalPosProcedure = ArrivalPosDefinition::GIVEN;
7319 4 : newParameter->arrivalPos = newParkingArea->getEndLanePosition();
7320 4 : replaceParameter(newParameter);
7321 : }
7322 16 : const double routeCost = router.recomputeCosts(edges, this, MSNet::getInstance()->getCurrentTimeStep());
7323 16 : ConstMSEdgeVector prevEdges(myCurrEdge, myRoute->end());
7324 16 : const double savings = router.recomputeCosts(prevEdges, this, MSNet::getInstance()->getCurrentTimeStep());
7325 16 : if (replaceParkingArea(newParkingArea, errorMsg)) {
7326 16 : const bool onInit = myLane == nullptr;
7327 32 : replaceRouteEdges(edges, routeCost, savings, "TraCI:" + toString(SUMO_TAG_PARKING_AREA_REROUTE), onInit, false, false);
7328 : } else {
7329 0 : WRITE_WARNING("Vehicle '" + getID() + "' could not reroute to new parkingArea '" + newParkingArea->getID()
7330 : + "' reason=" + errorMsg + ", time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
7331 0 : return false;
7332 : }
7333 16 : return true;
7334 16 : }
7335 :
7336 :
7337 : bool
7338 47594 : MSVehicle::addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) {
7339 47594 : const int numStops = (int)myStops.size();
7340 47594 : const bool result = MSBaseVehicle::addTraciStop(stop, errorMsg);
7341 47594 : if (myLane != nullptr && numStops != (int)myStops.size()) {
7342 45973 : updateBestLanes(true);
7343 : }
7344 47594 : return result;
7345 : }
7346 :
7347 :
7348 : bool
7349 3130 : MSVehicle::handleCollisionStop(MSStop& stop, const double distToStop) {
7350 3130 : if (myCurrEdge == stop.edge && distToStop + POSITION_EPS < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0)) {
7351 1431 : if (distToStop < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)) {
7352 1001 : double vNew = getCarFollowModel().maximumSafeStopSpeed(distToStop, getCarFollowModel().getMaxDecel(), getSpeed(), false, 0);
7353 : //std::cout << SIMTIME << " veh=" << getID() << " v=" << myState.mySpeed << " distToStop=" << distToStop
7354 : // << " vMinNex=" << getCarFollowModel().minNextSpeed(getSpeed(), this)
7355 : // << " bg1=" << getCarFollowModel().brakeGap(myState.mySpeed)
7356 : // << " bg2=" << getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)
7357 : // << " vNew=" << vNew
7358 : // << "\n";
7359 1001 : myState.mySpeed = MIN2(myState.mySpeed, vNew + ACCEL2SPEED(getCarFollowModel().getEmergencyDecel()));
7360 1001 : myState.myPos = MIN2(myState.myPos, stop.pars.endPos);
7361 1001 : myCachedPosition = Position::INVALID;
7362 1001 : if (myState.myPos < myType->getLength()) {
7363 418 : computeFurtherLanes(myLane, myState.myPos, true);
7364 418 : myAngle = computeAngle();
7365 418 : if (myLaneChangeModel->isOpposite()) {
7366 0 : myAngle += M_PI;
7367 : }
7368 : }
7369 : }
7370 : }
7371 3130 : return true;
7372 : }
7373 :
7374 :
7375 : bool
7376 23914206 : MSVehicle::resumeFromStopping() {
7377 23914206 : if (isStopped()) {
7378 48385 : if (myAmRegisteredAsWaiting) {
7379 758 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
7380 758 : myAmRegisteredAsWaiting = false;
7381 : }
7382 : MSStop& stop = myStops.front();
7383 : // we have waited long enough and fulfilled any passenger-requirements
7384 48385 : if (stop.busstop != nullptr) {
7385 : // inform bus stop about leaving it
7386 18074 : stop.busstop->leaveFrom(this);
7387 : }
7388 : // we have waited long enough and fulfilled any container-requirements
7389 48385 : if (stop.containerstop != nullptr) {
7390 : // inform container stop about leaving it
7391 530 : stop.containerstop->leaveFrom(this);
7392 : }
7393 48385 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
7394 : // inform parking area about leaving it
7395 8348 : stop.parkingarea->leaveFrom(this);
7396 : }
7397 48385 : if (stop.chargingStation != nullptr) {
7398 : // inform charging station about leaving it
7399 3517 : stop.chargingStation->leaveFrom(this);
7400 : }
7401 : // the current stop is no longer valid
7402 48385 : myLane->getEdge().removeWaiting(this);
7403 : // MSStopOut needs to know whether the stop had a loaded 'ended' value so we call this before replacing the value
7404 48385 : if (stop.pars.started == -1) {
7405 : // waypoint edge was passed in a single step
7406 334 : stop.pars.started = MSNet::getInstance()->getCurrentTimeStep();
7407 : }
7408 48385 : if (MSStopOut::active()) {
7409 3964 : MSStopOut::getInstance()->stopEnded(this, stop);
7410 : }
7411 48385 : stop.pars.ended = MSNet::getInstance()->getCurrentTimeStep();
7412 109793 : for (const auto& rem : myMoveReminders) {
7413 61408 : rem.first->notifyStopEnded();
7414 : }
7415 48385 : if (stop.pars.collision && MSLane::getCollisionAction() == MSLane::COLLISION_ACTION_WARN) {
7416 425 : myCollisionImmunity = TIME2STEPS(5); // leave the conflict area
7417 : }
7418 48385 : if (stop.pars.posLat != INVALID_DOUBLE && MSGlobals::gLateralResolution <= 0) {
7419 : // reset lateral position to default
7420 194 : myState.myPosLat = 0;
7421 : }
7422 48385 : const bool wasWaypoint = stop.getSpeed() > 0;
7423 48385 : myPastStops.push_back(stop.pars);
7424 48385 : myPastStops.back().routeIndex = (int)(stop.edge - myRoute->begin());
7425 48385 : myStops.pop_front();
7426 48385 : myStopDist = std::numeric_limits<double>::max();
7427 : // do not count the stopping time towards gridlock time.
7428 : // Other outputs use an independent counter and are not affected.
