Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2025 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 3121010 : MSVehicle::State::operator=(const State& state) {
153 3121010 : myPos = state.myPos;
154 3121010 : mySpeed = state.mySpeed;
155 3121010 : myPosLat = state.myPosLat;
156 3121010 : myBackPos = state.myBackPos;
157 3121010 : myPreviousSpeed = state.myPreviousSpeed;
158 3121010 : myLastCoveredDist = state.myLastCoveredDist;
159 3121010 : 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 7759869 : MSVehicle::State::State(double pos, double speed, double posLat, double backPos, double previousSpeed) :
175 7759869 : myPos(pos), mySpeed(speed), myPosLat(posLat), myBackPos(backPos), myPreviousSpeed(previousSpeed), myLastCoveredDist(SPEED2DIST(speed)) {}
176 :
177 :
178 :
179 : /* -------------------------------------------------------------------------
180 : * methods of MSVehicle::WaitingTimeCollector
181 : * ----------------------------------------------------------------------- */
182 4638859 : MSVehicle::WaitingTimeCollector::WaitingTimeCollector(SUMOTime memory) : myMemorySize(memory) {}
183 :
184 :
185 : SUMOTime
186 1428959 : MSVehicle::WaitingTimeCollector::cumulatedWaitingTime(SUMOTime memorySpan) const {
187 : assert(memorySpan <= myMemorySize);
188 1428959 : if (memorySpan == -1) {
189 0 : memorySpan = myMemorySize;
190 : }
191 : SUMOTime totalWaitingTime = 0;
192 5954951 : for (const auto& interval : myWaitingIntervals) {
193 4525992 : if (interval.second >= memorySpan) {
194 655872 : if (interval.first >= memorySpan) {
195 : break;
196 : } else {
197 655872 : totalWaitingTime += memorySpan - interval.first;
198 : }
199 : } else {
200 3870120 : totalWaitingTime += interval.second - interval.first;
201 : }
202 : }
203 1428959 : return totalWaitingTime;
204 : }
205 :
206 :
207 : void
208 675941764 : MSVehicle::WaitingTimeCollector::passTime(SUMOTime dt, bool waiting) {
209 : auto i = myWaitingIntervals.begin();
210 : const auto end = myWaitingIntervals.end();
211 675941764 : const bool startNewInterval = i == end || (i->first != 0);
212 1095451720 : while (i != end) {
213 421715455 : i->first += dt;
214 421715455 : if (i->first >= myMemorySize) {
215 : break;
216 : }
217 419509956 : i->second += dt;
218 : i++;
219 : }
220 :
221 : // remove intervals beyond memorySize
222 : auto d = std::distance(i, end);
223 678147263 : while (d > 0) {
224 2205499 : myWaitingIntervals.pop_back();
225 2205499 : d--;
226 : }
227 :
228 675941764 : if (!waiting) {
229 : return;
230 83723271 : } else if (!startNewInterval) {
231 80286073 : myWaitingIntervals.begin()->first = 0;
232 : } else {
233 6874396 : myWaitingIntervals.push_front(std::make_pair(0, dt));
234 : }
235 : return;
236 : }
237 :
238 :
239 : const std::string
240 2479 : MSVehicle::WaitingTimeCollector::getState() const {
241 2479 : std::ostringstream state;
242 2479 : state << myMemorySize << " " << myWaitingIntervals.size();
243 3402 : for (const auto& interval : myWaitingIntervals) {
244 1846 : state << " " << interval.first << " " << interval.second;
245 : }
246 2479 : return state.str();
247 2479 : }
248 :
249 :
250 : void
251 4160 : MSVehicle::WaitingTimeCollector::setState(const std::string& state) {
252 4160 : std::istringstream is(state);
253 : int numIntervals;
254 : SUMOTime begin, end;
255 4160 : is >> myMemorySize >> numIntervals;
256 6918 : while (numIntervals-- > 0) {
257 : is >> begin >> end;
258 2758 : myWaitingIntervals.emplace_back(begin, end);
259 : }
260 4160 : }
261 :
262 :
263 : /* -------------------------------------------------------------------------
264 : * methods of MSVehicle::Influencer::GapControlState
265 : * ----------------------------------------------------------------------- */
266 : void
267 32 : 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 32 : switch (to) {
270 5 : 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 5 : const MSVehicle* msVeh = static_cast<const MSVehicle*>(vehicle);
276 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << " left the road." << std::endl;
277 5 : if (GapControlState::refVehMap.find(msVeh) != end(GapControlState::refVehMap)) {
278 : // std::cout << "GapControlVehStateListener::deactivating ref vehicle=" << vehicle->getID() << std::endl;
279 5 : GapControlState::refVehMap[msVeh]->deactivate();
280 : }
281 : }
282 5 : break;
283 32 : default:
284 : {};
285 : // do nothing, vehicle still on road
286 : }
287 32 : }
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 59 : MSVehicle::Influencer::GapControlState::GapControlState() :
295 59 : tauOriginal(-1), tauCurrent(-1), tauTarget(-1), addGapCurrent(-1), addGapTarget(-1),
296 59 : remainingDuration(-1), changeRate(-1), maxDecel(-1), referenceVeh(nullptr), active(false), gapAttained(false), prevLeader(nullptr),
297 59 : lastUpdate(-1), timeHeadwayIncrement(0.0), spaceHeadwayIncrement(0.0) {}
298 :
299 :
300 59 : MSVehicle::Influencer::GapControlState::~GapControlState() {
301 59 : deactivate();
302 59 : }
303 :
304 : void
305 59 : MSVehicle::Influencer::GapControlState::init() {
306 59 : if (MSNet::hasInstance()) {
307 59 : if (myVehStateListener == nullptr) {
308 : //std::cout << "GapControlState::init()" << std::endl;
309 59 : myVehStateListener = new GapControlVehStateListener();
310 59 : MSNet::getInstance()->addVehicleStateListener(myVehStateListener);
311 : }
312 : } else {
313 0 : WRITE_ERROR("MSVehicle::Influencer::GapControlState::init(): No MSNet instance found!")
314 : }
315 59 : }
316 :
317 : void
318 32760 : MSVehicle::Influencer::GapControlState::cleanup() {
319 32760 : if (myVehStateListener != nullptr) {
320 59 : MSNet::getInstance()->removeVehicleStateListener(myVehStateListener);
321 59 : delete myVehStateListener;
322 59 : myVehStateListener = nullptr;
323 : }
324 32760 : }
325 :
326 : void
327 59 : MSVehicle::Influencer::GapControlState::activate(double tauOrig, double tauNew, double additionalGap, double dur, double rate, double decel, const MSVehicle* refVeh) {
328 59 : 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 59 : tauOriginal = tauOrig;
334 59 : tauCurrent = tauOrig;
335 59 : tauTarget = tauNew;
336 59 : addGapCurrent = 0.0;
337 59 : addGapTarget = additionalGap;
338 59 : remainingDuration = dur;
339 59 : changeRate = rate;
340 59 : maxDecel = decel;
341 59 : referenceVeh = refVeh;
342 59 : active = true;
343 59 : gapAttained = false;
344 59 : prevLeader = nullptr;
345 59 : lastUpdate = SIMSTEP - DELTA_T;
346 59 : timeHeadwayIncrement = changeRate * TS * (tauTarget - tauOriginal);
347 59 : spaceHeadwayIncrement = changeRate * TS * addGapTarget;
348 :
349 59 : if (referenceVeh != nullptr) {
350 : // Add refVeh to refVehMap
351 13 : GapControlState::refVehMap[referenceVeh] = this;
352 : }
353 : }
354 59 : }
355 :
356 : void
357 118 : MSVehicle::Influencer::GapControlState::deactivate() {
358 118 : active = false;
359 118 : if (referenceVeh != nullptr) {
360 : // Remove corresponding refVehMapEntry if appropriate
361 13 : GapControlState::refVehMap.erase(referenceVeh);
362 13 : referenceVeh = nullptr;
363 : }
364 118 : }
365 :
366 :
367 : /* -------------------------------------------------------------------------
368 : * methods of MSVehicle::Influencer
369 : * ----------------------------------------------------------------------- */
370 3562 : MSVehicle::Influencer::Influencer() :
371 : myGapControlState(nullptr),
372 3562 : myOriginalSpeed(-1),
373 3562 : myLatDist(0),
374 3562 : mySpeedAdaptationStarted(true),
375 3562 : myConsiderSafeVelocity(true),
376 3562 : myConsiderSpeedLimit(true),
377 3562 : myConsiderMaxAcceleration(true),
378 3562 : myConsiderMaxDeceleration(true),
379 3562 : myRespectJunctionPriority(true),
380 3562 : myEmergencyBrakeRedLight(true),
381 3562 : myRespectJunctionLeaderPriority(true),
382 3562 : myLastRemoteAccess(-TIME2STEPS(20)),
383 3562 : myStrategicLC(LC_NOCONFLICT),
384 3562 : myCooperativeLC(LC_NOCONFLICT),
385 3562 : mySpeedGainLC(LC_NOCONFLICT),
386 3562 : myRightDriveLC(LC_NOCONFLICT),
387 3562 : mySublaneLC(LC_NOCONFLICT),
388 3562 : myTraciLaneChangePriority(LCP_URGENT),
389 3562 : myTraCISignals(-1)
390 3562 : {}
391 :
392 :
393 10686 : MSVehicle::Influencer::~Influencer() {}
394 :
395 : void
396 59 : MSVehicle::Influencer::init() {
397 59 : GapControlState::init();
398 59 : }
399 :
400 : void
401 32760 : MSVehicle::Influencer::cleanup() {
402 32760 : GapControlState::cleanup();
403 32760 : }
404 :
405 : void
406 42893 : MSVehicle::Influencer::setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine) {
407 42893 : mySpeedAdaptationStarted = true;
408 42893 : mySpeedTimeLine = speedTimeLine;
409 42893 : }
410 :
411 : void
412 59 : MSVehicle::Influencer::activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle* refVeh) {
413 59 : if (myGapControlState == nullptr) {
414 59 : myGapControlState = std::make_shared<GapControlState>();
415 59 : init(); // only does things on first call
416 : }
417 59 : myGapControlState->activate(originalTau, newTimeHeadway, newSpaceHeadway, duration, changeRate, maxDecel, refVeh);
418 59 : }
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 7979 : MSVehicle::Influencer::setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine) {
429 7979 : myLaneTimeLine = laneTimeLine;
430 7979 : }
431 :
432 :
433 : void
434 9101 : MSVehicle::Influencer::adaptLaneTimeLine(int indexShift) {
435 19331 : for (auto& item : myLaneTimeLine) {
436 10230 : item.second += indexShift;
437 : }
438 9101 : }
439 :
440 :
441 : void
442 1487 : MSVehicle::Influencer::setSublaneChange(double latDist) {
443 1487 : myLatDist = latDist;
444 1487 : }
445 :
446 : int
447 74 : MSVehicle::Influencer::getSpeedMode() const {
448 74 : return (1 * myConsiderSafeVelocity +
449 74 : 2 * myConsiderMaxAcceleration +
450 74 : 4 * myConsiderMaxDeceleration +
451 74 : 8 * myRespectJunctionPriority +
452 74 : 16 * myEmergencyBrakeRedLight +
453 74 : 32 * !myRespectJunctionLeaderPriority + // inverted!
454 74 : 64 * !myConsiderSpeedLimit // inverted!
455 74 : );
456 : }
457 :
458 :
459 : int
460 1476 : MSVehicle::Influencer::getLaneChangeMode() const {
461 1476 : return (1 * myStrategicLC +
462 1476 : 4 * myCooperativeLC +
463 1476 : 16 * mySpeedGainLC +
464 1476 : 64 * myRightDriveLC +
465 1476 : 256 * myTraciLaneChangePriority +
466 1476 : 1024 * mySublaneLC);
467 : }
468 :
469 : SUMOTime
470 71 : MSVehicle::Influencer::getLaneTimeLineDuration() {
471 : SUMOTime duration = -1;
472 213 : for (std::vector<std::pair<SUMOTime, int>>::iterator i = myLaneTimeLine.begin(); i != myLaneTimeLine.end(); ++i) {
473 142 : if (duration < 0) {
474 71 : duration = i->first;
475 : } else {
476 71 : duration -= i->first;
477 : }
478 : }
479 71 : 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 997534 : MSVehicle::Influencer::influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax) {
494 : // remove leading commands which are no longer valid
495 998870 : while (mySpeedTimeLine.size() == 1 || (mySpeedTimeLine.size() > 1 && currentTime > mySpeedTimeLine[1].first)) {
496 : mySpeedTimeLine.erase(mySpeedTimeLine.begin());
497 : }
498 :
499 997534 : if (!(mySpeedTimeLine.size() < 2 || currentTime < mySpeedTimeLine[0].first)) {
500 : // Speed advice is active -> compute new speed according to speedTimeLine
501 54435 : if (!mySpeedAdaptationStarted) {
502 0 : mySpeedTimeLine[0].second = speed;
503 0 : mySpeedAdaptationStarted = true;
504 : }
505 54435 : 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 108518 : const double td = MIN2(1.0, STEPS2TIME(currentTime - mySpeedTimeLine[0].first) / MAX2(TS, STEPS2TIME(mySpeedTimeLine[1].first - mySpeedTimeLine[0].first)));
507 :
508 54435 : speed = mySpeedTimeLine[0].second - (mySpeedTimeLine[0].second - mySpeedTimeLine[1].second) * td;
509 54435 : if (myConsiderSafeVelocity) {
510 : speed = MIN2(speed, vSafe);
511 : }
512 54435 : if (myConsiderMaxAcceleration) {
513 : speed = MIN2(speed, vMax);
514 : }
515 54435 : if (myConsiderMaxDeceleration) {
516 : speed = MAX2(speed, vMin);
517 : }
518 : }
519 997534 : return speed;
520 : }
521 :
522 : double
523 495467 : 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 495467 : if (myGapControlState != nullptr && myGapControlState->active) {
535 : // Determine leader and the speed that would be chosen by the gap controller
536 7778 : const double currentSpeed = veh->getSpeed();
537 7778 : const MSVehicle* msVeh = dynamic_cast<const MSVehicle*>(veh);
538 : assert(msVeh != nullptr);
539 7778 : const double desiredTargetTimeSpacing = myGapControlState->tauTarget * currentSpeed;
540 : std::pair<const MSVehicle*, double> leaderInfo;
541 7778 : 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;
553 438 : double dist = msVeh->getDistanceToPosition(leader->getPositionOnLane(), leader->getLane()) - leader->getLength();
554 438 : if (dist > 100000) {
555 : // Reference vehicle was not found downstream the ego's route
556 : // Maybe, it is behind the ego vehicle
557 42 : 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 : }
569 438 : leaderInfo = std::make_pair(leader, dist - msVeh->getVehicleType().getMinGap());
570 : }
571 7778 : 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 7778 : 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 7778 : myGapControlState->prevLeader = leaderInfo.first;
594 :
595 : // Calculate desired following speed assuming the alternative headway time
596 7778 : MSCFModel* cfm = (MSCFModel*) & (msVeh->getVehicleType().getCarFollowModel());
597 7778 : const double origTau = cfm->getHeadwayTime();
598 7778 : cfm->setHeadwayTime(myGapControlState->tauCurrent);
599 7778 : gapControlSpeed = MIN2(gapControlSpeed,
600 7778 : cfm->followSpeed(msVeh, currentSpeed, fakeDist, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first));
601 7778 : 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 7778 : 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 7778 : if (myGapControlState->lastUpdate < currentTime) {
620 : #ifdef DEBUG_TRACI
621 : if DEBUG_COND2(veh) {
622 : std::cout << " Updating GapControlState." << std::endl;
623 : }
624 : #endif
625 7778 : if (myGapControlState->tauCurrent == myGapControlState->tauTarget && myGapControlState->addGapCurrent == myGapControlState->addGapTarget) {
626 2992 : 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 4180 : 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 4786 : myGapControlState->tauCurrent = MIN2(myGapControlState->tauCurrent + myGapControlState->timeHeadwayIncrement, myGapControlState->tauTarget);
657 5168 : myGapControlState->addGapCurrent = MIN2(myGapControlState->addGapCurrent + myGapControlState->spaceHeadwayIncrement, myGapControlState->addGapTarget);
658 : }
659 : }
660 7778 : if (myConsiderSafeVelocity) {
661 : gapControlSpeed = MIN2(gapControlSpeed, vSafe);
662 : }
663 7778 : if (myConsiderMaxAcceleration) {
664 : gapControlSpeed = MIN2(gapControlSpeed, vMax);
665 : }
666 7778 : if (myConsiderMaxDeceleration) {
667 : gapControlSpeed = MAX2(gapControlSpeed, vMin);
668 : }
669 : return MIN2(speed, gapControlSpeed);
670 : } else {
671 : return speed;
672 : }
673 : }
674 :
675 : double
676 7086 : MSVehicle::Influencer::getOriginalSpeed() const {
677 7086 : return myOriginalSpeed;
678 : }
679 :
680 : void
681 502067 : MSVehicle::Influencer::setOriginalSpeed(double speed) {
682 502067 : myOriginalSpeed = speed;
683 502067 : }
684 :
685 :
686 : int
687 2831674 : MSVehicle::Influencer::influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state) {
688 : // remove leading commands which are no longer valid
689 2831976 : 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 2831674 : if (myLaneTimeLine.size() >= 2 && currentTime >= myLaneTimeLine[0].first) {
695 177680 : const int destinationLaneIndex = myLaneTimeLine[1].second;
696 177680 : if (destinationLaneIndex < (int)currentEdge.getLanes().size()) {
697 177319 : if (currentLaneIndex > destinationLaneIndex) {
698 : changeRequest = REQUEST_RIGHT;
699 176236 : } else if (currentLaneIndex < destinationLaneIndex) {
700 : changeRequest = REQUEST_LEFT;
701 : } else {
702 : changeRequest = REQUEST_HOLD;
703 : }
704 361 : } else if (currentEdge.getLanes().back()->getOpposite() != nullptr) { // change to opposite direction driving
705 : changeRequest = REQUEST_LEFT;
706 361 : state = state | LCA_TRACI;
707 : }
708 : }
709 : // check whether the current reason shall be canceled / overridden
710 2831674 : if ((state & LCA_WANTS_LANECHANGE_OR_STAY) != 0) {
711 : // flags for the current reason
712 : LaneChangeMode mode = LC_NEVER;
713 1599207 : if ((state & LCA_TRACI) != 0 && myLatDist != 0) {
714 : // security checks
715 2825 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
716 670 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
717 2685 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
718 : }
719 : // continue sublane change manoeuvre
720 2825 : return state;
721 1596382 : } else if ((state & LCA_STRATEGIC) != 0) {
722 481789 : mode = myStrategicLC;
723 1114593 : } else if ((state & LCA_COOPERATIVE) != 0) {
724 54 : mode = myCooperativeLC;
725 1114539 : } else if ((state & LCA_SPEEDGAIN) != 0) {
726 42444 : mode = mySpeedGainLC;
727 1072095 : } else if ((state & LCA_KEEPRIGHT) != 0) {
728 6220 : mode = myRightDriveLC;
729 1065875 : } else if ((state & LCA_SUBLANE) != 0) {
730 1065873 : 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 1596380 : if (mode == LC_NEVER) {
737 : // cancel all lcModel requests
738 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
739 44321 : state &= ~LCA_URGENT;
740 44321 : if (changeRequest == REQUEST_NONE) {
741 : // also remove all reasons except TRACI
742 43757 : state &= ~LCA_CHANGE_REASONS | LCA_TRACI;
743 : }
744 1552061 : } else if (mode == LC_NOCONFLICT && changeRequest != REQUEST_NONE) {
745 6869 : if (
746 6869 : ((state & LCA_LEFT) != 0 && changeRequest != REQUEST_LEFT) ||
747 6619 : ((state & LCA_RIGHT) != 0 && changeRequest != REQUEST_RIGHT) ||
748 6098 : ((state & LCA_STAY) != 0 && changeRequest != REQUEST_HOLD)) {
749 : // cancel conflicting lcModel request
750 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
751 935 : state &= ~LCA_URGENT;
752 : }
753 1545192 : } else if (mode == LC_ALWAYS) {
754 : // ignore any TraCI requests
755 : return state;
756 : }
757 : }
758 : // apply traci requests
759 2822425 : if (changeRequest == REQUEST_NONE) {
760 2651625 : return state;
761 : } else {
762 177214 : state |= LCA_TRACI;
763 : // security checks
764 177214 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
765 174945 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
766 2761 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
767 : }
768 177214 : if (changeRequest != REQUEST_HOLD && myTraciLaneChangePriority != LCP_OPPORTUNISTIC) {
769 2531 : state |= LCA_URGENT;
770 : }
771 2560 : switch (changeRequest) {
772 : case REQUEST_HOLD:
773 174654 : return state | LCA_STAY;
774 1577 : case REQUEST_LEFT:
775 1577 : return state | LCA_LEFT;
776 983 : case REQUEST_RIGHT:
777 983 : return state | LCA_RIGHT;
778 : default:
779 : throw ProcessError(TL("should not happen"));
780 : }
781 : }
782 : }
783 :
784 :
785 : double
786 442 : MSVehicle::Influencer::changeRequestRemainingSeconds(const SUMOTime currentTime) const {
787 : assert(myLaneTimeLine.size() >= 2);
788 : assert(currentTime >= myLaneTimeLine[0].first);
789 442 : return STEPS2TIME(myLaneTimeLine[1].first - currentTime);
790 : }
791 :
792 :
793 : void
794 5066 : MSVehicle::Influencer::setSpeedMode(int speedMode) {
795 5066 : myConsiderSafeVelocity = ((speedMode & 1) != 0);
796 5066 : myConsiderMaxAcceleration = ((speedMode & 2) != 0);
797 5066 : myConsiderMaxDeceleration = ((speedMode & 4) != 0);
798 5066 : myRespectJunctionPriority = ((speedMode & 8) != 0);
799 5066 : myEmergencyBrakeRedLight = ((speedMode & 16) != 0);
800 5066 : myRespectJunctionLeaderPriority = ((speedMode & 32) == 0); // inverted!