7429 48385 : myWaitingTime = 0;
7430 48385 : myStopSpeed = getCarFollowModel().maxNextSpeed(getSpeed(), this);
7431 : // maybe the next stop is on the same edge; let's rebuild best lanes
7432 48385 : updateBestLanes(true);
7433 : // continue as wished...
7434 48385 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::ENDING_STOP);
7435 48385 : MSNet::getInstance()->getVehicleControl().registerStopEnded();
7436 48385 : return !wasWaypoint;
7437 : }
7438 : return false;
7439 : }
7440 :
7441 :
7442 : MSVehicle::Influencer&
7443 4569108 : MSVehicle::getInfluencer() {
7444 4569108 : if (myInfluencer == nullptr) {
7445 3478 : myInfluencer = new Influencer();
7446 : }
7447 4569108 : return *myInfluencer;
7448 : }
7449 :
7450 : MSVehicle::BaseInfluencer&
7451 24 : MSVehicle::getBaseInfluencer() {
7452 24 : return getInfluencer();
7453 : }
7454 :
7455 :
7456 : const MSVehicle::Influencer*
7457 0 : MSVehicle::getInfluencer() const {
7458 0 : return myInfluencer;
7459 : }
7460 :
7461 : const MSVehicle::BaseInfluencer*
7462 234504 : MSVehicle::getBaseInfluencer() const {
7463 234504 : return myInfluencer;
7464 : }
7465 :
7466 :
7467 : double
7468 4078 : MSVehicle::getSpeedWithoutTraciInfluence() const {
7469 4078 : if (myInfluencer != nullptr && myInfluencer->getOriginalSpeed() >= 0) {
7470 : // influencer original speed is -1 on initialization
7471 1655 : return myInfluencer->getOriginalSpeed();
7472 : }
7473 2423 : return myState.mySpeed;
7474 : }
7475 :
7476 :
7477 : int
7478 988379634 : MSVehicle::influenceChangeDecision(int state) {
7479 988379634 : if (hasInfluencer()) {
7480 2828806 : state = getInfluencer().influenceChangeDecision(
7481 : MSNet::getInstance()->getCurrentTimeStep(),
7482 2828806 : myLane->getEdge(),
7483 : getLaneIndex(),
7484 : state);
7485 : }
7486 988379634 : return state;
7487 : }
7488 :
7489 :
7490 : void
7491 6746 : MSVehicle::setRemoteState(Position xyPos) {
7492 6746 : myCachedPosition = xyPos;
7493 6746 : }
7494 :
7495 :
7496 : bool
7497 790524943 : MSVehicle::isRemoteControlled() const {
7498 790524943 : return myInfluencer != nullptr && myInfluencer->isRemoteControlled();
7499 : }
7500 :
7501 :
7502 : bool
7503 20568 : MSVehicle::wasRemoteControlled(SUMOTime lookBack) const {
7504 20568 : return myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() + lookBack >= MSNet::getInstance()->getCurrentTimeStep();
7505 : }
7506 :
7507 :
7508 : bool
7509 513644452 : MSVehicle::keepClear(const MSLink* link) const {
7510 513644452 : if (link->hasFoes() && link->keepClear() /* && item.myLink->willHaveBlockedFoe()*/) {
7511 165729608 : const double keepClearTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_KEEPCLEAR_TIME, -1);
7512 : //std::cout << SIMTIME << " veh=" << getID() << " keepClearTime=" << keepClearTime << " accWait=" << getAccumulatedWaitingSeconds() << " keepClear=" << (keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime) << "\n";
7513 167151953 : return keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime;
7514 : } else {
7515 : return false;
7516 : }
7517 : }
7518 :
7519 :
7520 : bool
7521 714596929 : MSVehicle::ignoreRed(const MSLink* link, bool canBrake) const {
7522 714596929 : if ((myInfluencer != nullptr && !myInfluencer->getEmergencyBrakeRedLight())) {
7523 : return true;
7524 : }
7525 714289156 : const double ignoreRedTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME, -1);
7526 : #ifdef DEBUG_IGNORE_RED
7527 : if (DEBUG_COND) {
7528 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID() << " state=" << toString(link->getState()) << "\n";
7529 : }
7530 : #endif
7531 714289156 : if (ignoreRedTime < 0) {
7532 714283757 : const double ignoreYellowTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_YELLOW_TIME, 0);
7533 714283757 : if (ignoreYellowTime > 0 && link->haveYellow()) {
7534 : assert(link->getTLLogic() != 0);
7535 52 : const double yellowDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7536 : // when activating ignoreYellow behavior, vehicles will drive if they cannot brake
7537 92 : return !canBrake || ignoreYellowTime > yellowDuration;
7538 : } else {
7539 : return false;
7540 : }
7541 5399 : } else if (link->haveYellow()) {
7542 : // always drive at yellow when ignoring red
7543 : return true;
7544 5243 : } else if (link->haveRed()) {
7545 : assert(link->getTLLogic() != 0);
7546 3832 : const double redDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7547 : #ifdef DEBUG_IGNORE_RED
7548 : if (DEBUG_COND) {
7549 : std::cout
7550 : // << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID()
7551 : << " ignoreRedTime=" << ignoreRedTime
7552 : << " spentRed=" << redDuration
7553 : << " canBrake=" << canBrake << "\n";
7554 : }
7555 : #endif
7556 : // when activating ignoreRed behavior, vehicles will always drive if they cannot brake
7557 6356 : return !canBrake || ignoreRedTime > redDuration;
7558 : } else {
7559 : return false;
7560 : }
7561 : }
7562 :
7563 : bool
7564 1303472359 : MSVehicle::ignoreFoe(const SUMOTrafficObject* foe) const {
7565 1303472359 : if (!getParameter().wasSet(VEHPARS_CFMODEL_PARAMS_SET)) {
7566 : return false;
7567 : }
7568 2768 : for (const std::string& typeID : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_TYPES), "")).getVector()) {