801 5066 : myConsiderSpeedLimit = ((speedMode & 64) == 0); // inverted!
802 5066 : }
803 :
804 :
805 : void
806 18715 : MSVehicle::Influencer::setLaneChangeMode(int value) {
807 18715 : myStrategicLC = (LaneChangeMode)(value & (1 + 2));
808 18715 : myCooperativeLC = (LaneChangeMode)((value & (4 + 8)) >> 2);
809 18715 : mySpeedGainLC = (LaneChangeMode)((value & (16 + 32)) >> 4);
810 18715 : myRightDriveLC = (LaneChangeMode)((value & (64 + 128)) >> 6);
811 18715 : myTraciLaneChangePriority = (TraciLaneChangePriority)((value & (256 + 512)) >> 8);
812 18715 : mySublaneLC = (LaneChangeMode)((value & (1024 + 2048)) >> 10);
813 18715 : }
814 :
815 :
816 : void
817 7800 : MSVehicle::Influencer::setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t) {
818 7800 : myRemoteXYPos = xyPos;
819 7800 : myRemoteLane = l;
820 7800 : myRemotePos = pos;
821 7800 : myRemotePosLat = posLat;
822 7800 : myRemoteAngle = angle;
823 7800 : myRemoteEdgeOffset = edgeOffset;
824 7800 : myRemoteRoute = route;
825 7800 : myLastRemoteAccess = t;
826 7800 : }
827 :
828 :
829 : bool
830 1027951 : MSVehicle::Influencer::isRemoteControlled() const {
831 1027951 : return myLastRemoteAccess == MSNet::getInstance()->getCurrentTimeStep();
832 : }
833 :
834 :
835 : bool
836 489053 : MSVehicle::Influencer::isRemoteAffected(SUMOTime t) const {
837 489053 : return myLastRemoteAccess >= t - TIME2STEPS(10);
838 : }
839 :
840 :
841 : void
842 495467 : MSVehicle::Influencer::updateRemoteControlRoute(MSVehicle* v) {
843 495467 : if (myRemoteRoute.size() != 0 && myRemoteRoute != v->getRoute().getEdges()) {
844 : // only replace route at this time if the vehicle is moving with the flow
845 62 : 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 10 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
851 10 : v->updateBestLanes();
852 : }
853 : }
854 495467 : }
855 :
856 :
857 : void
858 7775 : MSVehicle::Influencer::postProcessRemoteControl(MSVehicle* v) {
859 7775 : const bool wasOnRoad = v->isOnRoad();
860 7775 : const bool withinLane = myRemoteLane != nullptr && fabs(myRemotePosLat) < 0.5 * (myRemoteLane->getWidth() + v->getVehicleType().getWidth());
861 7775 : const bool keepLane = wasOnRoad && v->getLane() == myRemoteLane;
862 7775 : if (v->isOnRoad() && !(keepLane && withinLane)) {
863 150 : if (myRemoteLane != nullptr && &v->getLane()->getEdge() == &myRemoteLane->getEdge()) {
864 : // correct odometer which gets incremented via onRemovalFromNet->leaveLane
865 71 : v->myOdometer -= v->getLane()->getLength();
866 : }
867 150 : v->onRemovalFromNet(MSMoveReminder::NOTIFICATION_TELEPORT);
868 150 : v->getMutableLane()->removeVehicle(v, MSMoveReminder::NOTIFICATION_TELEPORT, false);
869 : }
870 7775 : 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 67 : const_cast<SUMOVehicleParameter&>(v->getParameter()).stops.clear();
883 134 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
884 : myRemoteRoute.clear();
885 : }
886 7775 : v->myCurrEdge = v->getRoute().begin() + myRemoteEdgeOffset;
887 7775 : if (myRemoteLane != nullptr && myRemotePos > myRemoteLane->getLength()) {
888 0 : myRemotePos = myRemoteLane->getLength();
889 : }
890 7775 : if (myRemoteLane != nullptr && withinLane) {
891 7593 : if (keepLane) {
892 : // TODO this handles only the case when the new vehicle is completely on the edge
893 7415 : const bool needFurtherUpdate = v->myState.myPos < v->getVehicleType().getLength() && myRemotePos >= v->getVehicleType().getLength();
894 7415 : v->myState.myPos = myRemotePos;
895 7415 : v->myState.myPosLat = myRemotePosLat;
896 7415 : if (needFurtherUpdate) {
897 5 : v->myState.myBackPos = v->updateFurtherLanes(v->myFurtherLanes, v->myFurtherLanesPosLat, std::vector<MSLane*>());
898 : }
899 : } else {
900 178 : MSMoveReminder::Notification notify = v->getDeparture() == NOT_YET_DEPARTED
901 178 : ? MSMoveReminder::NOTIFICATION_DEPARTED
902 : : MSMoveReminder::NOTIFICATION_TELEPORT_ARRIVED;
903 178 : if (!v->isOnRoad()) {
904 178 : MSVehicleTransfer::getInstance()->remove(v); // TODO may need optimization, this is linear in the number of vehicles in transfer
905 : }
906 178 : myRemoteLane->forceVehicleInsertion(v, myRemotePos, notify, myRemotePosLat);
907 178 : v->updateBestLanes();
908 : }
909 7593 : if (!wasOnRoad) {
910 65 : v->drawOutsideNetwork(false);
911 : }
912 : //std::cout << "on road network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << " pos=" << myRemotePos << " posLat=" << myRemotePosLat << "\n";
913 7593 : myRemoteLane->requireCollisionCheck();
914 : } else {
915 182 : if (v->getDeparture() == NOT_YET_DEPARTED) {
916 5 : v->onDepart();
917 : }
918 182 : v->drawOutsideNetwork(true);
919 : // see updateState
920 182 : double vNext = v->processTraCISpeedControl(
921 182 : v->getMaxSpeed(), v->getSpeed());
922 182 : v->setBrakingSignals(vNext);
923 182 : v->myState.myPreviousSpeed = v->getSpeed();
924 182 : v->myAcceleration = SPEED2ACCEL(vNext - v->getSpeed());
925 182 : v->myState.mySpeed = vNext;
926 182 : 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 7775 : v->setRemoteState(myRemoteXYPos);
931 7775 : v->setAngle(GeomHelper::fromNaviDegree(myRemoteAngle));
932 7775 : }
933 :
934 :
935 : double
936 7752 : MSVehicle::Influencer::implicitSpeedRemote(const MSVehicle* veh, double oldSpeed) {
937 7752 : if (veh->getPosition() == Position::INVALID) {
938 10 : return oldSpeed;
939 : }
940 7742 : double dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
941 7742 : 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 7600 : const double distAlongRoute = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
947 7600 : 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 7742 : const double minSpeed = myConsiderMaxDeceleration ?
953 5034 : veh->getCarFollowModel().minNextSpeedEmergency(oldSpeed, veh) : 0;
954 7742 : const double maxSpeed = (myRemoteLane != nullptr
955 7742 : ? myRemoteLane->getVehicleMaxSpeed(veh)
956 142 : : (veh->getLane() != nullptr
957 142 : ? veh->getLane()->getVehicleMaxSpeed(veh)
958 5 : : veh->getMaxSpeed()));
959 7742 : return MIN2(maxSpeed, MAX2(minSpeed, DIST2SPEED(dist)));
960 : }
961 :
962 :
963 : double
964 7580 : MSVehicle::Influencer::implicitDeltaPosRemote(const MSVehicle* veh) {
965 : double dist = 0;
966 7580 : if (myRemoteLane == nullptr) {
967 6 : 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 7574 : dist = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
975 : }
976 7580 : if (dist == std::numeric_limits<double>::max()) {
977 : return 0;
978 : } else {
979 7339 : if (DIST2SPEED(dist) > veh->getMaxSpeed() * 1.1) {
980 48 : 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 16 : dist = MIN2(dist, SPEED2DIST(veh->getMaxSpeed() * 2));
984 : }
985 7339 : return dist;
986 : }
987 : }
988 :
989 :
990 : /* -------------------------------------------------------------------------
991 : * MSVehicle-methods
992 : * ----------------------------------------------------------------------- */
993 4638859 : MSVehicle::MSVehicle(SUMOVehicleParameter* pars, ConstMSRoutePtr route,
994 4638859 : MSVehicleType* type, const double speedFactor) :
995 : MSBaseVehicle(pars, route, type, speedFactor),
996 4638859 : myWaitingTime(0),
997 4638859 : myWaitingTimeCollector(),
998 4638859 : myTimeLoss(0),
999 4638859 : myState(0, 0, 0, 0, 0),
1000 4638859 : myDriverState(nullptr),
1001 4638859 : myActionStep(true),
1002 4638859 : myLastActionTime(0),
1003 4638859 : myLane(nullptr),
1004 4638859 : myLaneChangeModel(nullptr),
1005 4638859 : myLastBestLanesEdge(nullptr),
1006 4638859 : myLastBestLanesInternalLane(nullptr),
1007 4638859 : myAcceleration(0),
1008 : myNextTurn(0., nullptr),
1009 4638859 : mySignals(0),
1010 4638859 : myAmOnNet(false),
1011 4638859 : myAmIdling(false),
1012 4638859 : myHaveToWaitOnNextLink(false),
1013 4638859 : myAngle(0),
1014 4638859 : myStopDist(std::numeric_limits<double>::max()),
1015 4638859 : myCollisionImmunity(-1),
1016 4638859 : myCachedPosition(Position::INVALID),
1017 4638859 : myJunctionEntryTime(SUMOTime_MAX),
1018 4638859 : myJunctionEntryTimeNeverYield(SUMOTime_MAX),
1019 4638859 : myJunctionConflictEntryTime(SUMOTime_MAX),
1020 4638859 : myTimeSinceStartup(TIME2STEPS(3600 * 24)),
1021 4638859 : myHaveStoppedFor(nullptr),
1022 13916577 : myInfluencer(nullptr) {
1023 4638859 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
1024 4638859 : myNextDriveItem = myLFLinkLanes.begin();
1025 4638859 : }
1026 :
1027 :
1028 8778918 : MSVehicle::~MSVehicle() {
1029 4638779 : cleanupFurtherLanes();
1030 4638779 : delete myLaneChangeModel;
1031 4638779 : if (myType->isVehicleSpecific()) {
1032 316 : MSNet::getInstance()->getVehicleControl().removeVType(myType);
1033 : }
1034 4638779 : delete myInfluencer;
1035 4638779 : delete myCFVariables;
1036 13417697 : }
1037 :
1038 :
1039 : void
1040 4639341 : MSVehicle::cleanupFurtherLanes() {
1041 4642183 : for (MSLane* further : myFurtherLanes) {
1042 2842 : further->resetPartialOccupation(this);
1043 2842 : if (further->getBidiLane() != nullptr
1044 2842 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
1045 0 : further->getBidiLane()->resetPartialOccupation(this);
1046 : }
1047 : }
1048 4639341 : if (myLaneChangeModel != nullptr) {
1049 4639307 : removeApproachingInformation(myLFLinkLanes);
1050 4639307 : myLaneChangeModel->cleanupShadowLane();
1051 4639307 : myLaneChangeModel->cleanupTargetLane();
1052 : // still needed when calling resetPartialOccupation (getShadowLane) and when removing
1053 : // approach information from parallel links
1054 : }
1055 : myFurtherLanes.clear();
1056 : myFurtherLanesPosLat.clear();
1057 4639341 : }
1058 :
1059 :
1060 : void
1061 2954223 : MSVehicle::onRemovalFromNet(const MSMoveReminder::Notification reason) {
1062 : #ifdef DEBUG_ACTIONSTEPS
1063 : if (DEBUG_COND) {
1064 : std::cout << SIMTIME << " Removing vehicle '" << getID() << "' (reason: " << toString(reason) << ")" << std::endl;
1065 : }
1066 : #endif
1067 2954223 : MSVehicleTransfer::getInstance()->remove(this);
1068 2954223 : removeApproachingInformation(myLFLinkLanes);
1069 2954223 : leaveLane(reason);
1070 2954223 : if (reason == MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION) {
1071 562 : cleanupFurtherLanes();
1072 : }
1073 2954223 : }
1074 :
1075 :
1076 : void
1077 4638859 : MSVehicle::initDevices() {
1078 4638859 : MSBaseVehicle::initDevices();
1079 4638847 : myLaneChangeModel = MSAbstractLaneChangeModel::build(myType->getLaneChangeModel(), *this);
1080 4638825 : myDriverState = static_cast<MSDevice_DriverState*>(getDevice(typeid(MSDevice_DriverState)));
1081 4638825 : myFrictionDevice = static_cast<MSDevice_Friction*>(getDevice(typeid(MSDevice_Friction)));
1082 4638825 : }
1083 :
1084 :
1085 : // ------------ interaction with the route
1086 : bool
1087 2407576772 : MSVehicle::hasValidRouteStart(std::string& msg) {
1088 : // note: not a const method because getDepartLane may call updateBestLanes
1089 2407576772 : if (!(*myCurrEdge)->isTazConnector()) {
1090 2407130132 : if (myParameter->departLaneProcedure == DepartLaneDefinition::GIVEN) {
1091 50471799 : if ((*myCurrEdge)->getDepartLane(*this) == nullptr) {
1092 122 : msg = "Invalid departlane definition for vehicle '" + getID() + "'.";
1093 61 : if (myParameter->departLane >= (int)(*myCurrEdge)->getLanes().size()) {
1094 11 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1095 : } else {
1096 50 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1097 : }
1098 61 : return false;
1099 : }
1100 : } else {
1101 2356658333 : if ((*myCurrEdge)->allowedLanes(getVClass()) == nullptr) {
1102 156 : msg = "Vehicle '" + getID() + "' is not allowed to depart on any lane of edge '" + (*myCurrEdge)->getID() + "'.";
1103 78 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1104 78 : return false;
1105 : }
1106 : }
1107 2407129993 : if (myParameter->departSpeedProcedure == DepartSpeedDefinition::GIVEN && myParameter->departSpeed > myType->getMaxSpeed() + SPEED_EPS) {
1108 38 : msg = "Departure speed for vehicle '" + getID() + "' is too high for the vehicle type '" + myType->getID() + "'.";
1109 19 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1110 19 : return false;
1111 : }
1112 : }
1113 2407576614 : myRouteValidity &= ~(ROUTE_START_INVALID_LANE | ROUTE_START_INVALID_PERMISSIONS);
1114 2407576614 : return true;
1115 : }
1116 :
1117 :
1118 : bool
1119 687720237 : MSVehicle::hasArrived() const {
1120 687720237 : return hasArrivedInternal(false);
1121 : }
1122 :
1123 :
1124 : bool
1125 1384059103 : MSVehicle::hasArrivedInternal(bool oppositeTransformed) const {
1126 2239432029 : return ((myCurrEdge == myRoute->end() - 1 || (myParameter->arrivalEdge >= 0 && getRoutePosition() >= myParameter->arrivalEdge))
1127 528722562 : && (myStops.empty() || myStops.front().edge != myCurrEdge || myStops.front().getSpeed() > 0)
1128 989714328 : && ((myLaneChangeModel->isOpposite() && !oppositeTransformed) ? myLane->getLength() - myState.myPos : myState.myPos) > MIN2(myLane->getLength(), myArrivalPos) - POSITION_EPS
1129 1393996768 : && !isRemoteControlled());
1130 : }
1131 :
1132 :
1133 : bool
1134 1722352 : MSVehicle::replaceRoute(ConstMSRoutePtr newRoute, const std::string& info, bool onInit, int offset, bool addRouteStops, bool removeStops, std::string* msgReturn) {
1135 3444704 : if (MSBaseVehicle::replaceRoute(newRoute, info, onInit, offset, addRouteStops, removeStops, msgReturn)) {
1136 : // update best lanes (after stops were added)
1137 1722334 : myLastBestLanesEdge = nullptr;
1138 1722334 : myLastBestLanesInternalLane = nullptr;
1139 1722334 : updateBestLanes(true, onInit ? (*myCurrEdge)->getLanes().front() : 0);
1140 : assert(!removeStops || haveValidStopEdges());
1141 1722334 : if (myStops.size() == 0) {
1142 1689466 : myStopDist = std::numeric_limits<double>::max();
1143 : }
1144 1722334 : return true;
1145 : }
1146 : return false;
1147 : }
1148 :
1149 :
1150 : // ------------ Interaction with move reminders
1151 : void
1152 676051550 : MSVehicle::workOnMoveReminders(double oldPos, double newPos, double newSpeed) {
1153 : // This erasure-idiom works for all stl-sequence-containers
1154 : // See Meyers: Effective STL, Item 9
1155 1780757340 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
1156 : // XXX: calling notifyMove with newSpeed seems not the best choice. For the ballistic update, the average speed is calculated and used
1157 : // although a higher order quadrature-formula might be more adequate.
1158 : // For the euler case (where the speed is considered constant for each time step) it is conceivable that
1159 : // the current calculations may lead to systematic errors for large time steps (compared to reality). Refs. #2579
1160 2209411580 : if (!rem->first->notifyMove(*this, oldPos + rem->second, newPos + rem->second, MAX2(0., newSpeed))) {
1161 : #ifdef _DEBUG
1162 : if (myTraceMoveReminders) {
1163 : traceMoveReminder("notifyMove", rem->first, rem->second, false);
1164 : }
1165 : #endif
1166 : rem = myMoveReminders.erase(rem);
1167 : } else {
1168 : #ifdef _DEBUG
1169 : if (myTraceMoveReminders) {
1170 : traceMoveReminder("notifyMove", rem->first, rem->second, true);
1171 : }
1172 : #endif
1173 : ++rem;
1174 : }
1175 : }
1176 676051550 : if (myEnergyParams != nullptr) {
1177 : // TODO make the vehicle energy params a derived class which is a move reminder
1178 129332696 : myEnergyParams->setDynamicValues(isStopped() ? getNextStop().duration : -1, isParking(), getWaitingTime(), getAngle());
1179 : }
1180 676051550 : }
1181 :
1182 :
1183 : void
1184 104098 : MSVehicle::workOnIdleReminders() {
1185 104098 : updateWaitingTime(0.); // cf issue 2233
1186 :
1187 : // vehicle move reminders
1188 130692 : for (const auto& rem : myMoveReminders) {
1189 26594 : rem.first->notifyIdle(*this);
1190 : }
1191 :
1192 : // lane move reminders - for aggregated values
1193 241472 : for (MSMoveReminder* rem : getLane()->getMoveReminders()) {
1194 137374 : rem->notifyIdle(*this);
1195 : }
1196 104098 : }
1197 :
1198 : // XXX: consider renaming...
1199 : void
1200 17773882 : MSVehicle::adaptLaneEntering2MoveReminder(const MSLane& enteredLane) {
1201 : // save the old work reminders, patching the position information
1202 : // add the information about the new offset to the old lane reminders
1203 17773882 : const double oldLaneLength = myLane->getLength();
1204 50994322 : for (auto& rem : myMoveReminders) {
1205 33220440 : rem.second += oldLaneLength;
1206 : #ifdef _DEBUG
1207 : // if (rem->first==0) std::cout << "Null reminder (?!)" << std::endl;
1208 : // std::cout << "Adapted MoveReminder on lane " << ((rem->first->getLane()==0) ? "NULL" : rem->first->getLane()->getID()) <<" position to " << rem->second << std::endl;
1209 : if (myTraceMoveReminders) {
1210 : traceMoveReminder("adaptedPos", rem.first, rem.second, true);
1211 : }
1212 : #endif
1213 : }
1214 29659518 : for (MSMoveReminder* const rem : enteredLane.getMoveReminders()) {
1215 11885636 : addReminder(rem);
1216 : }
1217 17773882 : }
1218 :
1219 :
1220 : // ------------ Other getter methods
1221 : double
1222 157543358 : MSVehicle::getSlope() const {
1223 157543358 : if (isParking() && getStops().begin()->parkingarea != nullptr) {
1224 3901 : return getStops().begin()->parkingarea->getVehicleSlope(*this);
1225 : }
1226 157539457 : if (myLane == nullptr) {
1227 : return 0;
1228 : }
1229 157539457 : const double posLat = myState.myPosLat; // @todo get rid of the '-'
1230 157539457 : Position p1 = getPosition();
1231 157539457 : Position p2 = getBackPosition();
1232 : if (p2 == Position::INVALID) {
1233 : // Handle special case of vehicle's back reaching out of the network
1234 6 : if (myFurtherLanes.size() > 0) {
1235 6 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1236 : if (p2 == Position::INVALID) {
1237 : // unsuitable lane geometry
1238 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1239 : }
1240 : } else {
1241 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1242 : }
1243 : }
1244 157539457 : return (p1 != p2 ? RAD2DEG(p2.slopeTo2D(p1)) : myLane->getShape().slopeDegreeAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1245 : }
1246 :
1247 :
1248 : Position
1249 899947256 : MSVehicle::getPosition(const double offset) const {
1250 899947256 : if (myLane == nullptr) {
1251 : // when called in the context of GUI-Drawing, the simulation step is already incremented
1252 174 : if (myInfluencer != nullptr && myInfluencer->isRemoteAffected(MSNet::getInstance()->getCurrentTimeStep())) {
1253 50 : return myCachedPosition;
1254 : } else {
1255 124 : return Position::INVALID;
1256 : }
1257 : }
1258 899947082 : if (isParking()) {
1259 4317690 : if (myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() > getNextStopParameter()->started) {
1260 150 : return myCachedPosition;
1261 : }
1262 4317540 : if (myStops.begin()->parkingarea != nullptr) {
1263 22601 : return myStops.begin()->parkingarea->getVehiclePosition(*this);
1264 : } else {
1265 : // position beside the road
1266 4294939 : PositionVector shp = myLane->getEdge().getLanes()[0]->getShape();
1267 8589758 : shp.move2side(SUMO_const_laneWidth * (MSGlobals::gLefthand ? -1 : 1));
1268 4294939 : return shp.positionAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane() + offset));
1269 4294939 : }
1270 : }
1271 895629392 : const bool changingLanes = myLaneChangeModel->isChangingLanes();
1272 1781250419 : const double posLat = (MSGlobals::gLefthand ? 1 : -1) * getLateralPositionOnLane();
1273 895629392 : if (offset == 0. && !changingLanes) {
1274 : if (myCachedPosition == Position::INVALID) {
1275 680527838 : myCachedPosition = validatePosition(myLane->geometryPositionAtOffset(myState.myPos, posLat));
1276 680527838 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1277 58610 : interpolateLateralZ(myCachedPosition, myState.myPos, posLat);
1278 : }
1279 : }
1280 889010466 : return myCachedPosition;
1281 : }
1282 6618926 : Position result = validatePosition(myLane->geometryPositionAtOffset(getPositionOnLane() + offset, posLat), offset);
1283 6618926 : interpolateLateralZ(result, getPositionOnLane() + offset, posLat);
1284 6618926 : return result;
1285 : }
1286 :
1287 :
1288 : void
1289 6958771 : MSVehicle::interpolateLateralZ(Position& pos, double offset, double posLat) const {
1290 6958771 : const MSLane* shadow = myLaneChangeModel->getShadowLane();
1291 6958771 : if (shadow != nullptr && pos != Position::INVALID) {
1292 : // ignore negative offset
1293 : const Position shadowPos = shadow->geometryPositionAtOffset(MAX2(0.0, offset));
1294 59342 : if (shadowPos != Position::INVALID && pos.z() != shadowPos.z()) {
1295 133 : const double centerDist = (myLane->getWidth() + shadow->getWidth()) * 0.5;
1296 133 : double relOffset = fabs(posLat) / centerDist;
1297 133 : double newZ = (1 - relOffset) * pos.z() + relOffset * shadowPos.z();
1298 : pos.setz(newZ);
1299 : }
1300 : }
1301 6958771 : }
1302 :
1303 :
1304 : double
1305 96774 : MSVehicle::getDistanceToLeaveJunction() const {
1306 96774 : double result = getLength() - getPositionOnLane();
1307 96774 : if (myLane->isNormal()) {
1308 : return MAX2(0.0, result);
1309 : }
1310 424 : const MSLane* lane = myLane;
1311 848 : while (lane->isInternal()) {
1312 424 : result += lane->getLength();
1313 424 : lane = lane->getCanonicalSuccessorLane();
1314 : }
1315 : return result;
1316 : }
1317 :
1318 :
1319 : Position
1320 103444 : MSVehicle::getPositionAlongBestLanes(double offset) const {
1321 : assert(MSGlobals::gUsingInternalLanes);
1322 103444 : if (!isOnRoad()) {
1323 0 : return Position::INVALID;
1324 : }
1325 103444 : const std::vector<MSLane*>& bestLanes = getBestLanesContinuation();
1326 : auto nextBestLane = bestLanes.begin();
1327 103444 : const bool opposite = myLaneChangeModel->isOpposite();
1328 103444 : double pos = opposite ? myLane->getLength() - myState.myPos : myState.myPos;
1329 103444 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : getLane();
1330 : assert(lane != 0);
1331 : bool success = true;
1332 :
1333 305421 : while (offset > 0) {
1334 : // take into account lengths along internal lanes
1335 308799 : while (lane->isInternal() && offset > 0) {
1336 106822 : if (offset > lane->getLength() - pos) {
1337 3569 : offset -= lane->getLength() - pos;
1338 3569 : lane = lane->getLinkCont()[0]->getViaLaneOrLane();
1339 : pos = 0.;
1340 3569 : if (lane == nullptr) {
1341 : success = false;
1342 : offset = 0.;
1343 : }
1344 : } else {
1345 103253 : pos += offset;
1346 : offset = 0;
1347 : }
1348 : }
1349 : // set nextBestLane to next non-internal lane
1350 207112 : while (nextBestLane != bestLanes.end() && *nextBestLane == nullptr) {
1351 : ++nextBestLane;
1352 : }
1353 201977 : if (offset > 0) {
1354 : assert(!lane->isInternal());
1355 : assert(lane == *nextBestLane);
1356 98724 : if (offset > lane->getLength() - pos) {
1357 98541 : offset -= lane->getLength() - pos;
1358 : ++nextBestLane;
1359 : assert(nextBestLane == bestLanes.end() || *nextBestLane != 0);
1360 98541 : if (nextBestLane == bestLanes.end()) {
1361 : success = false;
1362 : offset = 0.;
1363 : } else {
1364 98541 : const MSLink* link = lane->getLinkTo(*nextBestLane);
1365 : assert(link != nullptr);
1366 : lane = link->getViaLaneOrLane();
1367 : pos = 0.;
1368 : }
1369 : } else {
1370 183 : pos += offset;
1371 : offset = 0;
1372 : }
1373 : }
1374 :
1375 : }
1376 :
1377 103444 : if (success) {
1378 103444 : return lane->geometryPositionAtOffset(pos, -getLateralPositionOnLane());
1379 : } else {
1380 0 : return Position::INVALID;
1381 : }
1382 : }
1383 :
1384 :
1385 : double
1386 698712 : MSVehicle::getMaxSpeedOnLane() const {
1387 698712 : if (myLane != nullptr) {
1388 698712 : return myLane->getVehicleMaxSpeed(this);
1389 : }
1390 0 : return myType->getMaxSpeed();
1391 : }
1392 :
1393 :
1394 : Position
1395 687146764 : MSVehicle::validatePosition(Position result, double offset) const {
1396 : int furtherIndex = 0;
1397 687146764 : double lastLength = getPositionOnLane();
1398 687146764 : while (result == Position::INVALID) {
1399 2871402 : if (furtherIndex >= (int)myFurtherLanes.size()) {
1400 : //WRITE_WARNINGF(TL("Could not compute position for vehicle '%', time=%."), getID(), time2string(MSNet::getInstance()->getCurrentTimeStep()));
1401 : break;
1402 : }
1403 : //std::cout << SIMTIME << " veh=" << getID() << " lane=" << myLane->getID() << " pos=" << getPositionOnLane() << " posLat=" << getLateralPositionOnLane() << " offset=" << offset << " result=" << result << " i=" << furtherIndex << " further=" << myFurtherLanes.size() << "\n";
1404 1971623 : MSLane* further = myFurtherLanes[furtherIndex];
1405 1971623 : offset += lastLength;
1406 1971623 : result = further->geometryPositionAtOffset(further->getLength() + offset, -getLateralPositionOnLane());
1407 : lastLength = further->getLength();
1408 1971623 : furtherIndex++;
1409 : //std::cout << SIMTIME << " newResult=" << result << "\n";
1410 : }
1411 687146764 : return result;
1412 : }
1413 :
1414 :
1415 : ConstMSEdgeVector::const_iterator
1416 2646871 : MSVehicle::getRerouteOrigin() const {
1417 : // too close to the next junction, so avoid an emergency brake here
1418 2646871 : if (myLane != nullptr && (myCurrEdge + 1) != myRoute->end() && !isRailway(getVClass())) {
1419 632607 : if (myLane->isInternal()) {
1420 : return myCurrEdge + 1;
1421 : }
1422 625634 : if (myState.myPos > myLane->getLength() - getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)) {
1423 : return myCurrEdge + 1;
1424 : }
1425 623113 : if (myLane->getEdge().hasChangeProhibitions(getVClass(), myLane->getIndex())) {
1426 : return myCurrEdge + 1;
1427 : }
1428 : }
1429 2637265 : return myCurrEdge;
1430 : }
1431 :
1432 : void
1433 5228878 : MSVehicle::setAngle(double angle, bool straightenFurther) {
1434 : #ifdef DEBUG_FURTHER
1435 : if (DEBUG_COND) {
1436 : std::cout << SIMTIME << " veh '" << getID() << " setAngle(" << angle << ") straightenFurther=" << straightenFurther << std::endl;
1437 : }
1438 : #endif
1439 5228878 : myAngle = angle;
1440 5228878 : MSLane* next = myLane;
1441 5228878 : if (straightenFurther && myFurtherLanesPosLat.size() > 0) {
1442 196771 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
1443 100930 : MSLane* further = myFurtherLanes[i];
1444 100930 : const MSLink* link = further->getLinkTo(next);
1445 100930 : if (link != nullptr) {
1446 100546 : myFurtherLanesPosLat[i] = getLateralPositionOnLane() - link->getLateralShift();
1447 : next = further;
1448 : } else {
1449 : break;
1450 : }
1451 : }
1452 : }
1453 5228878 : }
1454 :
1455 :
1456 : void
1457 406678 : MSVehicle::setActionStepLength(double actionStepLength, bool resetOffset) {
1458 406678 : SUMOTime actionStepLengthMillisecs = SUMOVehicleParserHelper::processActionStepLength(actionStepLength);
1459 : SUMOTime previousActionStepLength = getActionStepLength();
1460 : const bool newActionStepLength = actionStepLengthMillisecs != previousActionStepLength;
1461 406678 : if (newActionStepLength) {
1462 7 : getSingularType().setActionStepLength(actionStepLengthMillisecs, resetOffset);
1463 7 : if (!resetOffset) {
1464 1 : updateActionOffset(previousActionStepLength, actionStepLengthMillisecs);
1465 : }
1466 : }
1467 406672 : if (resetOffset) {
1468 6 : resetActionOffset();
1469 : }
1470 406678 : }
1471 :
1472 :
1473 : bool
1474 293692159 : MSVehicle::congested() const {
1475 293692159 : return myState.mySpeed < (60.0 / 3.6) || myLane->getSpeedLimit() < (60.1 / 3.6);
1476 : }
1477 :
1478 :
1479 : double
1480 683195175 : MSVehicle::computeAngle() const {
1481 : Position p1;
1482 683195175 : const double posLat = -myState.myPosLat; // @todo get rid of the '-'
1483 683195175 : const double lefthandSign = (MSGlobals::gLefthand ? -1 : 1);
1484 :
1485 : // if parking manoeuvre is happening then rotate vehicle on each step
1486 683195175 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
1487 450 : return getAngle() + myManoeuvre.getGUIIncrement();
1488 : }
1489 :
1490 683194725 : if (isParking()) {
1491 27455 : if (myStops.begin()->parkingarea != nullptr) {
1492 15650 : return myStops.begin()->parkingarea->getVehicleAngle(*this);
1493 : } else {
1494 11805 : return myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane()));
1495 : }
1496 : }
1497 683167270 : if (myLaneChangeModel->isChangingLanes()) {
1498 : // cannot use getPosition() because it already includes the offset to the side and thus messes up the angle
1499 1124853 : p1 = myLane->geometryPositionAtOffset(myState.myPos, lefthandSign * posLat);
1500 12 : if (p1 == Position::INVALID && myLane->getShape().length2D() == 0. && myLane->isInternal()) {
1501 : // workaround: extrapolate the preceding lane shape
1502 12 : MSLane* predecessorLane = myLane->getCanonicalPredecessorLane();
1503 12 : p1 = predecessorLane->geometryPositionAtOffset(predecessorLane->getLength() + myState.myPos, lefthandSign * posLat);
1504 : }
1505 : } else {
1506 682042417 : p1 = getPosition();
1507 : }
1508 :
1509 : Position p2;
1510 683167270 : if (getVehicleType().getParameter().locomotiveLength > 0) {
1511 : // articulated vehicle should use the heading of the first part
1512 1731583 : const double locoLength = MIN2(getVehicleType().getParameter().locomotiveLength, getLength());
1513 1731583 : p2 = getPosition(-locoLength);
1514 : } else {
1515 681435687 : p2 = getBackPosition();
1516 : }
1517 : if (p2 == Position::INVALID) {
1518 : // Handle special case of vehicle's back reaching out of the network
1519 846 : if (myFurtherLanes.size() > 0) {
1520 126 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1521 : if (p2 == Position::INVALID) {
1522 : // unsuitable lane geometry
1523 78 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1524 : }
1525 : } else {
1526 720 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1527 : }
1528 : }
1529 : double result = (p1 != p2 ? p2.angleTo2D(p1) :
1530 87508 : myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1531 :
1532 683167270 : result += lefthandSign * myLaneChangeModel->calcAngleOffset();
1533 :
1534 : #ifdef DEBUG_FURTHER
1535 : if (DEBUG_COND) {
1536 : std::cout << SIMTIME << " computeAngle veh=" << getID() << " p1=" << p1 << " p2=" << p2 << " angle=" << RAD2DEG(result) << " naviDegree=" << GeomHelper::naviDegree(result) << "\n";
1537 : }
1538 : #endif
1539 683167270 : return result;
1540 : }
1541 :
1542 :
1543 : const Position
1544 845917773 : MSVehicle::getBackPosition() const {
1545 845917773 : const double posLat = MSGlobals::gLefthand ? myState.myPosLat : -myState.myPosLat;
1546 : Position result;
1547 845917773 : if (myState.myPos >= myType->getLength()) {
1548 : // vehicle is fully on the new lane
1549 829702617 : result = myLane->geometryPositionAtOffset(myState.myPos - myType->getLength(), posLat);
1550 : } else {
1551 16215156 : if (myLaneChangeModel->isChangingLanes() && myFurtherLanes.size() > 0 && myLaneChangeModel->getShadowLane(myFurtherLanes.back()) == nullptr) {
1552 : // special case where the target lane has no predecessor
1553 : #ifdef DEBUG_FURTHER
1554 : if (DEBUG_COND) {
1555 : std::cout << " getBackPosition veh=" << getID() << " specialCase using myLane=" << myLane->getID() << " pos=0 posLat=" << myState.myPosLat << " result=" << myLane->geometryPositionAtOffset(0, posLat) << "\n";
1556 : }
1557 : #endif
1558 1701 : result = myLane->geometryPositionAtOffset(0, posLat);
1559 : } else {
1560 : #ifdef DEBUG_FURTHER
1561 : if (DEBUG_COND) {
1562 : std::cout << " getBackPosition veh=" << getID() << " myLane=" << myLane->getID() << " further=" << toString(myFurtherLanes) << " myFurtherLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
1563 : }
1564 : #endif
1565 16213455 : if (myFurtherLanes.size() > 0 && !myLaneChangeModel->isChangingLanes()) {
1566 : // truncate to 0 if vehicle starts on an edge that is shorter than its length
1567 15896160 : const double backPos = MAX2(0.0, getBackPositionOnLane(myFurtherLanes.back()));
1568 31494780 : result = myFurtherLanes.back()->geometryPositionAtOffset(backPos, -myFurtherLanesPosLat.back() * (MSGlobals::gLefthand ? -1 : 1));
1569 : } else {
1570 317295 : result = myLane->geometryPositionAtOffset(0, posLat);
1571 : }
1572 : }
1573 : }
1574 845917773 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1575 281235 : interpolateLateralZ(result, myState.myPos - myType->getLength(), posLat);
1576 : }
1577 845917773 : return result;
1578 : }
1579 :
1580 :
1581 : bool
1582 458418 : MSVehicle::willStop() const {
1583 458418 : return !isStopped() && !myStops.empty() && myLane != nullptr && &myStops.front().lane->getEdge() == &myLane->getEdge();
1584 : }
1585 :
1586 : bool
1587 357334409 : MSVehicle::isStoppedOnLane() const {
1588 357334409 : return isStopped() && myStops.front().lane == myLane;
1589 : }
1590 :
1591 : bool
1592 30901409 : MSVehicle::keepStopping(bool afterProcessing) const {
1593 30901409 : if (isStopped()) {
1594 : // when coming out of vehicleTransfer we must shift the time forward
1595 36811822 : return (myStops.front().duration - (afterProcessing ? DELTA_T : 0) > 0 || isStoppedTriggered() || myStops.front().pars.collision
1596 30696043 : || myStops.front().pars.breakDown || (myStops.front().getSpeed() > 0
1597 36570 : && (myState.myPos < MIN2(myStops.front().pars.endPos, myStops.front().lane->getLength() - POSITION_EPS))
1598 30726 : && (myStops.front().pars.parking == ParkingType::ONROAD || getSpeed() >= SUMO_const_haltingSpeed)));
1599 : } else {
1600 : return false;
1601 : }
1602 : }
1603 :
1604 :
1605 : SUMOTime
1606 16133 : MSVehicle::remainingStopDuration() const {
1607 16133 : if (isStopped()) {
1608 16133 : return myStops.front().duration;
1609 : }
1610 : return 0;
1611 : }
1612 :
1613 :
1614 : SUMOTime
1615 657929595 : MSVehicle::collisionStopTime() const {
1616 657929595 : return (myStops.empty() || !myStops.front().pars.collision) ? myCollisionImmunity : MAX2((SUMOTime)0, myStops.front().duration);
1617 : }
1618 :
1619 :
1620 : bool
1621 657771072 : MSVehicle::brokeDown() const {
1622 657771072 : return isStopped() && !myStops.empty() && myStops.front().pars.breakDown;
1623 : }
1624 :
1625 :
1626 : bool
1627 177769 : MSVehicle::ignoreCollision() const {
1628 177769 : return myCollisionImmunity > 0;
1629 : }
1630 :
1631 :
1632 : double
1633 620087324 : MSVehicle::processNextStop(double currentVelocity) {
1634 620087324 : if (myStops.empty()) {
1635 : // no stops; pass
1636 : return currentVelocity;
1637 : }
1638 :
1639 : #ifdef DEBUG_STOPS
1640 : if (DEBUG_COND) {
1641 : std::cout << "\nPROCESS_NEXT_STOP\n" << SIMTIME << " vehicle '" << getID() << "'" << std::endl;
1642 : }
1643 : #endif
1644 :
1645 : MSStop& stop = myStops.front();
1646 40742354 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1647 40742354 : if (stop.reached) {
1648 26244420 : stop.duration -= getActionStepLength();
1649 :
1650 : #ifdef DEBUG_STOPS
1651 : if (DEBUG_COND) {
1652 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached stop.\n"
1653 : << "Remaining duration: " << STEPS2TIME(stop.duration) << std::endl;
1654 : if (stop.getSpeed() > 0) {
1655 : std::cout << " waypointSpeed=" << stop.getSpeed() << " vehPos=" << myState.myPos << " endPos=" << stop.pars.endPos << "\n";
1656 : }
1657 : }
1658 : #endif
1659 26244420 : if (stop.duration <= 0 && stop.pars.join != "") {
1660 : // join this train (part) to another one
1661 36414 : MSVehicle* joinVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.join));
1662 969 : if (joinVeh && joinVeh->hasDeparted() && (joinVeh->joinTrainPart(this) || joinVeh->joinTrainPartFront(this))) {
1663 36 : stop.joinTriggered = false;
1664 36 : if (myAmRegisteredAsWaiting) {
1665 21 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1666 21 : myAmRegisteredAsWaiting = false;
1667 : }
1668 : // avoid collision warning before this vehicle is removed (joinVeh was already made longer)
1669 36 : myCollisionImmunity = TIME2STEPS(100);
1670 : // mark this vehicle as arrived
1671 36 : myArrivalPos = getPositionOnLane();
1672 36 : const_cast<SUMOVehicleParameter*>(myParameter)->arrivalEdge = getRoutePosition();
1673 : // handle transportables that want to continue in the other vehicle
1674 36 : if (myPersonDevice != nullptr) {
1675 3 : myPersonDevice->transferAtSplitOrJoin(joinVeh);
1676 : }
1677 36 : if (myContainerDevice != nullptr) {
1678 3 : myContainerDevice->transferAtSplitOrJoin(joinVeh);
1679 : }
1680 : }
1681 : }
1682 26244420 : boardTransportables(stop);
1683 21969500 : if (time > stop.endBoarding) {
1684 : // for taxi: cancel customers
1685 223200 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1686 : if (taxiDevice != nullptr) {
1687 : // may invalidate stops including the current reference
1688 64 : taxiDevice->cancelCurrentCustomers();
1689 64 : resumeFromStopping();
1690 64 : return currentVelocity;
1691 : }
1692 : }
1693 21969436 : if (!keepStopping() && isOnRoad()) {
1694 : #ifdef DEBUG_STOPS
1695 : if (DEBUG_COND) {
1696 : std::cout << SIMTIME << " vehicle '" << getID() << "' resumes from stopping." << std::endl;
1697 : }
1698 : #endif
1699 42444 : resumeFromStopping();
1700 42444 : if (isRail() && hasStops()) {
1701 : // stay on the current lane in case of a double stop
1702 2786 : const MSStop& nextStop = getNextStop();
1703 2786 : if (nextStop.edge == myCurrEdge) {
1704 1033 : const double stopSpeed = getCarFollowModel().stopSpeed(this, getSpeed(), nextStop.pars.endPos - myState.myPos);
1705 : //std::cout << SIMTIME << " veh=" << getID() << " resumedFromStopping currentVelocity=" << currentVelocity << " stopSpeed=" << stopSpeed << "\n";
1706 1033 : return stopSpeed;
1707 : }
1708 : }
1709 : } else {
1710 21926992 : if (stop.triggered) {
1711 2988050 : if (getVehicleType().getPersonCapacity() == getPersonNumber()) {
1712 30 : WRITE_WARNINGF(TL("Vehicle '%' ignores triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1713 10 : stop.triggered = false;
1714 2988040 : } else if (!myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1715 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1716 3205 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1717 3205 : myAmRegisteredAsWaiting = true;
1718 : #ifdef DEBUG_STOPS
1719 : if (DEBUG_COND) {
1720 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for person." << std::endl;
1721 : }
1722 : #endif
1723 : }
1724 : }
1725 21926992 : if (stop.containerTriggered) {
1726 39493 : if (getVehicleType().getContainerCapacity() == getContainerNumber()) {
1727 1311 : WRITE_WARNINGF(TL("Vehicle '%' ignores container triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1728 437 : stop.containerTriggered = false;
1729 39056 : } else if (stop.containerTriggered && !myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1730 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1731 92 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1732 92 : myAmRegisteredAsWaiting = true;
1733 : #ifdef DEBUG_STOPS
1734 : if (DEBUG_COND) {
1735 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for container." << std::endl;
1736 : }
1737 : #endif
1738 : }
1739 : }
1740 : // joining only takes place after stop duration is over
1741 21926992 : if (stop.joinTriggered && !myAmRegisteredAsWaiting
1742 6509 : && stop.duration <= (stop.pars.extension >= 0 ? -stop.pars.extension : 0)) {
1743 91 : if (stop.pars.extension >= 0) {
1744 81 : WRITE_WARNINGF(TL("Vehicle '%' aborts joining after extension of %s at time %."), getID(), STEPS2TIME(stop.pars.extension), time2string(SIMSTEP));
1745 27 : stop.joinTriggered = false;
1746 : } else {
1747 : // keep stopping indefinitely but ensure that simulation terminates
1748 64 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1749 64 : myAmRegisteredAsWaiting = true;
1750 : }
1751 : }
1752 21926992 : if (stop.getSpeed() > 0) {
1753 : //waypoint mode
1754 242923 : if (stop.duration == 0) {
1755 266 : return stop.getSpeed();
1756 : } else {
1757 : // stop for 'until' (computed in planMove)
1758 : return currentVelocity;
1759 : }
1760 : } else {
1761 : // brake
1762 21684069 : if (MSGlobals::gSemiImplicitEulerUpdate || stop.getSpeed() > 0) {
1763 21416897 : return 0;
1764 : } else {
1765 : // ballistic:
1766 267172 : return getSpeed() - getCarFollowModel().getMaxDecel();
1767 : }
1768 : }
1769 : }
1770 : } else {
1771 :
1772 : #ifdef DEBUG_STOPS
1773 : if (DEBUG_COND) {
1774 : std::cout << SIMTIME << " vehicle '" << getID() << "' hasn't reached next stop." << std::endl;
1775 : }
1776 : #endif
1777 : //std::cout << SIMTIME << " myStopDist=" << myStopDist << " bGap=" << getBrakeGap(myLane->getVehicleMaxSpeed(this)) << "\n";
1778 14553623 : if (stop.pars.onDemand && !stop.skipOnDemand && myStopDist <= getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this))) {
1779 561 : MSNet* const net = MSNet::getInstance();
1780 44 : const bool noExits = ((myPersonDevice == nullptr || !myPersonDevice->anyLeavingAtStop(stop))
1781 571 : && (myContainerDevice == nullptr || !myContainerDevice->anyLeavingAtStop(stop)));
1782 83 : const bool noEntries = ((!net->hasPersons() || !net->getPersonControl().hasAnyWaiting(stop.getEdge(), this))
1783 610 : && (!net->hasContainers() || !net->getContainerControl().hasAnyWaiting(stop.getEdge(), this)));
1784 561 : if (noExits && noEntries) {
1785 : //std::cout << " skipOnDemand\n";
1786 493 : stop.skipOnDemand = true;
1787 : }
1788 : }
1789 : // is the next stop on the current lane?