7569 398 : if (typeID == foe->getVehicleType().getID()) {
7570 : return true;
7571 : }
7572 1384 : }
7573 2381 : for (const std::string& id : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_IDS), "")).getVector()) {
7574 986 : if (id == foe->getID()) {
7575 : return true;
7576 : }
7577 986 : }
7578 409 : return false;
7579 : }
7580 :
7581 : bool
7582 548757090 : MSVehicle::passingMinor() const {
7583 : // either on an internal lane that was entered via minor link
7584 : // or on approach to minor link below visibility distance
7585 548757090 : if (myLane == nullptr) {
7586 : return false;
7587 : }
7588 548757090 : if (myLane->getEdge().isInternal()) {
7589 10156920 : return !myLane->getIncomingLanes().front().viaLink->havePriority();
7590 538600170 : } else if (myLFLinkLanes.size() > 0 && myLFLinkLanes.front().myLink != nullptr) {
7591 : MSLink* link = myLFLinkLanes.front().myLink;
7592 278670823 : return !link->havePriority() && myLFLinkLanes.front().myDistance <= link->getFoeVisibilityDistance();
7593 : }
7594 : return false;
7595 : }
7596 :
7597 : bool
7598 20867860 : MSVehicle::isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const {
7599 : assert(link->fromInternalLane());
7600 20867860 : if (veh == nullptr) {
7601 : return false;
7602 : }
7603 20867860 : if (!myLane->isInternal() || myLane->getEdge().getToJunction() != link->getJunction()) {
7604 : // if this vehicle is not yet on the junction, every vehicle is a leader
7605 : return true;
7606 : }
7607 1893696 : if (veh->getLaneChangeModel().hasBlueLight()) {
7608 : // blue light device automatically gets right of way
7609 : return true;
7610 : }
7611 1893428 : const MSLane* foeLane = veh->getLane();
7612 1893428 : if (foeLane->isInternal()) {
7613 1405753 : if (foeLane->getEdge().getFromJunction() == link->getJunction()) {
7614 1389449 : SUMOTime egoET = myJunctionConflictEntryTime;
7615 1389449 : SUMOTime foeET = veh->myJunctionEntryTime;
7616 : // check relationship between link and foeLane
7617 1389449 : if (foeLane->getNormalPredecessorLane() == link->getInternalLaneBefore()->getNormalPredecessorLane()) {
7618 : // we are entering the junction from the same lane
7619 454809 : egoET = myJunctionEntryTimeNeverYield;
7620 454809 : foeET = veh->myJunctionEntryTimeNeverYield;
7621 454809 : if (link->isExitLinkAfterInternalJunction() && link->getInternalLaneBefore()->getLogicalPredecessorLane()->getEntryLink()->isIndirect()) {
7622 91633 : egoET = myJunctionConflictEntryTime;
7623 : }
7624 : } else {
7625 934640 : const MSLink* foeLink = foeLane->getIncomingLanes()[0].viaLink;
7626 934640 : const MSJunctionLogic* logic = link->getJunction()->getLogic();
7627 : assert(logic != nullptr);
7628 : // determine who has right of way
7629 : bool response; // ego response to foe
7630 : bool response2; // foe response to ego
7631 : // attempt 1: tlLinkState
7632 934640 : const MSLink* entry = link->getCorrespondingEntryLink();
7633 934640 : const MSLink* foeEntry = foeLink->getCorrespondingEntryLink();
7634 934640 : if (entry->haveRed() || foeEntry->haveRed()) {
7635 : // ensure that vehicles which are stuck on the intersection may exit
7636 115531 : if (!foeEntry->haveRed() && veh->getSpeed() > SUMO_const_haltingSpeed && gap < 0) {
7637 : // foe might be oncoming, don't drive unless foe can still brake safely
7638 11471 : const double foeNextSpeed = veh->getSpeed() + ACCEL2SPEED(veh->getCarFollowModel().getMaxAccel());
7639 11471 : const double foeBrakeGap = veh->getCarFollowModel().brakeGap(
7640 11471 : foeNextSpeed, veh->getCarFollowModel().getMaxDecel(), veh->getCarFollowModel().getHeadwayTime());
7641 : // the minGap was subtracted from gap in MSLink::getLeaderInfo (enlarging the negative gap)
7642 : // so the -2* makes it point in the right direction
7643 11471 : const double foeGap = -gap - veh->getLength() - 2 * getVehicleType().getMinGap();
7644 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7645 : if (DEBUG_COND) {
7646 : std::cout << " foeGap=" << foeGap << " foeBGap=" << foeBrakeGap << "\n";
7647 :
7648 : }
7649 : #endif
7650 11471 : if (foeGap < foeBrakeGap) {
7651 : response = true;
7652 : response2 = false;
7653 : } else {
7654 : response = false;
7655 : response2 = true;
7656 : }
7657 : } else {
7658 : // let conflict entry time decide
7659 : response = true;
7660 : response2 = true;
7661 : }
7662 819109 : } else if (entry->havePriority() != foeEntry->havePriority()) {
7663 606463 : response = !entry->havePriority();
7664 606463 : response2 = !foeEntry->havePriority();
7665 212646 : } else if (entry->haveYellow() && foeEntry->haveYellow()) {
7666 : // let the faster vehicle keep moving
7667 5681 : response = veh->getSpeed() >= getSpeed();
7668 5681 : response2 = getSpeed() >= veh->getSpeed();
7669 : } else {
7670 : // fallback if pedestrian crossings are involved
7671 206965 : response = logic->getResponseFor(link->getIndex()).test(foeLink->getIndex());
7672 206965 : response2 = logic->getResponseFor(foeLink->getIndex()).test(link->getIndex());
7673 : }
7674 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7675 : if (DEBUG_COND) {
7676 : std::cout << SIMTIME
7677 : << " foeLane=" << foeLane->getID()
7678 : << " foeLink=" << foeLink->getViaLaneOrLane()->getID()