1790 14497934 : if (stop.edge == myCurrEdge) {
1791 : // get the stopping position
1792 6146307 : bool useStoppingPlace = stop.busstop != nullptr || stop.containerstop != nullptr || stop.parkingarea != nullptr;
1793 : bool fitsOnStoppingPlace = true;
1794 6146307 : if (!stop.skipOnDemand) { // no need to check available space if we skip it anyway
1795 6144372 : if (stop.busstop != nullptr) {
1796 1650903 : fitsOnStoppingPlace &= stop.busstop->fits(myState.myPos, *this);
1797 : }
1798 6144372 : if (stop.containerstop != nullptr) {
1799 21788 : fitsOnStoppingPlace &= stop.containerstop->fits(myState.myPos, *this);
1800 : }
1801 : // if the stop is a parking area we check if there is a free position on the area
1802 6144372 : if (stop.parkingarea != nullptr) {
1803 658350 : fitsOnStoppingPlace &= myState.myPos > stop.parkingarea->getBeginLanePosition();
1804 658350 : if (stop.parkingarea->getOccupancy() >= stop.parkingarea->getCapacity()) {
1805 : fitsOnStoppingPlace = false;
1806 : // trigger potential parkingZoneReroute
1807 426541 : MSParkingArea* oldParkingArea = stop.parkingarea;
1808 457080 : for (MSMoveReminder* rem : myLane->getMoveReminders()) {
1809 30539 : if (rem->isParkingRerouter()) {
1810 9315 : rem->notifyEnter(*this, MSMoveReminder::NOTIFICATION_PARKING_REROUTE, myLane);
1811 : }
1812 : }
1813 426541 : if (myStops.empty() || myStops.front().parkingarea != oldParkingArea) {
1814 : // rerouted, keep driving
1815 : return currentVelocity;
1816 : }
1817 231809 : } else if (stop.parkingarea->getOccupancyIncludingReservations(this) >= stop.parkingarea->getCapacity()) {
1818 : fitsOnStoppingPlace = false;
1819 104824 : } else if (stop.parkingarea->parkOnRoad() && stop.parkingarea->getLotIndex(this) < 0) {
1820 : fitsOnStoppingPlace = false;
1821 : }
1822 : }
1823 : }
1824 6144315 : const double targetPos = myState.myPos + myStopDist + (stop.getSpeed() > 0 ? (stop.pars.startPos - stop.pars.endPos) : 0);
1825 6144315 : const double reachedThreshold = (useStoppingPlace ? targetPos - STOPPING_PLACE_OFFSET : stop.getReachedThreshold()) - NUMERICAL_EPS;
1826 : #ifdef DEBUG_STOPS
1827 : if (DEBUG_COND) {
1828 : std::cout << " pos=" << myState.pos() << " speed=" << currentVelocity << " targetPos=" << targetPos << " fits=" << fitsOnStoppingPlace
1829 : << " reachedThresh=" << reachedThreshold
1830 : << " myLane=" << Named::getIDSecure(myLane)
1831 : << " stopLane=" << Named::getIDSecure(stop.lane)
1832 : << "\n";
1833 : }
1834 : #endif
1835 6144315 : const bool posReached = myState.pos() >= reachedThreshold && currentVelocity <= stop.getSpeed() + SUMO_const_haltingSpeed && myLane == stop.lane;
1836 6144315 : if (posReached && !fitsOnStoppingPlace && MSStopOut::active()) {
1837 4505 : MSStopOut::getInstance()->stopBlocked(this, time);
1838 : }
1839 6144315 : if (fitsOnStoppingPlace && posReached && (!MSGlobals::gModelParkingManoeuver || myManoeuvre.entryManoeuvreIsComplete(this))) {
1840 : // ok, we may stop (have reached the stop) and either we are not modelling maneuvering or have completed entry
1841 53813 : stop.reached = true;
1842 53813 : if (!stop.startedFromState) {
1843 53602 : stop.pars.started = time;
1844 : }
1845 : #ifdef DEBUG_STOPS
1846 : if (DEBUG_COND) {
1847 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached next stop." << std::endl;
1848 : }
1849 : #endif
1850 53813 : if (MSStopOut::active()) {
1851 5072 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), time);
1852 : }
1853 53813 : myLane->getEdge().addWaiting(this);
1854 53813 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::STARTING_STOP);
1855 53813 : MSNet::getInstance()->getVehicleControl().registerStopStarted();
1856 : // compute stopping time
1857 53813 : stop.duration = stop.getMinDuration(time);
1858 53813 : stop.endBoarding = stop.pars.extension >= 0 ? time + stop.duration + stop.pars.extension : SUMOTime_MAX;
1859 53813 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1860 2699 : if (taxiDevice != nullptr && stop.pars.extension >= 0) {
1861 : // earliestPickupTime is set with waitUntil
1862 84 : stop.endBoarding = MAX2(time, stop.pars.waitUntil) + stop.pars.extension;
1863 : }
1864 53813 : if (stop.getSpeed() > 0) {
1865 : // ignore duration parameter in waypoint mode unless 'until' or 'ended' are set
1866 3265 : if (stop.getUntil() > time) {
1867 334 : stop.duration = stop.getUntil() - time;
1868 : } else {
1869 2931 : stop.duration = 0;
1870 : }
1871 : }
1872 53813 : if (stop.busstop != nullptr) {
1873 : // let the bus stop know the vehicle
1874 18078 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1875 : }
1876 53813 : if (stop.containerstop != nullptr) {
1877 : // let the container stop know the vehicle
1878 569 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1879 : }
1880 53813 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
1881 : // let the parking area know the vehicle
1882 8932 : stop.parkingarea->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1883 : }
1884 53813 : if (stop.chargingStation != nullptr) {
1885 : // let the container stop know the vehicle
1886 3285 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1887 : }
1888 :
1889 53813 : if (stop.pars.tripId != "") {
1890 2568 : ((SUMOVehicleParameter&)getParameter()).setParameter("tripId", stop.pars.tripId);
1891 : }
1892 53813 : if (stop.pars.line != "") {
1893 1288 : ((SUMOVehicleParameter&)getParameter()).line = stop.pars.line;
1894 : }
1895 53813 : if (stop.pars.split != "") {
1896 : // split the train
1897 1063 : MSVehicle* splitVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.split));
1898 24 : if (splitVeh == nullptr) {
1899 3117 : WRITE_WARNINGF(TL("Vehicle '%' to split from vehicle '%' is not known. time=%."), stop.pars.split, getID(), SIMTIME)
1900 : } else {
1901 24 : MSNet::getInstance()->getInsertionControl().add(splitVeh);
1902 24 : splitVeh->getRoute().getEdges()[0]->removeWaiting(splitVeh);
1903 24 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1904 24 : const double newLength = MAX2(myType->getLength() - splitVeh->getVehicleType().getLength(),
1905 24 : myType->getParameter().locomotiveLength);
1906 24 : getSingularType().setLength(newLength);
1907 : // handle transportables that want to continue in the split part
1908 24 : if (myPersonDevice != nullptr) {
1909 0 : myPersonDevice->transferAtSplitOrJoin(splitVeh);
1910 : }
1911 24 : if (myContainerDevice != nullptr) {
1912 6 : myContainerDevice->transferAtSplitOrJoin(splitVeh);
1913 : }
1914 24 : if (splitVeh->getParameter().departPosProcedure == DepartPosDefinition::SPLIT_FRONT) {
1915 3 : const double backShift = splitVeh->getLength() + getVehicleType().getMinGap();
1916 3 : myState.myPos -= backShift;
1917 3 : myState.myBackPos -= backShift;
1918 : }
1919 : }
1920 : }
1921 :
1922 53813 : boardTransportables(stop);
1923 53809 : if (stop.pars.posLat != INVALID_DOUBLE) {
1924 231 : myState.myPosLat = stop.pars.posLat;
1925 : }
1926 : }
1927 : }
1928 : }
1929 : return currentVelocity;
1930 : }
1931 :
1932 :
1933 : void
1934 26298233 : MSVehicle::boardTransportables(MSStop& stop) {
1935 26298233 : if (stop.skipOnDemand) {
1936 : return;
1937 : }
1938 : // we have reached the stop
1939 : // any waiting persons may board now
1940 26071168 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1941 26071168 : MSNet* const net = MSNet::getInstance();
1942 26071168 : const bool boarded = (time <= stop.endBoarding
1943 26069086 : && net->hasPersons()
1944 1203844 : && net->getPersonControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToBoardNextPerson, stop.duration)
1945 26075849 : && stop.numExpectedPerson == 0);
1946 : // load containers
1947 26071168 : const bool loaded = (time <= stop.endBoarding
1948 26069086 : && net->hasContainers()
1949 4377342 : && net->getContainerControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToLoadNextContainer, stop.duration)
1950 26071743 : && stop.numExpectedContainer == 0);
1951 :
1952 : bool unregister = false;
1953 21796244 : if (time > stop.endBoarding) {
1954 2082 : stop.triggered = false;
1955 2082 : stop.containerTriggered = false;
1956 2082 : if (myAmRegisteredAsWaiting) {
1957 : unregister = true;
1958 332 : myAmRegisteredAsWaiting = false;
1959 : }
1960 : }
1961 21796244 : if (boarded) {
1962 : // the triggering condition has been fulfilled. Maybe we want to wait a bit longer for additional riders (car pooling)
1963 4550 : if (myAmRegisteredAsWaiting) {
1964 : unregister = true;
1965 : }
1966 4550 : stop.triggered = false;
1967 4550 : myAmRegisteredAsWaiting = false;
1968 : }
1969 21796244 : if (loaded) {
1970 : // the triggering condition has been fulfilled
1971 555 : if (myAmRegisteredAsWaiting) {
1972 : unregister = true;
1973 : }
1974 555 : stop.containerTriggered = false;
1975 555 : myAmRegisteredAsWaiting = false;
1976 : }
1977 :
1978 21796244 : if (unregister) {
1979 416 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1980 : #ifdef DEBUG_STOPS
1981 : if (DEBUG_COND) {
1982 : std::cout << SIMTIME << " vehicle '" << getID() << "' unregisters as waiting for transportable." << std::endl;
1983 : }
1984 : #endif
1985 : }
1986 : }
1987 :
1988 : bool
1989 921 : MSVehicle::joinTrainPart(MSVehicle* veh) {
1990 : // check if veh is close enough to be joined to the rear of this vehicle
1991 921 : MSLane* backLane = myFurtherLanes.size() == 0 ? myLane : myFurtherLanes.back();
1992 921 : double gap = getBackPositionOnLane() - veh->getPositionOnLane();
1993 1144 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == veh->getLane()
1994 951 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
1995 15 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
1996 15 : getSingularType().setLength(newLength);
1997 15 : myStops.begin()->joinTriggered = false;
1998 15 : if (myAmRegisteredAsWaiting) {
1999 0 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2000 0 : myAmRegisteredAsWaiting = false;
2001 : }
2002 : return true;
2003 : } else {
2004 906 : return false;
2005 : }
2006 : }
2007 :
2008 :
2009 : bool
2010 906 : MSVehicle::joinTrainPartFront(MSVehicle* veh) {
2011 : // check if veh is close enough to be joined to the front of this vehicle
2012 906 : MSLane* backLane = veh->myFurtherLanes.size() == 0 ? veh->myLane : veh->myFurtherLanes.back();
2013 906 : double gap = veh->getBackPositionOnLane(backLane) - getPositionOnLane();
2014 1114 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == getLane()
2015 930 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2016 : double skippedLaneLengths = 0;
2017 24 : if (veh->myFurtherLanes.size() > 0) {
2018 9 : skippedLaneLengths += getLane()->getLength();
2019 : // this vehicle must be moved to the lane of veh
2020 : // ensure that lane and furtherLanes of veh match our route
2021 9 : int routeIndex = getRoutePosition();
2022 9 : if (myLane->isInternal()) {
2023 0 : routeIndex++;
2024 : }
2025 27 : for (int i = (int)veh->myFurtherLanes.size() - 1; i >= 0; i--) {
2026 18 : MSEdge* edge = &veh->myFurtherLanes[i]->getEdge();
2027 18 : if (edge->isInternal()) {
2028 9 : continue;
2029 : }
2030 9 : if (!edge->isInternal() && edge != myRoute->getEdges()[routeIndex]) {
2031 0 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2032 0 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2033 : return false;
2034 : }
2035 9 : routeIndex++;
2036 : }
2037 9 : if (veh->getCurrentEdge()->getNormalSuccessor() != myRoute->getEdges()[routeIndex]) {
2038 3 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2039 9 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2040 : return false;
2041 : }
2042 12 : for (int i = (int)veh->myFurtherLanes.size() - 2; i >= 0; i--) {
2043 6 : skippedLaneLengths += veh->myFurtherLanes[i]->getLength();
2044 : }
2045 : }
2046 :
2047 21 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2048 21 : getSingularType().setLength(newLength);
2049 : // lane will be advanced just as for regular movement
2050 21 : myState.myPos = skippedLaneLengths + veh->getPositionOnLane();
2051 21 : myStops.begin()->joinTriggered = false;
2052 21 : if (myAmRegisteredAsWaiting) {
2053 7 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2054 7 : myAmRegisteredAsWaiting = false;
2055 : }
2056 21 : return true;
2057 : } else {
2058 882 : return false;
2059 : }
2060 : }
2061 :
2062 : double
2063 9245409 : MSVehicle::getBrakeGap(bool delayed) const {
2064 9245409 : return getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), delayed ? getCarFollowModel().getHeadwayTime() : 0);
2065 : }
2066 :
2067 :
2068 : bool
2069 680112409 : MSVehicle::checkActionStep(const SUMOTime t) {
2070 680112409 : myActionStep = isActionStep(t);
2071 680112409 : if (myActionStep) {
2072 608595485 : myLastActionTime = t;
2073 : }
2074 680112409 : return myActionStep;
2075 : }
2076 :
2077 :
2078 : void
2079 1601 : MSVehicle::resetActionOffset(const SUMOTime timeUntilNextAction) {
2080 1601 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + timeUntilNextAction;
2081 1601 : }
2082 :
2083 :
2084 : void
2085 1 : MSVehicle::updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength) {
2086 1 : SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2087 1 : SUMOTime timeSinceLastAction = now - myLastActionTime;
2088 1 : if (timeSinceLastAction == 0) {
2089 : // Action was scheduled now, may be delayed be new action step length
2090 : timeSinceLastAction = oldActionStepLength;
2091 : }
2092 1 : if (timeSinceLastAction >= newActionStepLength) {
2093 : // Action point required in this step
2094 0 : myLastActionTime = now;
2095 : } else {
2096 1 : SUMOTime timeUntilNextAction = newActionStepLength - timeSinceLastAction;
2097 1 : resetActionOffset(timeUntilNextAction);
2098 : }
2099 1 : }
2100 :
2101 :
2102 :
2103 : void
2104 680112409 : MSVehicle::planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront) {
2105 : #ifdef DEBUG_PLAN_MOVE
2106 : if (DEBUG_COND) {
2107 : std::cout
2108 : << "\nPLAN_MOVE\n"
2109 : << SIMTIME
2110 : << std::setprecision(gPrecision)
2111 : << " veh=" << getID()
2112 : << " lane=" << myLane->getID()
2113 : << " pos=" << getPositionOnLane()
2114 : << " posLat=" << getLateralPositionOnLane()
2115 : << " speed=" << getSpeed()
2116 : << "\n";
2117 : }
2118 : #endif
2119 : // Update the driver state
2120 680112409 : if (hasDriverState()) {
2121 406664 : myDriverState->update();
2122 813328 : setActionStepLength(myDriverState->getDriverState()->getActionStepLength(), false);
2123 : }
2124 :
2125 680112409 : if (!checkActionStep(t)) {
2126 : #ifdef DEBUG_ACTIONSTEPS
2127 : if (DEBUG_COND) {
2128 : std::cout << STEPS2TIME(t) << " vehicle '" << getID() << "' skips action." << std::endl;
2129 : }
2130 : #endif
2131 : // During non-action passed drive items still need to be removed
2132 : // @todo rather work with updating myCurrentDriveItem (refs #3714)
2133 71516924 : removePassedDriveItems();
2134 71516924 : return;
2135 : } else {
2136 : #ifdef DEBUG_ACTIONSTEPS
2137 : if (DEBUG_COND) {
2138 : std::cout << STEPS2TIME(t) << " vehicle = '" << getID() << "' takes action." << std::endl;
2139 : }
2140 : #endif
2141 608595485 : myLFLinkLanesPrev = myLFLinkLanes;
2142 608595485 : if (myInfluencer != nullptr) {
2143 495467 : myInfluencer->updateRemoteControlRoute(this);
2144 : }
2145 608595485 : planMoveInternal(t, ahead, myLFLinkLanes, myStopDist, myNextTurn);
2146 : #ifdef DEBUG_PLAN_MOVE
2147 : if (DEBUG_COND) {
2148 : DriveItemVector::iterator i;
2149 : for (i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
2150 : std::cout
2151 : << " vPass=" << (*i).myVLinkPass
2152 : << " vWait=" << (*i).myVLinkWait
2153 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
2154 : << " request=" << (*i).mySetRequest
2155 : << "\n";
2156 : }
2157 : }
2158 : #endif
2159 608595485 : checkRewindLinkLanes(lengthsInFront, myLFLinkLanes);
2160 608595485 : myNextDriveItem = myLFLinkLanes.begin();
2161 : // ideally would only do this with the call inside planMoveInternal - but that needs a const method
2162 : // so this is a kludge here - nuisance as it adds an extra check in a busy loop
2163 608595485 : if (MSGlobals::gModelParkingManoeuver) {
2164 2971 : if (getManoeuvreType() == MSVehicle::MANOEUVRE_EXIT && manoeuvreIsComplete()) {
2165 30 : setManoeuvreType(MSVehicle::MANOEUVRE_NONE);
2166 : }
2167 : }
2168 : }
2169 608595485 : myLaneChangeModel->resetChanged();
2170 : }
2171 :
2172 :
2173 : bool
2174 169290754 : MSVehicle::brakeForOverlap(const MSLink* link, const MSLane* lane) const {
2175 : // @review needed
2176 : //const double futurePosLat = getLateralPositionOnLane() + link->getLateralShift();
2177 : //const double overlap = getLateralOverlap(futurePosLat, link->getViaLaneOrLane());
2178 : //const double edgeWidth = link->getViaLaneOrLane()->getEdge().getWidth();
2179 169290754 : const double futurePosLat = getLateralPositionOnLane() + (
2180 169290754 : lane != myLane && lane->isInternal() ? lane->getIncomingLanes()[0].viaLink->getLateralShift() : 0);
2181 169290754 : const double overlap = getLateralOverlap(futurePosLat, lane);
2182 : const double edgeWidth = lane->getEdge().getWidth();
2183 : const bool result = (overlap > POSITION_EPS
2184 : // do not get stuck on narrow edges
2185 3040491 : && getVehicleType().getWidth() <= edgeWidth
2186 3036206 : && link->getViaLane() == nullptr
2187 : // this is the exit link of a junction. The normal edge should support the shadow
2188 1483856 : && ((myLaneChangeModel->getShadowLane(link->getLane()) == nullptr)
2189 : // the shadow lane must be permitted
2190 1092457 : || !myLaneChangeModel->getShadowLane(link->getLane())->allowsVehicleClass(getVClass())
2191 : // the internal lane after an internal junction has no parallel lane. make sure there is no shadow before continuing
2192 1032791 : || (lane->getEdge().isInternal() && lane->getIncomingLanes()[0].lane->getEdge().isInternal()))
2193 : // ignore situations where the shadow lane is part of a double-connection with the current lane
2194 467451 : && (myLaneChangeModel->getShadowLane() == nullptr
2195 244345 : || myLaneChangeModel->getShadowLane()->getLinkCont().size() == 0
2196 233415 : || myLaneChangeModel->getShadowLane()->getLinkCont().front()->getLane() != link->getLane())
2197 : // emergency vehicles may do some crazy stuff
2198 169696365 : && !myLaneChangeModel->hasBlueLight());
2199 :
2200 : #ifdef DEBUG_PLAN_MOVE
2201 : if (DEBUG_COND) {