7679 : << " linkIndex=" << link->getIndex()
7680 : << " foeLinkIndex=" << foeLink->getIndex()
7681 : << " entryState=" << toString(entry->getState())
7682 : << " entryState2=" << toString(foeEntry->getState())
7683 : << " response=" << response
7684 : << " response2=" << response2
7685 : << "\n";
7686 : }
7687 : #endif
7688 934640 : if (!response) {
7689 : // if we have right of way over the foe, entryTime does not matter
7690 77165 : foeET = veh->myJunctionConflictEntryTime;
7691 77165 : egoET = myJunctionEntryTime;
7692 857475 : } else if (response && response2) {
7693 : // in a mutual conflict scenario, use entry time to avoid deadlock
7694 127493 : foeET = veh->myJunctionConflictEntryTime;
7695 127493 : egoET = myJunctionConflictEntryTime;
7696 : }
7697 : }
7698 1389449 : if (egoET == foeET) {
7699 : // try to use speed as tie braker
7700 106082 : if (getSpeed() == veh->getSpeed()) {
7701 : // use ID as tie braker
7702 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7703 : if (DEBUG_COND) {
7704 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7705 : << " foeIsLeaderByID=" << (getID() < veh->getID()) << "\n";
7706 : }
7707 : #endif
7708 57092 : return getID() < veh->getID();
7709 : } else {
7710 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7711 : if (DEBUG_COND) {
7712 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7713 : << " foeIsLeaderBySpeed=" << (getSpeed() < veh->getSpeed())
7714 : << " v=" << getSpeed() << " foeV=" << veh->getSpeed()
7715 : << "\n";
7716 : }
7717 : #endif
7718 48990 : return getSpeed() < veh->getSpeed();
7719 : }
7720 : } else {
7721 : // leader was on the junction first
7722 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7723 : if (DEBUG_COND) {
7724 : std::cout << SIMTIME << " veh=" << getID() << " egoET " << egoET << " with foe " << veh->getID()
7725 : << " foeET=" << foeET << " isLeader=" << (egoET > foeET) << "\n";
7726 : }
7727 : #endif
7728 1283367 : return egoET > foeET;
7729 : }
7730 : } else {
7731 : // vehicle can only be partially on the junction. Must be a leader
7732 : return true;
7733 : }
7734 : } else {
7735 : // vehicle can only be partially on the junction. Must be a leader
7736 : return true;
7737 : }
7738 : }
7739 :
7740 : void
7741 2486 : MSVehicle::saveState(OutputDevice& out) {
7742 2486 : MSBaseVehicle::saveState(out);
7743 : // here starts the vehicle internal part (see loading)
7744 : std::vector<std::string> internals;
7745 2486 : internals.push_back(toString(myParameter->parametersSet));
7746 2486 : internals.push_back(toString(myDeparture));
7747 2486 : internals.push_back(toString(distance(myRoute->begin(), myCurrEdge)));
7748 2486 : internals.push_back(toString(myDepartPos));
7749 2486 : internals.push_back(toString(myWaitingTime));
7750 2486 : internals.push_back(toString(myTimeLoss));
7751 2486 : internals.push_back(toString(myLastActionTime));
7752 2486 : internals.push_back(toString(isStopped()));
7753 2486 : internals.push_back(toString(myPastStops.size()));
7754 2486 : out.writeAttr(SUMO_ATTR_STATE, internals);
7755 2486 : out.writeAttr(SUMO_ATTR_POSITION, std::vector<double> { myState.myPos, myState.myBackPos, myState.myLastCoveredDist });
7756 2486 : out.writeAttr(SUMO_ATTR_SPEED, std::vector<double> { myState.mySpeed, myState.myPreviousSpeed });
7757 2486 : out.writeAttr(SUMO_ATTR_ANGLE, GeomHelper::naviDegree(myAngle));
7758 2486 : out.writeAttr(SUMO_ATTR_POSITION_LAT, myState.myPosLat);
7759 2486 : out.writeAttr(SUMO_ATTR_WAITINGTIME, myWaitingTimeCollector.getState());
7760 2486 : myLaneChangeModel->saveState(out);
7761 : // save past stops
7762 5444 : for (SUMOVehicleParameter::Stop stop : myPastStops) {
7763 2958 : stop.write(out, false);
7764 : // do not write started and ended twice
7765 2958 : if ((stop.parametersSet & STOP_STARTED_SET) == 0) {
7766 2953 : out.writeAttr(SUMO_ATTR_STARTED, time2string(stop.started));
7767 : }
7768 2958 : if ((stop.parametersSet & STOP_ENDED_SET) == 0) {
7769 2953 : out.writeAttr(SUMO_ATTR_ENDED, time2string(stop.ended));
7770 : }
7771 2958 : stop.writeParams(out);
7772 2958 : out.closeTag();
7773 2958 : }
7774 : // save upcoming stops
7775 2972 : for (MSStop& stop : myStops) {
7776 486 : stop.write(out);
7777 : }
7778 : // save parameters and device states
7779 2486 : myParameter->writeParams(out);
7780 6316 : for (MSVehicleDevice* const dev : myDevices) {
7781 3830 : dev->saveState(out);
7782 : }
7783 2486 : out.closeTag();
7784 2486 : }
7785 :
7786 : void
7787 3574 : MSVehicle::loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) {
7788 3574 : if (!attrs.hasAttribute(SUMO_ATTR_POSITION)) {
7789 0 : throw ProcessError(TL("Error: Invalid vehicles in state (may be a meso state)!"));
7790 : }
7791 : int routeOffset;
7792 : bool stopped;
7793 : int pastStops;
7794 :
7795 3574 : std::istringstream bis(attrs.getString(SUMO_ATTR_STATE));
7796 3574 : bis >> myParameter->parametersSet;
7797 3574 : bis >> myDeparture;
7798 3574 : bis >> routeOffset;
7799 3574 : bis >> myDepartPos;
7800 3574 : bis >> myWaitingTime;
7801 3574 : bis >> myTimeLoss;
7802 3574 : bis >> myLastActionTime;
7803 : bis >> stopped;
7804 3574 : bis >> pastStops;
7805 :
7806 3574 : if (attrs.hasAttribute(SUMO_ATTR_ARRIVALPOS_RANDOMIZED)) {
7807 : bool ok;
7808 4 : myArrivalPos = attrs.get<double>(SUMO_ATTR_ARRIVALPOS_RANDOMIZED, getID().c_str(), ok);
7809 : }
7810 : // load stops
7811 : myStops.clear();
7812 3574 : addStops(!MSGlobals::gCheckRoutes, &myCurrEdge, false);
7813 :
7814 3574 : if (hasDeparted()) {
7815 1576 : myCurrEdge = myRoute->begin() + routeOffset;
7816 1576 : myDeparture -= offset;
7817 : // fix stops
7818 4508 : while (pastStops > 0) {
7819 2932 : myPastStops.push_back(myStops.front().pars);
7820 2932 : myPastStops.back().routeIndex = (int)(myStops.front().edge - myRoute->begin());
7821 2932 : myStops.pop_front();
7822 2932 : pastStops--;
7823 : }
7824 : // see MSBaseVehicle constructor
7825 1576 : if (myParameter->wasSet(VEHPARS_FORCE_REROUTE)) {
7826 1167 : calculateArrivalParams(true);
7827 : }
7828 : // a (tentative lane is needed for calling hasArrivedInternal
7829 1576 : myLane = (*myCurrEdge)->getLanes()[0];
7830 : }
7831 3574 : if (getActionStepLength() == DELTA_T && !isActionStep(SIMSTEP)) {
7832 1 : myLastActionTime -= (myLastActionTime - SIMSTEP) % DELTA_T;
7833 3 : WRITE_WARNINGF(TL("Action steps are out of sync for loaded vehicle '%'."), getID());
7834 : }
7835 3574 : std::istringstream pis(attrs.getString(SUMO_ATTR_POSITION));
7836 3574 : pis >> myState.myPos >> myState.myBackPos >> myState.myLastCoveredDist;
7837 3574 : std::istringstream sis(attrs.getString(SUMO_ATTR_SPEED));
7838 3574 : sis >> myState.mySpeed >> myState.myPreviousSpeed;
7839 3574 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7840 3574 : myAngle = GeomHelper::fromNaviDegree(attrs.getFloat(SUMO_ATTR_ANGLE));
7841 3574 : myState.myPosLat = attrs.getFloat(SUMO_ATTR_POSITION_LAT);
7842 3574 : std::istringstream dis(attrs.getString(SUMO_ATTR_DISTANCE));
7843 3574 : dis >> myOdometer >> myNumberReroutes;
7844 3574 : myWaitingTimeCollector.setState(attrs.getString(SUMO_ATTR_WAITINGTIME));
7845 3574 : if (stopped) {
7846 216 : myStops.front().startedFromState = true;
7847 216 : myStopDist = 0;
7848 : }
7849 3574 : myLaneChangeModel->loadState(attrs);
7850 : // no need to reset myCachedPosition here since state loading happens directly after creation
7851 3574 : }
7852 :
7853 : void
7854 32 : MSVehicle::loadPreviousApproaching(MSLink* link, bool setRequest,
7855 : SUMOTime arrivalTime, double arrivalSpeed,
7856 : double arrivalSpeedBraking,
7857 : double dist, double leaveSpeed) {
7858 : // ensure that approach information is reset on the next call to setApproachingForAllLinks
7859 32 : myLFLinkLanes.push_back(DriveProcessItem(link, 0, 0, setRequest,
7860 : arrivalTime, arrivalSpeed, arrivalSpeedBraking, dist, leaveSpeed));
7861 :
7862 32 : }
7863 :
7864 :
7865 : std::shared_ptr<MSSimpleDriverState>
7866 2564950 : MSVehicle::getDriverState() const {
7867 2564950 : return myDriverState->getDriverState();
7868 : }
7869 :
7870 :
7871 : double
7872 621549751 : MSVehicle::getFriction() const {
7873 621549751 : return myFrictionDevice == nullptr ? 1. : myFrictionDevice->getMeasuredFriction();
7874 : }
7875 :
7876 :
7877 : void
7878 196 : MSVehicle::setPreviousSpeed(double prevSpeed, double prevAcceleration) {
7879 196 : myState.mySpeed = MAX2(0., prevSpeed);
7880 : // also retcon acceleration
7881 196 : if (prevAcceleration != std::numeric_limits<double>::min()) {
7882 8 : myAcceleration = prevAcceleration;
7883 : } else {
7884 188 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7885 : }
7886 196 : }
7887 :
7888 :
7889 : double
7890 1854869891 : MSVehicle::getCurrentApparentDecel() const {
7891 : //return MAX2(-myAcceleration, getCarFollowModel().getApparentDecel());
7892 1854869891 : return getCarFollowModel().getApparentDecel();
7893 : }
7894 :
7895 : /****************************************************************************/
7896 : bool
7897 32 : MSVehicle::setExitManoeuvre() {
7898 32 : return (myManoeuvre.configureExitManoeuvre(this));
7899 : }
7900 :
7901 : /* -------------------------------------------------------------------------
7902 : * methods of MSVehicle::manoeuvre
7903 : * ----------------------------------------------------------------------- */
7904 :
7905 4486237 : MSVehicle::Manoeuvre::Manoeuvre() : myManoeuvreStop(""), myManoeuvreStartTime(0), myManoeuvreCompleteTime(0), myManoeuvreType(MSVehicle::MANOEUVRE_NONE), myGUIIncrement(0) {}
7906 :
7907 :
7908 0 : MSVehicle::Manoeuvre::Manoeuvre(const Manoeuvre& manoeuvre) {
7909 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
7910 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
7911 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
7912 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
7913 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
7914 0 : }
7915 :
7916 :
7917 : MSVehicle::Manoeuvre&
7918 0 : MSVehicle::Manoeuvre::operator=(const Manoeuvre& manoeuvre) {
7919 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
7920 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
7921 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
7922 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
7923 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
7924 0 : return *this;
7925 : }
7926 :
7927 :
7928 : bool
7929 0 : MSVehicle::Manoeuvre::operator!=(const Manoeuvre& manoeuvre) {