2202 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getDescription() << " lane=" << lane->getID()
2203 : << " linkLane=" << link->getLane()->getID()
2204 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
2205 : << " shift=" << link->getLateralShift()
2206 : << " fpLat=" << futurePosLat << " overlap=" << overlap << " w=" << getVehicleType().getWidth()
2207 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane(link->getLane()))
2208 : << " result=" << result << "\n";
2209 : }
2210 : #endif
2211 169290754 : return result;
2212 : }
2213 :
2214 :
2215 :
2216 : void
2217 608595485 : MSVehicle::planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& newStopDist, std::pair<double, const MSLink*>& nextTurn) const {
2218 : lfLinks.clear();
2219 608595485 : newStopDist = std::numeric_limits<double>::max();
2220 : //
2221 : const MSCFModel& cfModel = getCarFollowModel();
2222 608595485 : const double vehicleLength = getVehicleType().getLength();
2223 608595485 : const double maxV = cfModel.maxNextSpeed(myState.mySpeed, this);
2224 608595485 : const double maxVD = MAX2(getMaxSpeed(), MIN2(maxV, getDesiredMaxSpeed()));
2225 608595485 : const bool opposite = myLaneChangeModel->isOpposite();
2226 : // maxVD is possibly higher than vType-maxSpeed and in this case laneMaxV may be higher as well
2227 608595485 : double laneMaxV = myLane->getVehicleMaxSpeed(this, maxVD);
2228 608595485 : const double vMinComfortable = cfModel.minNextSpeed(getSpeed(), this);
2229 : double lateralShift = 0;
2230 608595485 : if (isRail()) {
2231 : // speed limits must hold for the whole length of the train
2232 1561766 : for (MSLane* l : myFurtherLanes) {
2233 339509 : laneMaxV = MIN2(laneMaxV, l->getVehicleMaxSpeed(this, maxVD));
2234 : #ifdef DEBUG_PLAN_MOVE
2235 : if (DEBUG_COND) {
2236 : std::cout << " laneMaxV=" << laneMaxV << " lane=" << l->getID() << "\n";
2237 : }
2238 : #endif
2239 : }
2240 : }
2241 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
2242 : laneMaxV = MAX2(laneMaxV, vMinComfortable);
2243 609090920 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
2244 : laneMaxV = std::numeric_limits<double>::max();
2245 : }
2246 : // v is the initial maximum velocity of this vehicle in this step
2247 608595485 : double v = cfModel.maximumLaneSpeedCF(this, maxV, laneMaxV);
2248 : // if we are modelling parking then we dawdle until the manoeuvre is complete - by setting a very low max speed
2249 : // in practice this only applies to exit manoeuvre because entry manoeuvre just delays setting stop.reached - when the vehicle is virtually stopped
2250 608595485 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
2251 420 : v = NUMERICAL_EPS_SPEED;
2252 : }
2253 :
2254 608595485 : if (myInfluencer != nullptr) {
2255 495467 : const double vMin = MAX2(0., cfModel.minNextSpeed(myState.mySpeed, this));
2256 : #ifdef DEBUG_TRACI
2257 : if (DEBUG_COND) {
2258 : std::cout << SIMTIME << " veh=" << getID() << " speedBeforeTraci=" << v;
2259 : }
2260 : #endif
2261 495467 : v = myInfluencer->influenceSpeed(t, v, v, vMin, maxV);
2262 : #ifdef DEBUG_TRACI
2263 : if (DEBUG_COND) {
2264 : std::cout << " influencedSpeed=" << v;
2265 : }
2266 : #endif
2267 495467 : v = myInfluencer->gapControlSpeed(t, this, v, v, vMin, maxV);
2268 : #ifdef DEBUG_TRACI
2269 : if (DEBUG_COND) {
2270 : std::cout << " gapControlSpeed=" << v << "\n";
2271 : }
2272 : #endif
2273 : }
2274 : // all links within dist are taken into account (potentially)
2275 608595485 : const double dist = SPEED2DIST(maxV) + cfModel.brakeGap(maxV);
2276 :
2277 608595485 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation();
2278 : #ifdef DEBUG_PLAN_MOVE
2279 : if (DEBUG_COND) {
2280 : std::cout << " dist=" << dist << " bestLaneConts=" << toString(bestLaneConts)
2281 : << "\n maxV=" << maxV << " laneMaxV=" << laneMaxV << " v=" << v << "\n";
2282 : }
2283 : #endif
2284 : assert(bestLaneConts.size() > 0);
2285 : bool hadNonInternal = false;
2286 : // the distance already "seen"; in the following always up to the end of the current "lane"
2287 608595485 : double seen = opposite ? myState.myPos : myLane->getLength() - myState.myPos;
2288 608595485 : nextTurn.first = seen;
2289 608595485 : nextTurn.second = nullptr;
2290 608595485 : bool encounteredTurn = (MSGlobals::gLateralResolution <= 0); // next turn is only needed for sublane
2291 : double seenNonInternal = 0;
2292 608595485 : double seenInternal = myLane->isInternal() ? seen : 0;
2293 608595485 : double vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(seen, v, cfModel.getMaxAccel()), laneMaxV); // upper bound
2294 : int view = 0;
2295 : DriveProcessItem* lastLink = nullptr;
2296 : bool slowedDownForMinor = false; // whether the vehicle already had to slow down on approach to a minor link
2297 : double mustSeeBeforeReversal = 0;
2298 : // iterator over subsequent lanes and fill lfLinks until stopping distance or stopped
2299 608595485 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : myLane;
2300 : assert(lane != 0);
2301 608595485 : const MSLane* leaderLane = myLane;
2302 608595485 : bool foundRailSignal = !isRail();
2303 : bool planningToStop = false;
2304 : #ifdef PARALLEL_STOPWATCH
2305 : myLane->getStopWatch()[0].start();
2306 : #endif
2307 :
2308 : // optionally slow down to match arrival time
2309 608595485 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
2310 608584709 : if (v > vMinComfortable && hasStops() && myStops.front().pars.arrival >= 0 && sfp > 0
2311 4279 : && v > myLane->getSpeedLimit() * sfp
2312 608598521 : && !myStops.front().reached) {
2313 2786 : const double vSlowDown = slowDownForSchedule(vMinComfortable);
2314 5403 : v = MIN2(v, vSlowDown);
2315 : }
2316 : auto stopIt = myStops.begin();
2317 : while (true) {
2318 : // check leader on lane
2319 : // leader is given for the first edge only
2320 1151909368 : if (opposite &&
2321 : (leaderLane->getVehicleNumberWithPartials() > 1
2322 100254 : || (leaderLane != myLane && leaderLane->getVehicleNumber() > 0))) {
2323 401152 : ahead.clear();
2324 : // find opposite-driving leader that must be respected on the currently looked at lane
2325 : // (only looking at one lane at a time)
2326 401152 : const double backOffset = leaderLane == myLane ? getPositionOnLane() : leaderLane->getLength();
2327 401152 : const double gapOffset = leaderLane == myLane ? 0 : seen - leaderLane->getLength();
2328 401152 : const MSLeaderDistanceInfo cands = leaderLane->getFollowersOnConsecutive(this, backOffset, true, backOffset, MSLane::MinorLinkMode::FOLLOW_NEVER);
2329 401152 : MSLeaderDistanceInfo oppositeLeaders(leaderLane->getWidth(), this, 0.);
2330 401152 : const double minTimeToLeaveLane = MSGlobals::gSublane ? MAX2(TS, (0.5 * myLane->getWidth() - getLateralPositionOnLane()) / getVehicleType().getMaxSpeedLat()) : TS;
2331 1065268 : for (int i = 0; i < cands.numSublanes(); i++) {
2332 664116 : CLeaderDist cand = cands[i];
2333 664116 : if (cand.first != 0) {
2334 567868 : if ((cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() != leaderLane)
2335 568342 : || (!cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() == leaderLane)) {
2336 : // respect leaders that also drive in the opposite direction (fully or with some overlap)
2337 358281 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - getVehicleType().getMinGap() + cand.first->getVehicleType().getMinGap() - cand.first->getVehicleType().getLength());
2338 : } else {
2339 : // avoid frontal collision
2340 385100 : const bool assumeStopped = cand.first->isStopped() || cand.first->getWaitingSeconds() > 1;
2341 209587 : const double predMaxDist = cand.first->getSpeed() + (assumeStopped ? 0 : cand.first->getCarFollowModel().getMaxAccel()) * minTimeToLeaveLane;
2342 209587 : if (cand.second >= 0 && (cand.second - v * minTimeToLeaveLane - predMaxDist < 0 || assumeStopped)) {
2343 48138 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - predMaxDist - getVehicleType().getMinGap());
2344 : }
2345 : }
2346 : }
2347 : }
2348 : #ifdef DEBUG_PLAN_MOVE
2349 : if (DEBUG_COND) {
2350 : std::cout << " leaderLane=" << leaderLane->getID() << " gapOffset=" << gapOffset << " minTimeToLeaveLane=" << minTimeToLeaveLane
2351 : << " cands=" << cands.toString() << " oppositeLeaders=" << oppositeLeaders.toString() << "\n";
2352 : }
2353 : #endif
2354 401152 : adaptToLeaderDistance(oppositeLeaders, 0, seen, lastLink, v, vLinkPass);
2355 401152 : } else {
2356 1151508216 : if (MSGlobals::gLateralResolution > 0 && myLaneChangeModel->getShadowLane() == nullptr) {
2357 191833706 : const double rightOL = getRightSideOnLane(lane) + lateralShift;
2358 191833706 : const double leftOL = getLeftSideOnLane(lane) + lateralShift;
2359 : const bool outsideLeft = leftOL > lane->getWidth();
2360 : #ifdef DEBUG_PLAN_MOVE
2361 : if (DEBUG_COND) {
2362 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " rightOL=" << rightOL << " leftOL=" << leftOL << "\n";
2363 : }
2364 : #endif
2365 191833706 : if (rightOL < 0 || outsideLeft) {
2366 1378012 : MSLeaderInfo outsideLeaders(lane->getWidth());
2367 : // if ego is driving outside lane bounds we must consider
2368 : // potential leaders that are also outside bounds
2369 : int sublaneOffset = 0;
2370 1378012 : if (outsideLeft) {
2371 593526 : sublaneOffset = MIN2(-1, -(int)ceil((leftOL - lane->getWidth()) / MSGlobals::gLateralResolution));
2372 : } else {
2373 784486 : sublaneOffset = MAX2(1, (int)ceil(-rightOL / MSGlobals::gLateralResolution));
2374 : }
2375 1378012 : outsideLeaders.setSublaneOffset(sublaneOffset);
2376 : #ifdef DEBUG_PLAN_MOVE
2377 : if (DEBUG_COND) {
2378 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " sublaneOffset=" << sublaneOffset << " outsideLeft=" << outsideLeft << "\n";
2379 : }
2380 : #endif
2381 5511563 : for (const MSVehicle* cand : lane->getVehiclesSecure()) {
2382 1490766 : if ((lane != myLane || cand->getPositionOnLane() > getPositionOnLane())
2383 4771770 : && ((!outsideLeft && cand->getLeftSideOnEdge() < 0)
2384 3280929 : || (outsideLeft && cand->getLeftSideOnEdge() > lane->getEdge().getWidth()))) {
2385 97454 : outsideLeaders.addLeader(cand, true);
2386 : #ifdef DEBUG_PLAN_MOVE
2387 : if (DEBUG_COND) {
2388 : std::cout << " outsideLeader=" << cand->getID() << " ahead=" << outsideLeaders.toString() << "\n";
2389 : }
2390 : #endif
2391 : }
2392 : }
2393 1378012 : lane->releaseVehicles();
2394 1378012 : if (outsideLeaders.hasVehicles()) {
2395 26275 : adaptToLeaders(outsideLeaders, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2396 : }
2397 1378012 : }
2398 : }
2399 1151508216 : adaptToLeaders(ahead, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2400 : }
2401 1151909368 : if (lastLink != nullptr) {
2402 1020364855 : lastLink->myVLinkWait = MIN2(lastLink->myVLinkWait, v);
2403 : }
2404 : #ifdef DEBUG_PLAN_MOVE
2405 : if (DEBUG_COND) {
2406 : std::cout << "\nv = " << v << "\n";
2407 :
2408 : }
2409 : #endif
2410 : // XXX efficiently adapt to shadow leaders using neighAhead by iteration over the whole edge in parallel (lanechanger-style)
2411 1151909368 : if (myLaneChangeModel->getShadowLane() != nullptr) {
2412 : // also slow down for leaders on the shadowLane relative to the current lane
2413 4852316 : const MSLane* shadowLane = myLaneChangeModel->getShadowLane(leaderLane);
2414 : if (shadowLane != nullptr
2415 4852316 : && (MSGlobals::gLateralResolution > 0 || getLateralOverlap() > POSITION_EPS
2416 : // continous lane change cannot be stopped so we must adapt to the leader on the target lane
2417 190992 : || myLaneChangeModel->getLaneChangeCompletion() < 0.5)) {
2418 4328997 : if ((&shadowLane->getEdge() == &leaderLane->getEdge() || myLaneChangeModel->isOpposite())) {
2419 4286678 : double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
2420 4286678 : if (myLaneChangeModel->isOpposite()) {
2421 : // ego posLat is added when retrieving sublanes but it
2422 : // should be negated (subtract twice to compensate)
2423 138571 : latOffset = ((myLane->getWidth() + shadowLane->getWidth()) * 0.5
2424 138571 : - 2 * getLateralPositionOnLane());
2425 :
2426 : }
2427 4286678 : MSLeaderInfo shadowLeaders = shadowLane->getLastVehicleInformation(this, latOffset, lane->getLength() - seen);
2428 : #ifdef DEBUG_PLAN_MOVE
2429 : if (DEBUG_COND && myLaneChangeModel->isOpposite()) {
2430 : std::cout << SIMTIME << " opposite veh=" << getID() << " shadowLane=" << shadowLane->getID() << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2431 : }
2432 : #endif
2433 4286678 : if (myLaneChangeModel->isOpposite()) {
2434 : // ignore oncoming vehicles on the shadow lane
2435 138571 : shadowLeaders.removeOpposite(shadowLane);
2436 : }
2437 4286678 : const double turningDifference = MAX2(0.0, leaderLane->getLength() - shadowLane->getLength());
2438 4286678 : adaptToLeaders(shadowLeaders, latOffset, seen - turningDifference, lastLink, shadowLane, v, vLinkPass);
2439 4328997 : } else if (shadowLane == myLaneChangeModel->getShadowLane() && leaderLane == myLane) {
2440 : // check for leader vehicles driving in the opposite direction on the opposite-direction shadow lane
2441 : // (and thus in the same direction as ego)
2442 30455 : MSLeaderDistanceInfo shadowLeaders = shadowLane->getFollowersOnConsecutive(this, myLane->getOppositePos(getPositionOnLane()), true);
2443 : const double latOffset = 0;
2444 : #ifdef DEBUG_PLAN_MOVE
2445 : if (DEBUG_COND) {
2446 : std::cout << SIMTIME << " opposite shadows veh=" << getID() << " shadowLane=" << shadowLane->getID()
2447 : << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2448 : }
2449 : #endif
2450 30455 : shadowLeaders.fixOppositeGaps(true);
2451 : #ifdef DEBUG_PLAN_MOVE
2452 : if (DEBUG_COND) {
2453 : std::cout << " shadowLeadersFixed=" << shadowLeaders.toString() << "\n";
2454 : }
2455 : #endif
2456 30455 : adaptToLeaderDistance(shadowLeaders, latOffset, seen, lastLink, v, vLinkPass);
2457 30455 : }
2458 : }
2459 : }
2460 : // adapt to pedestrians on the same lane
2461 1151909368 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2462 193642 : const double relativePos = lane->getLength() - seen;
2463 : #ifdef DEBUG_PLAN_MOVE
2464 : if (DEBUG_COND) {
2465 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2466 : }
2467 : #endif
2468 193642 : const double stopTime = MAX2(1.0, ceil(getSpeed() / cfModel.getMaxDecel()));
2469 193642 : PersonDist leader = lane->nextBlocking(relativePos,
2470 193642 : getRightSideOnLane(lane), getRightSideOnLane(lane) + getVehicleType().getWidth(), stopTime);
2471 193642 : if (leader.first != 0) {
2472 20777 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2473 29431 : v = MIN2(v, stopSpeed);
2474 : #ifdef DEBUG_PLAN_MOVE
2475 : if (DEBUG_COND) {
2476 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2477 : }
2478 : #endif
2479 : }
2480 : }
2481 1151909368 : if (lane->getBidiLane() != nullptr) {
2482 : // adapt to pedestrians on the bidi lane
2483 3776920 : const MSLane* bidiLane = lane->getBidiLane();
2484 3776920 : if (bidiLane->getEdge().getPersons().size() > 0 && bidiLane->hasPedestrians()) {
2485 1028 : const double relativePos = seen;
2486 : #ifdef DEBUG_PLAN_MOVE
2487 : if (DEBUG_COND) {
2488 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2489 : }
2490 : #endif
2491 1028 : const double stopTime = ceil(getSpeed() / cfModel.getMaxDecel());
2492 1028 : const double leftSideOnLane = bidiLane->getWidth() - getRightSideOnLane(lane);
2493 1028 : PersonDist leader = bidiLane->nextBlocking(relativePos,
2494 1028 : leftSideOnLane - getVehicleType().getWidth(), leftSideOnLane, stopTime, true);
2495 1028 : if (leader.first != 0) {
2496 267 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2497 516 : v = MIN2(v, stopSpeed);
2498 : #ifdef DEBUG_PLAN_MOVE
2499 : if (DEBUG_COND) {
2500 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2501 : }
2502 : #endif
2503 : }
2504 : }
2505 : }
2506 : // adapt to vehicles blocked from (urgent) lane-changing
2507 1151909368 : if (!opposite && lane->getEdge().hasLaneChanger()) {
2508 563727533 : const double vHelp = myLaneChangeModel->getCooperativeHelpSpeed(lane, seen);
2509 : #ifdef DEBUG_PLAN_MOVE
2510 : if (DEBUG_COND && vHelp < v) {
2511 : std::cout << SIMTIME << " applying cooperativeHelpSpeed v=" << vHelp << "\n";
2512 : }
2513 : #endif
2514 563765439 : v = MIN2(v, vHelp);
2515 : }
2516 :
2517 : // process all stops and waypoints on the current edge
2518 : bool foundRealStop = false;
2519 : while (stopIt != myStops.end()
2520 55454747 : && ((&stopIt->lane->getEdge() == &lane->getEdge())
2521 26452460 : || (stopIt->isOpposite && stopIt->lane->getEdge().getOppositeEdge() == &lane->getEdge()))
2522 : // ignore stops that occur later in a looped route
2523 1200052134 : && stopIt->edge == myCurrEdge + view) {
2524 28955933 : double stopDist = std::numeric_limits<double>::max();
2525 : const MSStop& stop = *stopIt;
2526 : const bool isFirstStop = stopIt == myStops.begin();
2527 : stopIt++;
2528 28955933 : if (!stop.reached || (stop.getSpeed() > 0 && keepStopping())) {
2529 : // we are approaching a stop on the edge; must not drive further
2530 11123251 : bool isWaypoint = stop.getSpeed() > 0;
2531 11123251 : double endPos = stop.getEndPos(*this) + NUMERICAL_EPS;
2532 11123251 : if (stop.parkingarea != nullptr) {
2533 : // leave enough space so parking vehicles can exit
2534 1568054 : const double brakePos = getBrakeGap() + lane->getLength() - seen;
2535 1568054 : endPos = stop.parkingarea->getLastFreePosWithReservation(t, *this, brakePos);
2536 9555197 : } else if (isWaypoint && !stop.reached) {
2537 101979 : endPos = stop.pars.startPos;
2538 : }
2539 11123251 : stopDist = seen + endPos - lane->getLength();
2540 : #ifdef DEBUG_STOPS
2541 : if (DEBUG_COND) {
2542 : std::cout << SIMTIME << " veh=" << getID() << " stopDist=" << stopDist << " stopLane=" << stop.lane->getID() << " stopEndPos=" << endPos << "\n";
2543 : }
2544 : #endif
2545 : // regular stops are not emergencies
2546 : double stopSpeed = laneMaxV;
2547 11123251 : if (isWaypoint) {
2548 : bool waypointWithStop = false;
2549 117486 : if (stop.getUntil() > t) {
2550 : // check if we have to slow down or even stop
2551 : SUMOTime time2end = 0;
2552 4051 : if (stop.reached) {
2553 800 : time2end = TIME2STEPS((stop.pars.endPos - myState.myPos) / stop.getSpeed());
2554 : } else {
2555 3437 : time2end = TIME2STEPS(
2556 : // time to reach waypoint start