7930 0 : return (myManoeuvreStop != manoeuvre.myManoeuvreStop ||
7931 0 : myManoeuvreStartTime != manoeuvre.myManoeuvreStartTime ||
7932 0 : myManoeuvreCompleteTime != manoeuvre.myManoeuvreCompleteTime ||
7933 0 : myManoeuvreType != manoeuvre.myManoeuvreType ||
7934 0 : myGUIIncrement != manoeuvre.myGUIIncrement
7935 0 : );
7936 : }
7937 :
7938 :
7939 : double
7940 450 : MSVehicle::Manoeuvre::getGUIIncrement() const {
7941 450 : return (myGUIIncrement);
7942 : }
7943 :
7944 :
7945 : MSVehicle::ManoeuvreType
7946 2971 : MSVehicle::Manoeuvre::getManoeuvreType() const {
7947 2971 : return (myManoeuvreType);
7948 : }
7949 :
7950 :
7951 : MSVehicle::ManoeuvreType
7952 2971 : MSVehicle::getManoeuvreType() const {
7953 2971 : return (myManoeuvre.getManoeuvreType());
7954 : }
7955 :
7956 :
7957 : void
7958 30 : MSVehicle::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
7959 30 : myManoeuvre.setManoeuvreType(mType);
7960 30 : }
7961 :
7962 :
7963 : void
7964 30 : MSVehicle::Manoeuvre::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
7965 30 : myManoeuvreType = mType;
7966 30 : }
7967 :
7968 :
7969 : bool
7970 30 : MSVehicle::Manoeuvre::configureEntryManoeuvre(MSVehicle* veh) {
7971 30 : if (!veh->hasStops()) {
7972 : return false; // should never happen - checked before call
7973 : }
7974 :
7975 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
7976 30 : const MSStop& stop = veh->getNextStop();
7977 :
7978 30 : int manoeuverAngle = stop.parkingarea->getLastFreeLotAngle();
7979 30 : double GUIAngle = stop.parkingarea->getLastFreeLotGUIAngle();
7980 30 : if (abs(GUIAngle) < 0.1) {
7981 : GUIAngle = -0.1; // Wiggle vehicle on parallel entry
7982 : }
7983 30 : myManoeuvreVehicleID = veh->getID();
7984 30 : myManoeuvreStop = stop.parkingarea->getID();
7985 30 : myManoeuvreType = MSVehicle::MANOEUVRE_ENTRY;
7986 30 : myManoeuvreStartTime = currentTime;
7987 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getEntryManoeuvreTime(manoeuverAngle);
7988 30 : myGUIIncrement = GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
7989 :
7990 : #ifdef DEBUG_STOPS
7991 : if (veh->isSelected()) {
7992 : std::cout << "ENTRY manoeuvre start: vehicle=" << veh->getID() << " Manoeuvre Angle=" << manoeuverAngle << " Rotation angle=" << RAD2DEG(GUIAngle) << " Road Angle" << RAD2DEG(veh->getAngle()) << " increment=" << RAD2DEG(myGUIIncrement) << " currentTime=" << currentTime <<
7993 : " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
7994 : }
7995 : #endif
7996 :
7997 30 : return (true);
7998 : }
7999 :
8000 :
8001 : bool
8002 32 : MSVehicle::Manoeuvre::configureExitManoeuvre(MSVehicle* veh) {
8003 : // At the moment we only want to set for parking areas
8004 32 : if (!veh->hasStops()) {
8005 : return true;
8006 : }
8007 32 : if (veh->getNextStop().parkingarea == nullptr) {
8008 : return true;
8009 : }
8010 :
8011 30 : if (myManoeuvreType != MSVehicle::MANOEUVRE_NONE) {
8012 : return (false);
8013 : }
8014 :
8015 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
8016 :
8017 30 : int manoeuverAngle = veh->getCurrentParkingArea()->getManoeuverAngle(*veh);
8018 30 : double GUIAngle = veh->getCurrentParkingArea()->getGUIAngle(*veh);
8019 30 : if (abs(GUIAngle) < 0.1) {
8020 : GUIAngle = 0.1; // Wiggle vehicle on parallel exit
8021 : }
8022 :
8023 30 : myManoeuvreVehicleID = veh->getID();
8024 30 : myManoeuvreStop = veh->getCurrentParkingArea()->getID();
8025 30 : myManoeuvreType = MSVehicle::MANOEUVRE_EXIT;
8026 30 : myManoeuvreStartTime = currentTime;
8027 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getExitManoeuvreTime(manoeuverAngle);
8028 30 : myGUIIncrement = -GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
8029 30 : if (veh->remainingStopDuration() > 0) {
8030 20 : myManoeuvreCompleteTime += veh->remainingStopDuration();
8031 : }
8032 :
8033 : #ifdef DEBUG_STOPS
8034 : if (veh->isSelected()) {
8035 : std::cout << "EXIT manoeuvre start: vehicle=" << veh->getID() << " Manoeuvre Angle=" << manoeuverAngle << " increment=" << RAD2DEG(myGUIIncrement) << " currentTime=" << currentTime
8036 : << " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
8037 : }
8038 : #endif
8039 :
8040 : return (true);
8041 : }
8042 :
8043 :
8044 : bool
8045 222 : MSVehicle::Manoeuvre::entryManoeuvreIsComplete(MSVehicle* veh) {
8046 : // At the moment we only want to consider parking areas - need to check because we could be setting up a manoeuvre
8047 222 : if (!veh->hasStops()) {
8048 : return (true);
8049 : }
8050 : MSStop* currentStop = &veh->myStops.front();
8051 222 : if (currentStop->parkingarea == nullptr) {
8052 : return true;
8053 220 : } else if (currentStop->parkingarea->getID() != myManoeuvreStop || MSVehicle::MANOEUVRE_ENTRY != myManoeuvreType) {
8054 30 : if (configureEntryManoeuvre(veh)) {
8055 30 : MSNet::getInstance()->informVehicleStateListener(veh, MSNet::VehicleState::MANEUVERING);
8056 30 : return (false);
8057 : } else { // cannot configure entry so stop trying
8058 : return true;
8059 : }
8060 190 : } else if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8061 : return false;
8062 : } else { // manoeuvre complete
8063 30 : myManoeuvreType = MSVehicle::MANOEUVRE_NONE;
8064 30 : return true;
8065 : }
8066 : }
8067 :
8068 :
8069 : bool