2557 : stopDist / ((getSpeed() + stop.getSpeed()) / 2)
2558 : // time to reach waypoint end
2559 : + (stop.pars.endPos - stop.pars.startPos) / stop.getSpeed());
2560 : }
2561 4051 : if (stop.getUntil() > t + time2end) {
2562 : // we need to stop
2563 : double distToEnd = stopDist;
2564 3915 : if (!stop.reached) {
2565 3191 : distToEnd += stop.pars.endPos - stop.pars.startPos;
2566 : }
2567 3915 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), distToEnd), vMinComfortable);
2568 : waypointWithStop = true;
2569 : }
2570 : }
2571 117486 : if (stop.reached) {
2572 14754 : stopSpeed = MIN2(stop.getSpeed(), stopSpeed);
2573 14754 : if (myState.myPos >= stop.pars.endPos && !waypointWithStop) {
2574 263 : stopDist = std::numeric_limits<double>::max();
2575 : }
2576 : } else {
2577 102732 : stopSpeed = MIN2(MAX2(cfModel.freeSpeed(this, getSpeed(), stopDist, stop.getSpeed()), vMinComfortable), stopSpeed);
2578 102732 : if (!stop.reached) {
2579 102732 : stopDist += stop.pars.endPos - stop.pars.startPos;
2580 : }
2581 102732 : if (lastLink != nullptr) {
2582 64827 : lastLink->adaptLeaveSpeed(cfModel.freeSpeed(this, vLinkPass, endPos, stop.getSpeed(), false, MSCFModel::CalcReason::FUTURE));
2583 : }
2584 : }
2585 : } else {
2586 11005765 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), stopDist), vMinComfortable);
2587 11005765 : if (lastLink != nullptr) {
2588 4728605 : lastLink->adaptLeaveSpeed(cfModel.stopSpeed(this, vLinkPass, endPos, MSCFModel::CalcReason::FUTURE));
2589 : }
2590 : }
2591 11123251 : v = MIN2(v, stopSpeed);
2592 11123251 : if (lane->isInternal()) {
2593 6703 : std::vector<MSLink*>::const_iterator exitLink = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2594 : assert(!lane->isLinkEnd(exitLink));
2595 : bool dummySetRequest;
2596 : double dummyVLinkWait;
2597 6703 : checkLinkLeaderCurrentAndParallel(*exitLink, lane, seen, lastLink, v, vLinkPass, dummyVLinkWait, dummySetRequest);
2598 : }
2599 :
2600 : #ifdef DEBUG_PLAN_MOVE
2601 : if (DEBUG_COND) {
2602 : std::cout << "\n" << SIMTIME << " next stop: distance = " << stopDist << " requires stopSpeed = " << stopSpeed << "\n";
2603 :
2604 : }
2605 : #endif
2606 11123251 : if (isFirstStop) {
2607 10204639 : newStopDist = stopDist;
2608 : // if the vehicle is going to stop we don't need to look further
2609 : // (except for trains that make use of further link-approach registration for safety purposes)
2610 10204639 : if (!isWaypoint) {
2611 : planningToStop = true;
2612 10121730 : if (!isRail()) {
2613 9818615 : lfLinks.emplace_back(v, stopDist);
2614 : foundRealStop = true;
2615 9818615 : break;
2616 : }
2617 : }
2618 : }
2619 : }
2620 : }
2621 : if (foundRealStop) {
2622 : break;
2623 : }
2624 :
2625 : // move to next lane
2626 : // get the next link used
2627 1142090753 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2628 1142090753 : if (lane->isLinkEnd(link) && myLaneChangeModel->hasBlueLight() && myCurrEdge != myRoute->end() - 1) {
2629 : // emergency vehicle is on the wrong lane. Obtain the link that it would use from the correct turning lane
2630 : const int currentIndex = lane->getIndex();
2631 : const MSLane* bestJump = nullptr;
2632 194441 : for (const LaneQ& preb : getBestLanes()) {
2633 127880 : if (preb.allowsContinuation &&
2634 : (bestJump == nullptr
2635 3212 : || abs(currentIndex - preb.lane->getIndex()) < abs(currentIndex - bestJump->getIndex()))) {
2636 67566 : bestJump = preb.lane;
2637 : }
2638 : }
2639 66561 : if (bestJump != nullptr) {
2640 66561 : const MSEdge* nextEdge = *(myCurrEdge + 1);
2641 122907 : for (auto cand_it = bestJump->getLinkCont().begin(); cand_it != bestJump->getLinkCont().end(); cand_it++) {
2642 117526 : if (&(*cand_it)->getLane()->getEdge() == nextEdge) {
2643 : link = cand_it;
2644 : break;
2645 : }
2646 : }
2647 : }
2648 : }
2649 :
2650 : // Check whether this is a turn (to save info about the next upcoming turn)
2651 1142090753 : if (!encounteredTurn) {
2652 185984031 : if (!lane->isLinkEnd(link) && lane->getLinkCont().size() > 1) {
2653 18471665 : LinkDirection linkDir = (*link)->getDirection();
2654 18471665 : switch (linkDir) {
2655 : case LinkDirection::STRAIGHT:
2656 : case LinkDirection::NODIR:
2657 : break;
2658 6807564 : default:
2659 6807564 : nextTurn.first = seen;
2660 6807564 : nextTurn.second = *link;
2661 : encounteredTurn = true;
2662 : #ifdef DEBUG_NEXT_TURN
2663 : if (DEBUG_COND) {
2664 : std::cout << SIMTIME << " veh '" << getID() << "' nextTurn: " << toString(linkDir)
2665 : << " at " << nextTurn.first << "m." << std::endl;
2666 : }
2667 : #endif
2668 : }
2669 : }
2670 : }
2671 :
2672 : // check whether the vehicle is on its final edge
2673 1964335168 : if (myCurrEdge + view + 1 == myRoute->end()
2674 1142090753 : || (myParameter->arrivalEdge >= 0 && getRoutePosition() + view == myParameter->arrivalEdge)) {
2675 319846338 : const double arrivalSpeed = (myParameter->arrivalSpeedProcedure == ArrivalSpeedDefinition::GIVEN ?
2676 : myParameter->arrivalSpeed : laneMaxV);
2677 : // subtract the arrival speed from the remaining distance so we get one additional driving step with arrival speed
2678 : // XXX: This does not work for ballistic update refs #2579
2679 319846338 : const double distToArrival = seen + myArrivalPos - lane->getLength() - SPEED2DIST(arrivalSpeed);
2680 319846338 : const double va = MAX2(NUMERICAL_EPS, cfModel.freeSpeed(this, getSpeed(), distToArrival, arrivalSpeed));
2681 319846338 : v = MIN2(v, va);
2682 319846338 : if (lastLink != nullptr) {
2683 : lastLink->adaptLeaveSpeed(va);
2684 : }
2685 319846338 : lfLinks.push_back(DriveProcessItem(v, seen, lane->getEdge().isFringe() ? 1000 : 0));
2686 319846338 : break;
2687 : }
2688 : // check whether the lane or the shadowLane is a dead end (allow some leeway on intersections)
2689 : if (lane->isLinkEnd(link)
2690 809514415 : || (MSGlobals::gSublane && brakeForOverlap(*link, lane))
2691 1631404971 : || (opposite && (*link)->getViaLaneOrLane()->getParallelOpposite() == nullptr
2692 212757 : && !myLaneChangeModel->hasBlueLight())) {
2693 13335082 : double va = cfModel.stopSpeed(this, getSpeed(), seen);
2694 13335082 : if (lastLink != nullptr) {
2695 : lastLink->adaptLeaveSpeed(va);
2696 : }
2697 13335082 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
2698 338411 : v = MIN2(myLaneChangeModel->getCommittedSpeed(), v);
2699 : } else {
2700 25441929 : v = MIN2(va, v);
2701 : }
2702 : #ifdef DEBUG_PLAN_MOVE
2703 : if (DEBUG_COND) {
2704 : std::cout << " braking for link end lane=" << lane->getID() << " seen=" << seen
2705 : << " overlap=" << getLateralOverlap() << " va=" << va << " committed=" << myLaneChangeModel->getCommittedSpeed() << " v=" << v << "\n";
2706 :
2707 : }
2708 : #endif
2709 13335082 : if (lane->isLinkEnd(link)) {
2710 12730000 : lfLinks.emplace_back(v, seen);
2711 : break;
2712 : }
2713 : }
2714 809514415 : lateralShift += (*link)->getLateralShift();
2715 809514415 : const bool yellowOrRed = (*link)->haveRed() || (*link)->haveYellow();
2716 : // We distinguish 3 cases when determining the point at which a vehicle stops:
2717 : // - allway_stop: the vehicle should stop close to the stop line but may stop at larger distance
2718 : // - red/yellow light: here the vehicle 'knows' that it will have priority eventually and does not need to stop on a precise spot
2719 : // - other types of minor links: the vehicle needs to stop as close to the junction as necessary
2720 : // to minimize the time window for passing the junction. If the
2721 : // vehicle 'decides' to accelerate and cannot enter the junction in
2722 : // the next step, new foes may appear and cause a collision (see #1096)
2723 : // - major links: stopping point is irrelevant
2724 : double laneStopOffset;
2725 809514415 : const double majorStopOffset = MAX2(getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, DIST_TO_STOPLINE_EXPECT_PRIORITY), lane->getVehicleStopOffset(this));
2726 : // override low desired decel at yellow and red
2727 809514415 : const double stopDecel = yellowOrRed && !isRail() ? MAX2(MIN2(MSGlobals::gTLSYellowMinDecel, cfModel.getEmergencyDecel()), cfModel.getMaxDecel()) : cfModel.getMaxDecel();
2728 809514415 : const double brakeDist = cfModel.brakeGap(myState.mySpeed, stopDecel, 0);
2729 809514415 : const bool canBrakeBeforeLaneEnd = seen >= brakeDist;
2730 809514415 : const bool canBrakeBeforeStopLine = seen - lane->getVehicleStopOffset(this) >= brakeDist;
2731 809514415 : if (yellowOrRed) {
2732 : // Wait at red traffic light with full distance if possible
2733 : laneStopOffset = majorStopOffset;
2734 754270168 : } else if ((*link)->havePriority()) {
2735 : // On priority link, we should never stop below visibility distance
2736 714767178 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, majorStopOffset);
2737 : } else {
2738 39502990 : double minorStopOffset = MAX2(lane->getVehicleStopOffset(this),
2739 39502990 : getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP) - (*link)->getDistToFoePedCrossing());
2740 : #ifdef DEBUG_PLAN_MOVE
2741 : if (DEBUG_COND) {
2742 : std::cout << " minorStopOffset=" << minorStopOffset << " distToFoePedCrossing=" << (*link)->getDistToFoePedCrossing() << "\n";
2743 : }
2744 : #endif
2745 39502990 : if ((*link)->getState() == LINKSTATE_ALLWAY_STOP) {
2746 1361478 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, 0));
2747 : } else {
2748 38141512 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP_MINOR, 0));
2749 : }
2750 : // On minor link, we should likewise never stop below visibility distance
2751 39502990 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, minorStopOffset);
2752 : }
2753 : #ifdef DEBUG_PLAN_MOVE
2754 : if (DEBUG_COND) {
2755 : std::cout << SIMTIME << " veh=" << getID() << " desired stopOffset on lane '" << lane->getID() << "' is " << laneStopOffset << "\n";
2756 : }
2757 : #endif
2758 809514415 : if (canBrakeBeforeLaneEnd) {
2759 : // avoid emergency braking if possible
2760 782663112 : laneStopOffset = MIN2(laneStopOffset, seen - brakeDist);
2761 : }
2762 : laneStopOffset = MAX2(POSITION_EPS, laneStopOffset);
2763 809514415 : double stopDist = MAX2(0., seen - laneStopOffset);
2764 55244247 : if (yellowOrRed && getDevice(typeid(MSDevice_GLOSA)) != nullptr
2765 508 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->getOverrideSafety()
2766 809514415 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->isSpeedAdviceActive()) {
2767 : stopDist = std::numeric_limits<double>::max();
2768 : }
2769 809514415 : if (newStopDist != std::numeric_limits<double>::max()) {
2770 : stopDist = MAX2(stopDist, newStopDist);
2771 : }
2772 : #ifdef DEBUG_PLAN_MOVE
2773 : if (DEBUG_COND) {
2774 : std::cout << SIMTIME << " veh=" << getID() << " effective stopOffset on lane '" << lane->getID()
2775 : << "' is " << laneStopOffset << " (-> stopDist=" << stopDist << ")" << std::endl;
2776 : }
2777 : #endif
2778 809514415 : if (isRail()
2779 809514415 : && !lane->isInternal()) {
2780 : // check for train direction reversal
2781 2945513 : if (lane->getBidiLane() != nullptr
2782 2945513 : && (*link)->getLane()->getBidiLane() == lane) {
2783 629988 : double vMustReverse = getCarFollowModel().stopSpeed(this, getSpeed(), seen - POSITION_EPS);
2784 629988 : if (seen < 1) {
2785 2261 : mustSeeBeforeReversal = 2 * seen + getLength();
2786 : }
2787 1219331 : v = MIN2(v, vMustReverse);
2788 : }
2789 : // signal that is passed in the current step does not count
2790 5891026 : foundRailSignal |= ((*link)->getTLLogic() != nullptr
2791 639663 : && (*link)->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL
2792 3495983 : && seen > SPEED2DIST(v));
2793 : }
2794 :
2795 809514415 : bool canReverseEventually = false;
2796 809514415 : const double vReverse = checkReversal(canReverseEventually, laneMaxV, seen);
2797 809514415 : v = MIN2(v, vReverse);
2798 : #ifdef DEBUG_PLAN_MOVE
2799 : if (DEBUG_COND) {
2800 : std::cout << SIMTIME << " veh=" << getID() << " canReverseEventually=" << canReverseEventually << " v=" << v << "\n";
2801 : }
2802 : #endif
2803 :
2804 : // check whether we need to slow down in order to finish a continuous lane change
2805 809514415 : if (myLaneChangeModel->isChangingLanes()) {
2806 : if ( // slow down to finish lane change before a turn lane
2807 160591 : ((*link)->getDirection() == LinkDirection::LEFT || (*link)->getDirection() == LinkDirection::RIGHT) ||
2808 : // slow down to finish lane change before the shadow lane ends
2809 137201 : (myLaneChangeModel->getShadowLane() != nullptr &&
2810 137201 : (*link)->getViaLaneOrLane()->getParallelLane(myLaneChangeModel->getShadowDirection()) == nullptr)) {
2811 : // XXX maybe this is too harsh. Vehicles could cut some corners here
2812 46405 : const double timeRemaining = STEPS2TIME(myLaneChangeModel->remainingTime());
2813 : assert(timeRemaining != 0);
2814 : // XXX: Euler-logic (#860), but I couldn't identify problems from this yet (Leo). Refs. #2575
2815 46405 : const double va = MAX2(cfModel.stopSpeed(this, getSpeed(), seen - POSITION_EPS),
2816 46405 : (seen - POSITION_EPS) / timeRemaining);
2817 : #ifdef DEBUG_PLAN_MOVE
2818 : if (DEBUG_COND) {
2819 : std::cout << SIMTIME << " veh=" << getID() << " slowing down to finish continuous change before"
2820 : << " link=" << (*link)->getViaLaneOrLane()->getID()
2821 : << " timeRemaining=" << timeRemaining
2822 : << " v=" << v
2823 : << " va=" << va
2824 : << std::endl;
2825 : }
2826 : #endif
2827 92609 : v = MIN2(va, v);
2828 : }
2829 : }
2830 :
2831 : // - always issue a request to leave the intersection we are currently on
2832 809514415 : const bool leavingCurrentIntersection = myLane->getEdge().isInternal() && lastLink == nullptr;
2833 : // - do not issue a request to enter an intersection after we already slowed down for an earlier one
2834 809514415 : const bool abortRequestAfterMinor = slowedDownForMinor && (*link)->getInternalLaneBefore() == nullptr;
2835 : // - even if red, if we cannot break we should issue a request
2836 809514415 : bool setRequest = (v > NUMERICAL_EPS_SPEED && !abortRequestAfterMinor) || (leavingCurrentIntersection);
2837 :
2838 809514415 : double stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist, stopDecel, MSCFModel::CalcReason::CURRENT_WAIT);
2839 809514415 : double vLinkWait = MIN2(v, stopSpeed);
2840 : #ifdef DEBUG_PLAN_MOVE
2841 : if (DEBUG_COND) {
2842 : std::cout
2843 : << " stopDist=" << stopDist
2844 : << " stopDecel=" << stopDecel
2845 : << " vLinkWait=" << vLinkWait
2846 : << " brakeDist=" << brakeDist
2847 : << " seen=" << seen
2848 : << " leaveIntersection=" << leavingCurrentIntersection
2849 : << " setRequest=" << setRequest
2850 : //<< std::setprecision(16)
2851 : //<< " v=" << v
2852 : //<< " speedEps=" << NUMERICAL_EPS_SPEED
2853 : //<< std::setprecision(gPrecision)
2854 : << "\n";
2855 : }
2856 : #endif
2857 :
2858 809514415 : if (yellowOrRed && canBrakeBeforeStopLine && !ignoreRed(*link, canBrakeBeforeStopLine) && seen >= mustSeeBeforeReversal) {
2859 55184676 : if (lane->isInternal()) {
2860 42351 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2861 : }
2862 : // arrivalSpeed / arrivalTime when braking for red light is only relevent for rail signal switching
2863 55184676 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, vLinkPass);
2864 : // the vehicle is able to brake in front of a yellow/red traffic light
2865 55184676 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, false, arrivalTime, vLinkWait, 0, seen, -1));
2866 : //lfLinks.push_back(DriveProcessItem(0, vLinkWait, vLinkWait, false, 0, 0, stopDist));
2867 55184676 : break;
2868 : }
2869 :
2870 754329739 : const MSLink* entryLink = (*link)->getCorrespondingEntryLink();
2871 754329739 : if (entryLink->haveRed() && ignoreRed(*link, canBrakeBeforeStopLine) && STEPS2TIME(t - entryLink->getLastStateChange()) > 2) {
2872 : // restrict speed when ignoring a red light
2873 118508 : const double redSpeed = MIN2(v, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_RED_SPEED, v));
2874 118508 : const double va = MAX2(redSpeed, cfModel.freeSpeed(this, getSpeed(), seen, redSpeed));
2875 236567 : v = MIN2(va, v);
2876 : #ifdef DEBUG_PLAN_MOVE
2877 : if (DEBUG_COND) std::cout
2878 : << " ignoreRed spent=" << STEPS2TIME(t - (*link)->getLastStateChange())
2879 : << " redSpeed=" << redSpeed
2880 : << " va=" << va
2881 : << " v=" << v
2882 : << "\n";
2883 : #endif
2884 : }
2885 :
2886 754329739 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2887 :
2888 754329739 : if (lastLink != nullptr) {
2889 : lastLink->adaptLeaveSpeed(laneMaxV);
2890 : }
2891 754329739 : double arrivalSpeed = vLinkPass;
2892 : // vehicles should decelerate when approaching a minor link
2893 : // - unless they are close enough to have clear visibility of all relevant foe lanes and may start to accelerate again
2894 : // - and unless they are so close that stopping is impossible (i.e. when a green light turns to yellow when close to the junction)
2895 :
2896 : // whether the vehicle/driver is close enough to the link to see all possible foes #2123
2897 754329739 : const double visibilityDistance = (*link)->getFoeVisibilityDistance();
2898 754329739 : const double determinedFoePresence = seen <= visibilityDistance;
2899 : // // VARIANT: account for time needed to recognize whether relevant vehicles are on the foe lanes. (Leo)
2900 : // double foeRecognitionTime = 0.0;
2901 : // double determinedFoePresence = seen < visibilityDistance - myState.mySpeed*foeRecognitionTime;
2902 :
2903 : #ifdef DEBUG_PLAN_MOVE
2904 : if (DEBUG_COND) {
2905 : std::cout << " approaching link=" << (*link)->getViaLaneOrLane()->getID() << " prio=" << (*link)->havePriority() << " seen=" << seen << " visibilityDistance=" << visibilityDistance << " brakeDist=" << brakeDist << "\n";
2906 : }
2907 : #endif
2908 :
2909 754329739 : const bool couldBrakeForMinor = !(*link)->havePriority() && brakeDist < seen && !(*link)->lastWasContMajor();
2910 39036802 : if (couldBrakeForMinor && !determinedFoePresence) {
2911 : // vehicle decelerates just enough to be able to stop if necessary and then accelerates
2912 36428936 : double maxSpeedAtVisibilityDist = cfModel.maximumSafeStopSpeed(visibilityDistance, cfModel.getMaxDecel(), myState.mySpeed, false, 0., false);
2913 : // XXX: estimateSpeedAfterDistance does not use euler-logic (thus returns a lower value than possible here...)
2914 36428936 : double maxArrivalSpeed = cfModel.estimateSpeedAfterDistance(visibilityDistance, maxSpeedAtVisibilityDist, cfModel.getMaxAccel());
2915 36428936 : arrivalSpeed = MIN2(vLinkPass, maxArrivalSpeed);
2916 : slowedDownForMinor = true;
2917 : #ifdef DEBUG_PLAN_MOVE
2918 : if (DEBUG_COND) {
2919 : std::cout << " slowedDownForMinor maxSpeedAtVisDist=" << maxSpeedAtVisibilityDist << " maxArrivalSpeed=" << maxArrivalSpeed << " arrivalSpeed=" << arrivalSpeed << "\n";
2920 : }
2921 : #endif
2922 717900803 : } else if ((*link)->getState() == LINKSTATE_EQUAL && myWaitingTime > 0) {
2923 : // check for deadlock (circular yielding)
2924 : //std::cout << SIMTIME << " veh=" << getID() << " check rbl-deadlock\n";
2925 2938 : std::pair<const SUMOVehicle*, const MSLink*> blocker = (*link)->getFirstApproachingFoe(*link);
2926 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2927 : int n = 100;
2928 5756 : while (blocker.second != nullptr && blocker.second != *link && n > 0) {
2929 2818 : blocker = blocker.second->getFirstApproachingFoe(*link);
2930 2818 : n--;
2931 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2932 : }
2933 2938 : if (n == 0) {
2934 0 : WRITE_WARNINGF(TL("Suspicious right_before_left junction '%'."), lane->getEdge().getToJunction()->getID());
2935 : }
2936 : //std::cout << " blockerLink=" << blocker.second << " link=" << *link << "\n";
2937 2938 : if (blocker.second == *link) {
2938 488 : const double threshold = (*link)->getDirection() == LinkDirection::STRAIGHT ? 0.25 : 0.75;
2939 488 : if (RandHelper::rand(getRNG()) < threshold) {
2940 : //std::cout << " abort request, threshold=" << threshold << "\n";
2941 310 : setRequest = false;
2942 : }
2943 : }
2944 : }
2945 :
2946 754329739 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, arrivalSpeed);
2947 754329739 : if (couldBrakeForMinor && determinedFoePresence && (*link)->getLane()->getEdge().isRoundabout()) {
2948 876681 : const bool wasOpened = (*link)->opened(arrivalTime, arrivalSpeed, arrivalSpeed,
2949 876681 : getLength(), getImpatience(),
2950 : getCarFollowModel().getMaxDecel(),
2951 876681 : getWaitingTime(), getLateralPositionOnLane(),
2952 : nullptr, false, this);
2953 876681 : if (!wasOpened) {
2954 : slowedDownForMinor = true;
2955 : }
2956 : #ifdef DEBUG_PLAN_MOVE
2957 : if (DEBUG_COND) {
2958 : std::cout << " slowedDownForMinor at roundabout=" << (!wasOpened) << "\n";
2959 : }
2960 : #endif
2961 : }
2962 :
2963 : // compute arrival speed and arrival time if vehicle starts braking now
2964 : // if stopping is possible, arrivalTime can be arbitrarily large. A small value keeps fractional times (impatience) meaningful
2965 : double arrivalSpeedBraking = 0;
2966 754329739 : const double bGap = cfModel.brakeGap(v);
2967 754329739 : if (seen < bGap && !isStopped() && !planningToStop) { // XXX: should this use the current speed (at least for the ballistic case)? (Leo) Refs. #2575
2968 : // vehicle cannot come to a complete stop in time
2969 53568240 : if (MSGlobals::gSemiImplicitEulerUpdate) {
2970 50909104 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeedEuler(seen, v);
2971 : // due to discrete/continuous mismatch (when using Euler update) we have to ensure that braking actually helps
2972 : arrivalSpeedBraking = MIN2(arrivalSpeedBraking, arrivalSpeed);
2973 : } else {
2974 2659136 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeed(seen, myState.mySpeed);
2975 : }
2976 : }
2977 :
2978 : // estimate leave speed for passing time computation
2979 : // l=linkLength, a=accel, t=continuousTime, v=vLeave
2980 : // l=v*t + 0.5*a*t^2, solve for t and multiply with a, then add v
2981 1120896591 : const double estimatedLeaveSpeed = MIN2((*link)->getViaLaneOrLane()->getVehicleMaxSpeed(this, maxVD),
2982 754329739 : getCarFollowModel().estimateSpeedAfterDistance((*link)->getLength(), arrivalSpeed, getVehicleType().getCarFollowModel().getMaxAccel()));
2983 754329739 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, setRequest,
2984 : arrivalTime, arrivalSpeed,
2985 : arrivalSpeedBraking,
2986 : seen, estimatedLeaveSpeed));
2987 754329739 : if ((*link)->getViaLane() == nullptr) {
2988 : hadNonInternal = true;
2989 : ++view;
2990 : }
2991 : #ifdef DEBUG_PLAN_MOVE
2992 : if (DEBUG_COND) {
2993 : std::cout << " checkAbort setRequest=" << setRequest << " v=" << v << " seen=" << seen << " dist=" << dist
2994 : << " seenNonInternal=" << seenNonInternal
2995 : << " seenInternal=" << seenInternal << " length=" << vehicleLength << "\n";
2996 : }
2997 : #endif
2998 : // we need to look ahead far enough to see available space for checkRewindLinkLanes
2999 778383053 : if ((!setRequest || v <= 0 || seen > dist) && hadNonInternal && seenNonInternal > MAX2(vehicleLength * CRLL_LOOK_AHEAD, vehicleLength + seenInternal) && foundRailSignal) {
3000 : break;
3001 : }
3002 : // get the following lane
3003 : lane = (*link)->getViaLaneOrLane();
3004 543524651 : laneMaxV = lane->getVehicleMaxSpeed(this, maxVD);
3005 543925328 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
3006 : laneMaxV = std::numeric_limits<double>::max();
3007 : }
3008 : // the link was passed
3009 : // compute the velocity to use when the link is not blocked by other vehicles
3010 : // the vehicle shall be not faster when reaching the next lane than allowed
3011 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
3012 543524651 : const double va = MAX2(cfModel.freeSpeed(this, getSpeed(), seen, laneMaxV), vMinComfortable);
3013 1077737857 : v = MIN2(va, v);
3014 : #ifdef DEBUG_PLAN_MOVE
3015 : if (DEBUG_COND) {
3016 : std::cout << " laneMaxV=" << laneMaxV << " freeSpeed=" << va << " v=" << v << "\n";
3017 : }
3018 : #endif
3019 543524651 : if (lane->getEdge().isInternal()) {
3020 234791389 : seenInternal += lane->getLength();
3021 : } else {
3022 308733262 : seenNonInternal += lane->getLength();
3023 : }
3024 : // do not restrict results to the current vehicle to allow caching for the current time step
3025 543524651 : leaderLane = opposite ? lane->getParallelOpposite() : lane;
3026 543524651 : if (leaderLane == nullptr) {
3027 :
3028 : break;
3029 : }
3030 1086627766 : ahead = opposite ? MSLeaderInfo(leaderLane->getWidth()) : leaderLane->getLastVehicleInformation(nullptr, 0);
3031 543313883 : seen += lane->getLength();
3032 1086627766 : vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(lane->getLength(), v, cfModel.getMaxAccel()), laneMaxV); // upper bound
3033 : lastLink = &lfLinks.back();
3034 543313883 : }
3035 :
3036 : //#ifdef DEBUG_PLAN_MOVE
3037 : // if(DEBUG_COND){
3038 : // std::cout << "planMoveInternal found safe speed v = " << v << std::endl;
3039 : // }
3040 : //#endif
3041 :
3042 : #ifdef PARALLEL_STOPWATCH
3043 : myLane->getStopWatch()[0].stop();
3044 : #endif
3045 608595485 : }
3046 :
3047 :
3048 : double
3049 2786 : MSVehicle::slowDownForSchedule(double vMinComfortable) const {
3050 2786 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
3051 : const MSStop& stop = myStops.front();
3052 2786 : std::pair<double, double> timeDist = estimateTimeToNextStop();
3053 2786 : double arrivalDelay = SIMTIME + timeDist.first - STEPS2TIME(stop.pars.arrival);
3054 2786 : double t = STEPS2TIME(stop.pars.arrival - SIMSTEP);
3055 5572 : if (stop.pars.hasParameter(toString(SUMO_ATTR_FLEX_ARRIVAL))) {
3056 150 : SUMOTime flexStart = string2time(stop.pars.getParameter(toString(SUMO_ATTR_FLEX_ARRIVAL)));
3057 75 : arrivalDelay += STEPS2TIME(stop.pars.arrival - flexStart);
3058 75 : t = STEPS2TIME(flexStart - SIMSTEP);
3059 2711 : } else if (stop.pars.started >= 0 && MSGlobals::gUseStopStarted) {
3060 200 : arrivalDelay += STEPS2TIME(stop.pars.arrival - stop.pars.started);
3061 200 : t = STEPS2TIME(stop.pars.started - SIMSTEP);
3062 : }
3063 2786 : if (arrivalDelay < 0 && sfp < getChosenSpeedFactor()) {
3064 : // we can slow down to better match the schedule (and increase energy efficiency)
3065 2721 : const double vSlowDownMin = MAX2(myLane->getSpeedLimit() * sfp, vMinComfortable);
3066 2721 : const double s = timeDist.second;
3067 : const double b = getCarFollowModel().getMaxDecel();
3068 : // x = speed for arriving in t seconds
3069 : // u = time at full speed
3070 : // u * x + (t - u) * 0.5 * x = s
3071 : // t - u = x / b
3072 : // eliminate u, solve x
3073 2721 : const double radicand = 4 * t * t * b * b - 8 * s * b;
3074 2721 : const double x = radicand >= 0 ? t * b - sqrt(radicand) * 0.5 : vSlowDownMin;
3075 2721 : double vSlowDown = x < vSlowDownMin ? vSlowDownMin : x;
3076 : #ifdef DEBUG_PLAN_MOVE
3077 : if (DEBUG_COND) {
3078 : std::cout << SIMTIME << " veh=" << getID() << " ad=" << arrivalDelay << " t=" << t << " vsm=" << vSlowDownMin
3079 : << " r=" << radicand << " vs=" << vSlowDown << "\n";
3080 : }
3081 : #endif
3082 2721 : return vSlowDown;
3083 65 : } else if (arrivalDelay > 0 && sfp > getChosenSpeedFactor()) {
3084 : // in principle we could up to catch up with the schedule
3085 : // but at this point we can only lower the speed, the
3086 : // information would have to be used when computing getVehicleMaxSpeed
3087 : }
3088 65 : return getMaxSpeed();
3089 : }
3090 :
3091 : SUMOTime
3092 809514415 : MSVehicle::getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const {
3093 : const MSCFModel& cfModel = getCarFollowModel();
3094 : SUMOTime arrivalTime;
3095 809514415 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3096 : // @note intuitively it would make sense to compare arrivalSpeed with getSpeed() instead of v
3097 : // however, due to the current position update rule (ticket #860) the vehicle moves with v in this step
3098 : // subtract DELTA_T because t is the time at the end of this step and the movement is not carried out yet
3099 753452081 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, v, arrivalSpeed);
3100 : } else {
3101 56062334 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, myState.mySpeed, arrivalSpeed);
3102 : }
3103 809514415 : if (isStopped()) {
3104 2344268 : arrivalTime += MAX2((SUMOTime)0, myStops.front().duration);
3105 : }
3106 809514415 : return arrivalTime;
3107 : }
3108 :
3109 :
3110 : void
3111 1156729464 : MSVehicle::adaptToLeaders(const MSLeaderInfo& ahead, double latOffset,
3112 : const double seen, DriveProcessItem* const lastLink,
3113 : const MSLane* const lane, double& v, double& vLinkPass) const {
3114 : int rightmost;
3115 : int leftmost;
3116 1156729464 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3117 : #ifdef DEBUG_PLAN_MOVE
3118 : if (DEBUG_COND) std::cout << SIMTIME
3119 : << "\nADAPT_TO_LEADERS\nveh=" << getID()
3120 : << " lane=" << lane->getID()
3121 : << " latOffset=" << latOffset
3122 : << " rm=" << rightmost
3123 : << " lm=" << leftmost
3124 : << " shift=" << ahead.getSublaneOffset()
3125 : << " ahead=" << ahead.toString()
3126 : << "\n";
3127 : #endif
3128 : /*
3129 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
3130 : v = MIN2(v, myLaneChangeModel->getCommittedSpeed());
3131 : vLinkPass = MIN2(vLinkPass, myLaneChangeModel->getCommittedSpeed());
3132 : #ifdef DEBUG_PLAN_MOVE
3133 : if (DEBUG_COND) std::cout << " hasCommitted=" << myLaneChangeModel->getCommittedSpeed() << "\n";
3134 : #endif
3135 : return;
3136 : }
3137 : */
3138 2850232167 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3139 1693502703 : const MSVehicle* pred = ahead[sublane];
3140 1693502703 : if (pred != nullptr && pred != this) {
3141 : // @todo avoid multiple adaptations to the same leader
3142 1238909085 : const double predBack = pred->getBackPositionOnLane(lane);
3143 : double gap = (lastLink == nullptr
3144 1768455286 : ? predBack - myState.myPos - getVehicleType().getMinGap()
3145 529546201 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3146 : bool oncoming = false;
3147 1238909085 : if (myLaneChangeModel->isOpposite()) {
3148 26723 : if (pred->getLaneChangeModel().isOpposite() || lane == pred->getLaneChangeModel().getShadowLane()) {
3149 : // ego might and leader are driving against lane
3150 : gap = (lastLink == nullptr
3151 0 : ? myState.myPos - predBack - getVehicleType().getMinGap()
3152 0 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3153 : } else {
3154 : // ego and leader are driving in the same direction as lane (shadowlane for ego)
3155 : gap = (lastLink == nullptr
3156 27424 : ? predBack - (myLane->getLength() - myState.myPos) - getVehicleType().getMinGap()
3157 701 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3158 : }
3159 1238882362 : } else if (pred->getLaneChangeModel().isOpposite() && pred->getLaneChangeModel().getShadowLane() != lane) {
3160 : // must react to stopped / dangerous oncoming vehicles
3161 192013 : gap += -pred->getVehicleType().getLength() + getVehicleType().getMinGap() - MAX2(getVehicleType().getMinGap(), pred->getVehicleType().getMinGap());
3162 : // try to avoid collision in the next second
3163 192013 : const double predMaxDist = pred->getSpeed() + pred->getCarFollowModel().getMaxAccel();
3164 : #ifdef DEBUG_PLAN_MOVE
3165 : if (DEBUG_COND) {
3166 : std::cout << " fixedGap=" << gap << " predMaxDist=" << predMaxDist << "\n";
3167 : }
3168 : #endif
3169 192013 : if (gap < predMaxDist + getSpeed() || pred->getLane() == lane->getBidiLane()) {
3170 23356 : gap -= predMaxDist;
3171 : }
3172 1238690349 : } else if (pred->getLane() == lane->getBidiLane()) {
3173 48517 : gap -= pred->getVehicleType().getLengthWithGap();
3174 : oncoming = true;
3175 : }
3176 : #ifdef DEBUG_PLAN_MOVE
3177 : if (DEBUG_COND) {
3178 : 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";
3179 : }
3180 : #endif
3181 48517 : if (oncoming && gap >= 0) {
3182 48506 : adaptToOncomingLeader(std::make_pair(pred, gap), lastLink, v, vLinkPass);
3183 : } else {
3184 1238860579 : adaptToLeader(std::make_pair(pred, gap), seen, lastLink, v, vLinkPass);
3185 : }
3186 : }
3187 : }
3188 1156729464 : }
3189 :
3190 : void
3191 431607 : MSVehicle::adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
3192 : double seen,
3193 : DriveProcessItem* const lastLink,
3194 : double& v, double& vLinkPass) const {
3195 : int rightmost;
3196 : int leftmost;
3197 431607 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3198 : #ifdef DEBUG_PLAN_MOVE
3199 : if (DEBUG_COND) std::cout << SIMTIME
3200 : << "\nADAPT_TO_LEADERS_DISTANCE\nveh=" << getID()
3201 : << " latOffset=" << latOffset
3202 : << " rm=" << rightmost
3203 : << " lm=" << leftmost
3204 : << " ahead=" << ahead.toString()
3205 : << "\n";
3206 : #endif
3207 1058204 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3208 626597 : CLeaderDist predDist = ahead[sublane];
3209 626597 : const MSVehicle* pred = predDist.first;
3210 626597 : if (pred != nullptr && pred != this) {
3211 : #ifdef DEBUG_PLAN_MOVE
3212 : if (DEBUG_COND) {
3213 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << predDist.second << "\n";
3214 : }
3215 : #endif
3216 400207 : adaptToLeader(predDist, seen, lastLink, v, vLinkPass);
3217 : }
3218 : }
3219 431607 : }
3220 :
3221 :
3222 : void
3223 1239260786 : MSVehicle::adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3224 : double seen,
3225 : DriveProcessItem* const lastLink,
3226 : double& v, double& vLinkPass) const {
3227 1239260786 : if (leaderInfo.first != 0) {
3228 1239260786 : if (ignoreFoe(leaderInfo.first)) {
3229 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3230 : if (DEBUG_COND) {
3231 : std::cout << " foe ignored\n";
3232 : }
3233 : #endif
3234 : return;
3235 : }
3236 : const MSCFModel& cfModel = getCarFollowModel();
3237 : double vsafeLeader = 0;
3238 1239259966 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3239 : vsafeLeader = -std::numeric_limits<double>::max();
3240 : }
3241 : bool backOnRoute = true;
3242 1239259966 : if (leaderInfo.second < 0 && lastLink != nullptr && lastLink->myLink != nullptr) {
3243 : backOnRoute = false;
3244 : // this can either be
3245 : // a) a merging situation (leader back is is not our route) or
3246 : // b) a minGap violation / collision
3247 : MSLane* current = lastLink->myLink->getViaLaneOrLane();
3248 232754 : if (leaderInfo.first->getBackLane() == current) {
3249 : backOnRoute = true;
3250 : } else {
3251 521081 : for (MSLane* lane : getBestLanesContinuation()) {
3252 482548 : if (lane == current) {
3253 : break;
3254 : }
3255 333907 : if (leaderInfo.first->getBackLane() == lane) {
3256 : backOnRoute = true;
3257 : }
3258 : }
3259 : }
3260 : #ifdef DEBUG_PLAN_MOVE
3261 : if (DEBUG_COND) {
3262 : std::cout << SIMTIME << " current=" << current->getID() << " leaderBackLane=" << leaderInfo.first->getBackLane()->getID() << " backOnRoute=" << backOnRoute << "\n";
3263 : }
3264 : #endif
3265 187174 : if (!backOnRoute) {
3266 117004 : double stopDist = seen - current->getLength() - POSITION_EPS;
3267 117004 : if (lastLink->myLink->getInternalLaneBefore() != nullptr) {
3268 : // do not drive onto the junction conflict area