8070 0 : MSVehicle::Manoeuvre::manoeuvreIsComplete(const ManoeuvreType checkType) const {
8071 0 : if (checkType != myManoeuvreType) {
8072 : return true; // we're not maneuvering / wrong manoeuvre
8073 : }
8074 :
8075 0 : if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8076 : return false;
8077 : } else {
8078 : return true;
8079 : }
8080 : }
8081 :
8082 :
8083 : bool
8084 6266 : MSVehicle::Manoeuvre::manoeuvreIsComplete() const {
8085 6266 : return (MSNet::getInstance()->getCurrentTimeStep() >= myManoeuvreCompleteTime);
8086 : }
8087 :
8088 :
8089 : bool
8090 6266 : MSVehicle::manoeuvreIsComplete() const {
8091 6266 : return (myManoeuvre.manoeuvreIsComplete());
8092 : }
8093 :
8094 :
8095 : std::pair<double, double>
8096 7382 : MSVehicle::estimateTimeToNextStop() const {
8097 7382 : if (hasStops()) {
8098 7382 : MSLane* lane = myLane;
8099 7382 : if (lane == nullptr) {
8100 : // not in network
8101 84 : lane = getEdge()->getLanes()[0];
8102 : }
8103 : const MSStop& stop = myStops.front();
8104 : auto it = myCurrEdge + 1;
8105 : // drive to end of current edge
8106 7382 : double dist = (lane->getLength() - getPositionOnLane());
8107 7382 : double travelTime = lane->getEdge().getMinimumTravelTime(this) * dist / lane->getLength();
8108 : // drive until stop edge
8109 8746 : while (it != myRoute->end() && it < stop.edge) {
8110 1364 : travelTime += (*it)->getMinimumTravelTime(this);
8111 1364 : dist += (*it)->getLength();
8112 : it++;
8113 : }
8114 : // drive up to the stop position
8115 7382 : const double stopEdgeDist = stop.pars.endPos - (lane == stop.lane ? lane->getLength() : 0);
8116 7382 : dist += stopEdgeDist;
8117 7382 : travelTime += stop.lane->getEdge().getMinimumTravelTime(this) * (stopEdgeDist / stop.lane->getLength());
8118 : // estimate time loss due to acceleration and deceleration
8119 : // maximum speed is limited by available distance:
8120 : const double a = getCarFollowModel().getMaxAccel();
8121 : const double b = getCarFollowModel().getMaxDecel();
8122 7382 : const double c = getSpeed();
8123 : const double d = dist;
8124 7382 : const double len = getVehicleType().getLength();
8125 7382 : const double vs = MIN2(MAX2(stop.getSpeed(), 0.0), stop.lane->getVehicleMaxSpeed(this));
8126 : // distAccel = (v - c)^2 / (2a)
8127 : // distDecel = (v + vs)*(v - vs) / 2b = (v^2 - vs^2) / (2b)
8128 : // distAccel + distDecel < d
8129 7382 : const double maxVD = MAX2(c, ((sqrt(MAX2(0.0, pow(2 * c * b, 2) + (4 * ((b * ((a * (2 * d * (b + a) + (vs * vs) - (c * c))) - (b * (c * c))))
8130 14476 : + pow((a * vs), 2))))) * 0.5) + (c * b)) / (b + a));
8131 7382 : it = myCurrEdge;
8132 : double v0 = c;
8133 7382 : bool v0Stable = getAcceleration() == 0 && v0 > 0;
8134 : double timeLossAccel = 0;
8135 : double timeLossDecel = 0;
8136 : double timeLossLength = 0;
8137 17568 : while (it != myRoute->end() && it <= stop.edge) {
8138 10186 : double v = MIN2(maxVD, (*it)->getVehicleMaxSpeed(this));
8139 10186 : double edgeLength = (it == stop.edge ? stop.pars.endPos : (*it)->getLength()) - (it == myCurrEdge ? getPositionOnLane() : 0);
8140 10186 : if (edgeLength <= len && v0Stable && v0 < v) {
8141 : const double lengthDist = MIN2(len, edgeLength);
8142 20 : const double dTL = lengthDist / v0 - lengthDist / v;
8143 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " el=" << edgeLength << " lDist=" << lengthDist << " newTLL=" << dTL<< "\n";
8144 20 : timeLossLength += dTL;
8145 : }
8146 10186 : if (edgeLength > len) {
8147 9050 : const double dv = v - v0;
8148 9050 : if (dv > 0) {
8149 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8150 6476 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8151 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8152 6476 : timeLossAccel += dTA;
8153 : // time loss from vehicle length
8154 2574 : } else if (dv < 0) {
8155 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8156 540 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8157 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8158 540 : timeLossDecel += dTD;
8159 : }
8160 : v0 = v;
8161 : v0Stable = true;
8162 : }
8163 : it++;
8164 : }
8165 : // final deceleration to stop (may also be acceleration or deceleration to waypoint speed)
8166 : double v = vs;
8167 7382 : const double dv = v - v0;
8168 7382 : if (dv > 0) {
8169 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8170 144 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8171 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8172 144 : timeLossAccel += dTA;
8173 : // time loss from vehicle length
8174 7238 : } else if (dv < 0) {
8175 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8176 7210 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8177 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8178 7210 : timeLossDecel += dTD;
8179 : }
8180 7382 : const double result = travelTime + timeLossAccel + timeLossDecel + timeLossLength;
8181 : //std::cout << SIMTIME << " v=" << c << " a=" << a << " b=" << b << " maxVD=" << maxVD << " tt=" << travelTime
8182 : // << " ta=" << timeLossAccel << " td=" << timeLossDecel << " tl=" << timeLossLength << " res=" << result << "\n";
8183 7382 : return {MAX2(0.0, result), dist};
8184 : } else {
8185 0 : return {INVALID_DOUBLE, INVALID_DOUBLE};
8186 : }
8187 : }
8188 :
8189 :
8190 : double
8191 2457 : MSVehicle::getStopDelay() const {
8192 2457 : if (hasStops() && myStops.front().pars.until >= 0) {
8193 : const MSStop& stop = myStops.front();
8194 1612 : SUMOTime estimatedDepart = MSNet::getInstance()->getCurrentTimeStep() - DELTA_T;
8195 1612 : if (stop.reached) {
8196 802 : return STEPS2TIME(estimatedDepart + stop.duration - stop.pars.until);
8197 : }
8198 810 : if (stop.pars.duration > 0) {
8199 608 : estimatedDepart += stop.pars.duration;
8200 : }
8201 810 : estimatedDepart += TIME2STEPS(estimateTimeToNextStop().first);
8202 810 : const double result = MAX2(0.0, STEPS2TIME(estimatedDepart - stop.pars.until));
8203 810 : return result;
8204 : } else {
8205 : // vehicles cannot drive before 'until' so stop delay can never be
8206 : // negative and we can use -1 to signal "undefined"
8207 : return -1;
8208 : }
8209 : }
8210 :
8211 :
8212 : double
8213 5452 : MSVehicle::getStopArrivalDelay() const {
8214 5452 : if (hasStops() && myStops.front().pars.arrival >= 0) {
8215 : const MSStop& stop = myStops.front();
8216 4276 : if (stop.reached) {
8217 1304 : return STEPS2TIME(stop.pars.started - stop.pars.arrival);
8218 : } else {
8219 2972 : return STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep()) + estimateTimeToNextStop().first - STEPS2TIME(stop.pars.arrival);
8220 : }
8221 : } else {
8222 : // vehicles can arrival earlier than planned so arrival delay can be negative
8223 : return INVALID_DOUBLE;
8224 : }
8225 : }
8226 :
8227 :
8228 : const MSEdge*
8229 3072200696 : MSVehicle::getCurrentEdge() const {
8230 3072200696 : return myLane != nullptr ? &myLane->getEdge() : getEdge();
8231 : }
8232 :
8233 :
8234 : const MSEdge*
8235 3932 : MSVehicle::getNextEdgePtr() const {
8236 3932 : if (myLane == nullptr || (myCurrEdge + 1) == myRoute->end()) {
8237 8 : return nullptr;
8238 : }
8239 3924 : if (myLane->isInternal()) {
8240 568 : return &myLane->getCanonicalSuccessorLane()->getEdge();
8241 : } else {
8242 3356 : const MSEdge* nextNormal = succEdge(1);
8243 3356 : const MSEdge* nextInternal = myLane->getEdge().getInternalFollowingEdge(nextNormal, getVClass());
8244 3356 : return nextInternal ? nextInternal : nextNormal;
8245 : }
8246 : }
8247 :
8248 :
8249 : const MSLane*
8250 1596 : MSVehicle::getPreviousLane(const MSLane* current, int& furtherIndex) const {
8251 1596 : if (furtherIndex < (int)myFurtherLanes.size()) {
8252 1219 : return myFurtherLanes[furtherIndex++];
8253 : } else {
8254 : // try to use route information
8255 377 : int routeIndex = getRoutePosition();
8256 : bool resultInternal;
8257 377 : if (MSGlobals::gUsingInternalLanes && MSNet::getInstance()->hasInternalLinks()) {
8258 0 : if (myLane->isInternal()) {
8259 0 : if (furtherIndex % 2 == 0) {
8260 0 : routeIndex -= (furtherIndex + 0) / 2;
8261 : resultInternal = false;
8262 : } else {
8263 0 : routeIndex -= (furtherIndex + 1) / 2;
8264 : resultInternal = false;
8265 : }
8266 : } else {
8267 0 : if (furtherIndex % 2 != 0) {
8268 0 : routeIndex -= (furtherIndex + 1) / 2;
8269 : resultInternal = false;
8270 : } else {
8271 0 : routeIndex -= (furtherIndex + 2) / 2;
8272 : resultInternal = true;
8273 : }
8274 : }
8275 : } else {
8276 377 : routeIndex -= furtherIndex;
8277 : resultInternal = false;
8278 : }
8279 377 : furtherIndex++;
8280 377 : if (routeIndex >= 0) {
8281 163 : if (resultInternal) {
8282 0 : const MSEdge* prevNormal = myRoute->getEdges()[routeIndex];
8283 0 : for (MSLane* cand : prevNormal->getLanes()) {
8284 0 : for (MSLink* link : cand->getLinkCont()) {
8285 0 : if (link->getLane() == current) {
8286 0 : if (link->getViaLane() != nullptr) {
8287 : return link->getViaLane();
8288 : } else {
8289 0 : return const_cast<MSLane*>(link->getLaneBefore());
8290 : }
8291 : }
8292 : }
8293 : }
8294 : } else {
8295 163 : return myRoute->getEdges()[routeIndex]->getLanes()[0];
8296 : }
8297 : }
8298 : }
8299 : return current;
8300 : }
8301 :
8302 : SUMOTime
8303 1499000951 : MSVehicle::getWaitingTimeFor(const MSLink* link) const {
8304 : // this vehicle currently has the highest priority on the allway_stop
8305 1499000951 : return link == myHaveStoppedFor ? SUMOTime_MAX : getWaitingTime();
8306 : }
8307 :
8308 :
8309 : void
8310 694 : MSVehicle::resetApproachOnReroute() {
8311 : bool diverged = false;
8312 : const ConstMSEdgeVector& route = myRoute->getEdges();
8313 694 : int ri = getRoutePosition();
8314 2928 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
8315 2234 : if (dpi.myLink != nullptr) {
8316 2231 : if (!diverged) {
8317 1998 : const MSEdge* next = route[ri + 1];
8318 1998 : if (&dpi.myLink->getLane()->getEdge() != next) {
8319 : diverged = true;
8320 : } else {
8321 1932 : if (dpi.myLink->getViaLane() == nullptr) {
8322 : ri++;
8323 : }
8324 : }
8325 : }
8326 : if (diverged) {
8327 299 : dpi.myLink->removeApproaching(this);
8328 : }
8329 : }
8330 : }
8331 694 : }
8332 :
8333 :
8334 : bool
8335 11153018 : MSVehicle::instantStopping() const {
8336 11153018 : return myInfluencer && !myInfluencer->considerMaxDeceleration();
8337 : }
8338 :
8339 : /****************************************************************************/
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