3269 102518 : stopDist -= lastLink->myLink->getInternalLaneBefore()->getLength();
3270 : }
3271 117004 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), stopDist);
3272 : }
3273 : }
3274 162584 : if (backOnRoute) {
3275 1239142962 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3276 : }
3277 1239259966 : if (lastLink != nullptr) {
3278 529537290 : const double futureVSafe = cfModel.followSpeed(this, lastLink->accelV, leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first, MSCFModel::CalcReason::FUTURE);
3279 : lastLink->adaptLeaveSpeed(futureVSafe);
3280 : #ifdef DEBUG_PLAN_MOVE
3281 : if (DEBUG_COND) {
3282 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3283 : }
3284 : #endif
3285 : }
3286 1239259966 : v = MIN2(v, vsafeLeader);
3287 2130590554 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3288 : #ifdef DEBUG_PLAN_MOVE
3289 : if (DEBUG_COND) std::cout
3290 : << SIMTIME
3291 : //std::cout << std::setprecision(10);
3292 : << " veh=" << getID()
3293 : << " lead=" << leaderInfo.first->getID()
3294 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3295 : << " gap=" << leaderInfo.second
3296 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3297 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3298 : << " myLane=" << myLane->getID()
3299 : << " v=" << v
3300 : << " vSafeLeader=" << vsafeLeader
3301 : << " vLinkPass=" << vLinkPass
3302 : << "\n";
3303 : #endif
3304 : }
3305 : }
3306 :
3307 :
3308 : void
3309 17551246 : MSVehicle::adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3310 : const double seen, DriveProcessItem* const lastLink,
3311 : const MSLane* const lane, double& v, double& vLinkPass,
3312 : double distToCrossing) const {
3313 17551246 : if (leaderInfo.first != 0) {
3314 17551246 : if (ignoreFoe(leaderInfo.first)) {
3315 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3316 : if (DEBUG_COND) {
3317 : std::cout << " junction foe ignored\n";
3318 : }
3319 : #endif
3320 : return;
3321 : }
3322 : const MSCFModel& cfModel = getCarFollowModel();
3323 : double vsafeLeader = 0;
3324 17551210 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3325 : vsafeLeader = -std::numeric_limits<double>::max();
3326 : }
3327 17551210 : if (leaderInfo.second >= 0) {
3328 14483178 : if (hasDeparted()) {
3329 14478166 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3330 : } else {
3331 : // called in the context of MSLane::isInsertionSuccess
3332 5012 : vsafeLeader = cfModel.insertionFollowSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3333 : }
3334 3068032 : } else if (leaderInfo.first != this) {
3335 : // the leading, in-lapping vehicle is occupying the complete next lane
3336 : // stop before entering this lane
3337 2667538 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), seen - lane->getLength() - POSITION_EPS);
3338 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3339 : if (DEBUG_COND) {
3340 : std::cout << SIMTIME << " veh=" << getID() << " stopping before junction: lane=" << lane->getID() << " seen=" << seen
3341 : << " laneLength=" << lane->getLength()
3342 : << " stopDist=" << seen - lane->getLength() - POSITION_EPS
3343 : << " vsafeLeader=" << vsafeLeader
3344 : << " distToCrossing=" << distToCrossing
3345 : << "\n";
3346 : }
3347 : #endif
3348 : }
3349 17551210 : if (distToCrossing >= 0) {
3350 : // can the leader still stop in the way?
3351 5224649 : const double vStop = cfModel.stopSpeed(this, getSpeed(), distToCrossing - getVehicleType().getMinGap());
3352 5224649 : if (leaderInfo.first == this) {
3353 : // braking for pedestrian
3354 391811 : const double vStopCrossing = cfModel.stopSpeed(this, getSpeed(), distToCrossing);
3355 : vsafeLeader = vStopCrossing;
3356 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3357 : if (DEBUG_COND) {
3358 : std::cout << " breaking for pedestrian distToCrossing=" << distToCrossing << " vStopCrossing=" << vStopCrossing << "\n";
3359 : }
3360 : #endif
3361 391811 : if (lastLink != nullptr) {
3362 : lastLink->adaptStopSpeed(vsafeLeader);
3363 : }
3364 4832838 : } else if (leaderInfo.second == -std::numeric_limits<double>::max()) {
3365 : // drive up to the crossing point and stop
3366 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3367 : if (DEBUG_COND) {
3368 : std::cout << " stop at crossing point for critical leader vStop=" << vStop << "\n";
3369 : };
3370 : #endif
3371 : vsafeLeader = MAX2(vsafeLeader, vStop);
3372 : } else {
3373 4777185 : const double leaderDistToCrossing = distToCrossing - leaderInfo.second;
3374 : // estimate the time at which the leader has gone past the crossing point
3375 4777185 : const double leaderPastCPTime = leaderDistToCrossing / MAX2(leaderInfo.first->getSpeed(), SUMO_const_haltingSpeed);
3376 : // reach distToCrossing after that time
3377 : // avgSpeed * leaderPastCPTime = distToCrossing
3378 : // ballistic: avgSpeed = (getSpeed + vFinal) / 2
3379 4777185 : const double vFinal = MAX2(getSpeed(), 2 * (distToCrossing - getVehicleType().getMinGap()) / leaderPastCPTime - getSpeed());
3380 4777185 : const double v2 = getSpeed() + ACCEL2SPEED((vFinal - getSpeed()) / leaderPastCPTime);
3381 : vsafeLeader = MAX2(vsafeLeader, MIN2(v2, vStop));
3382 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3383 : if (DEBUG_COND) {
3384 : std::cout << " driving up to the crossing point (distToCrossing=" << distToCrossing << ")"
3385 : << " leaderPastCPTime=" << leaderPastCPTime
3386 : << " vFinal=" << vFinal
3387 : << " v2=" << v2
3388 : << " vStop=" << vStop
3389 : << " vsafeLeader=" << vsafeLeader << "\n";
3390 : }
3391 : #endif
3392 : }
3393 : }
3394 17159399 : if (lastLink != nullptr) {
3395 : lastLink->adaptLeaveSpeed(vsafeLeader);
3396 : }
3397 17551210 : v = MIN2(v, vsafeLeader);
3398 32789157 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3399 : #ifdef DEBUG_PLAN_MOVE
3400 : if (DEBUG_COND) std::cout
3401 : << SIMTIME
3402 : //std::cout << std::setprecision(10);
3403 : << " veh=" << getID()
3404 : << " lead=" << leaderInfo.first->getID()
3405 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3406 : << " gap=" << leaderInfo.second
3407 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3408 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3409 : << " seen=" << seen
3410 : << " lane=" << lane->getID()
3411 : << " myLane=" << myLane->getID()
3412 : << " dTC=" << distToCrossing
3413 : << " v=" << v
3414 : << " vSafeLeader=" << vsafeLeader
3415 : << " vLinkPass=" << vLinkPass
3416 : << "\n";
3417 : #endif
3418 : }
3419 : }
3420 :
3421 :
3422 : void
3423 48506 : MSVehicle::adaptToOncomingLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3424 : DriveProcessItem* const lastLink,
3425 : double& v, double& vLinkPass) const {
3426 48506 : if (leaderInfo.first != 0) {
3427 48506 : if (ignoreFoe(leaderInfo.first)) {
3428 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3429 : if (DEBUG_COND) {
3430 : std::cout << " oncoming foe ignored\n";
3431 : }
3432 : #endif
3433 : return;
3434 : }
3435 : const MSCFModel& cfModel = getCarFollowModel();
3436 : const MSVehicle* lead = leaderInfo.first;
3437 : const MSCFModel& cfModelL = lead->getCarFollowModel();
3438 : // assume the leader reacts symmetrically (neither stopping instantly nor ignoring ego)
3439 48387 : const double leaderBrakeGap = cfModelL.brakeGap(lead->getSpeed(), cfModelL.getMaxDecel(), 0);
3440 48387 : const double egoBrakeGap = cfModel.brakeGap(getSpeed(), cfModel.getMaxDecel(), 0);
3441 48387 : const double gapSum = leaderBrakeGap + egoBrakeGap;
3442 : // ensure that both vehicles can leave an intersection if they are currently on it
3443 48387 : double egoExit = getDistanceToLeaveJunction();
3444 48387 : const double leaderExit = lead->getDistanceToLeaveJunction();
3445 : double gap = leaderInfo.second;
3446 48387 : if (egoExit + leaderExit < gap) {
3447 44638 : gap -= egoExit + leaderExit;
3448 : } else {
3449 : egoExit = 0;
3450 : }
3451 : // split any distance in excess of brakeGaps evenly
3452 48387 : const double freeGap = MAX2(0.0, gap - gapSum);
3453 : const double splitGap = MIN2(gap, gapSum);
3454 : // assume remaining distance is allocated in proportion to braking distance
3455 48387 : const double gapRatio = gapSum > 0 ? egoBrakeGap / gapSum : 0.5;
3456 48387 : const double vsafeLeader = cfModel.stopSpeed(this, getSpeed(), splitGap * gapRatio + egoExit + 0.5 * freeGap);
3457 48387 : if (lastLink != nullptr) {
3458 28735 : const double futureVSafe = cfModel.stopSpeed(this, lastLink->accelV, leaderInfo.second, MSCFModel::CalcReason::FUTURE);
3459 : lastLink->adaptLeaveSpeed(futureVSafe);
3460 : #ifdef DEBUG_PLAN_MOVE
3461 : if (DEBUG_COND) {
3462 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3463 : }
3464 : #endif
3465 : }
3466 48387 : v = MIN2(v, vsafeLeader);
3467 95355 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3468 : #ifdef DEBUG_PLAN_MOVE
3469 : if (DEBUG_COND) std::cout
3470 : << SIMTIME
3471 : //std::cout << std::setprecision(10);
3472 : << " veh=" << getID()
3473 : << " oncomingLead=" << lead->getID()
3474 : << " leadSpeed=" << lead->getSpeed()
3475 : << " gap=" << leaderInfo.second
3476 : << " gap2=" << gap
3477 : << " gapRatio=" << gapRatio
3478 : << " leadLane=" << lead->getLane()->getID()
3479 : << " predPos=" << lead->getPositionOnLane()
3480 : << " myLane=" << myLane->getID()
3481 : << " v=" << v
3482 : << " vSafeLeader=" << vsafeLeader
3483 : << " vLinkPass=" << vLinkPass
3484 : << "\n";
3485 : #endif
3486 : }
3487 : }
3488 :
3489 :
3490 : void
3491 754378793 : MSVehicle::checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
3492 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const {
3493 754378793 : if (MSGlobals::gUsingInternalLanes && (myInfluencer == nullptr || myInfluencer->getRespectJunctionLeaderPriority())) {
3494 : // we want to pass the link but need to check for foes on internal lanes
3495 754272833 : checkLinkLeader(link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
3496 754272833 : if (myLaneChangeModel->getShadowLane() != nullptr) {
3497 3045135 : const MSLink* const parallelLink = link->getParallelLink(myLaneChangeModel->getShadowDirection());
3498 3045135 : if (parallelLink != nullptr) {
3499 2103706 : checkLinkLeader(parallelLink, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest, true);
3500 : }
3501 : }
3502 : }
3503 :
3504 754378793 : }
3505 :
3506 : void
3507 756581353 : MSVehicle::checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
3508 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
3509 : bool isShadowLink) const {
3510 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3511 : if (DEBUG_COND) {
3512 : gDebugFlag1 = true; // See MSLink::getLeaderInfo
3513 : }
3514 : #endif
3515 756581353 : const MSLink::LinkLeaders linkLeaders = link->getLeaderInfo(this, seen, nullptr, isShadowLink);
3516 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3517 : if (DEBUG_COND) {
3518 : gDebugFlag1 = false; // See MSLink::getLeaderInfo
3519 : }
3520 : #endif
3521 775071831 : for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3522 : // the vehicle to enter the junction first has priority
3523 18490478 : const MSVehicle* leader = (*it).vehAndGap.first;
3524 18490478 : if (leader == nullptr) {
3525 : // leader is a pedestrian. Passing 'this' as a dummy.
3526 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3527 : if (DEBUG_COND) {
3528 : std::cout << SIMTIME << " veh=" << getID() << " is blocked on link to " << link->getViaLaneOrLane()->getID() << " by pedestrian. dist=" << it->distToCrossing << "\n";
3529 : }
3530 : #endif
3531 401190 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3532 401190 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3533 : #ifdef DEBUG_PLAN_MOVE
3534 : if (DEBUG_COND) {
3535 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring pedestrian (jmIgnoreJunctionFoeProb)\n";
3536 : }
3537 : #endif
3538 696 : continue;
3539 : }
3540 400494 : adaptToJunctionLeader(std::make_pair(this, -1), seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3541 : // if blocked by a pedestrian for too long we must yield our request
3542 400494 : if (v < SUMO_const_haltingSpeed && getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME)) {
3543 69939 : setRequest = false;
3544 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3545 : if (DEBUG_COND) {
3546 : std::cout << " aborting request\n";
3547 : }
3548 : #endif
3549 : }
3550 18089288 : } else if (isLeader(link, leader, (*it).vehAndGap.second) || (*it).inTheWay()) {
3551 18038375 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3552 18038375 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3553 : #ifdef DEBUG_PLAN_MOVE
3554 : if (DEBUG_COND) {
3555 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring linkLeader=" << leader->getID() << " (jmIgnoreJunctionFoeProb)\n";
3556 : }
3557 : #endif
3558 2181 : continue;
3559 : }
3560 24768602 : if (MSGlobals::gLateralResolution > 0 &&
3561 : // sibling link (XXX: could also be partial occupator where this check fails)
3562 6732408 : &leader->getLane()->getEdge() == &lane->getEdge()) {
3563 : // check for sublane obstruction (trivial for sibling link leaders)
3564 : const MSLane* conflictLane = link->getInternalLaneBefore();
3565 908295 : MSLeaderInfo linkLeadersAhead = MSLeaderInfo(conflictLane->getWidth());
3566 908295 : linkLeadersAhead.addLeader(leader, false, 0); // assume sibling lane has the same geometry as the leader lane
3567 908295 : const double latOffset = isShadowLink ? (getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge()) : 0;
3568 : // leader is neither on lane nor conflictLane (the conflict is only established geometrically)
3569 908295 : adaptToLeaders(linkLeadersAhead, latOffset, seen, lastLink, leader->getLane(), v, vLinkPass);
3570 : #ifdef DEBUG_PLAN_MOVE
3571 : if (DEBUG_COND) {
3572 : std::cout << SIMTIME << " veh=" << getID()
3573 : << " siblingFoe link=" << link->getViaLaneOrLane()->getID()
3574 : << " isShadowLink=" << isShadowLink
3575 : << " lane=" << lane->getID()
3576 : << " foe=" << leader->getID()
3577 : << " foeLane=" << leader->getLane()->getID()
3578 : << " latOffset=" << latOffset
3579 : << " latOffsetFoe=" << leader->getLatOffset(lane)
3580 : << " linkLeadersAhead=" << linkLeadersAhead.toString()
3581 : << "\n";
3582 : }
3583 : #endif
3584 908295 : } else {
3585 : #ifdef DEBUG_PLAN_MOVE
3586 : if (DEBUG_COND) {
3587 : std::cout << SIMTIME << " veh=" << getID() << " linkLeader=" << leader->getID() << " gap=" << it->vehAndGap.second
3588 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3589 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3590 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3591 : << "\n";
3592 : }
3593 : #endif
3594 17127899 : adaptToJunctionLeader(it->vehAndGap, seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3595 : }
3596 18036194 : if (lastLink != nullptr) {
3597 : // we are not yet on the junction with this linkLeader.
3598 : // at least we can drive up to the previous link and stop there
3599 34672365 : v = MAX2(v, lastLink->myVLinkWait);
3600 : }
3601 : // if blocked by a leader from the same or next lane we must yield our request
3602 : // also, if blocked by a stopped or blocked leader
3603 18036194 : if (v < SUMO_const_haltingSpeed
3604 : //&& leader->getSpeed() < SUMO_const_haltingSpeed
3605 18036194 : && (leader->getLane()->getLogicalPredecessorLane() == myLane->getLogicalPredecessorLane()
3606 9964956 : || leader->getLane()->getLogicalPredecessorLane() == myLane
3607 7796615 : || leader->isStopped()
3608 7716250 : || leader->getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME))) {
3609 4113788 : setRequest = false;
3610 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3611 : if (DEBUG_COND) {
3612 : std::cout << " aborting request\n";
3613 : }
3614 : #endif
3615 4113788 : if (lastLink != nullptr && leader->getLane()->getLogicalPredecessorLane() == myLane) {
3616 : // we are not yet on the junction so must abort that request as well
3617 : // (or maybe we are already on the junction and the leader is a partial occupator beyond)
3618 2154902 : lastLink->mySetRequest = false;
3619 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3620 : if (DEBUG_COND) {
3621 : std::cout << " aborting previous request\n";
3622 : }
3623 : #endif
3624 : }
3625 : }
3626 : }
3627 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3628 : else {
3629 : if (DEBUG_COND) {
3630 : std::cout << SIMTIME << " veh=" << getID() << " ignoring leader " << leader->getID() << " gap=" << (*it).vehAndGap.second << " dtC=" << (*it).distToCrossing
3631 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3632 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3633 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3634 : << "\n";
3635 : }
3636 : }
3637 : #endif
3638 : }
3639 : // if this is the link between two internal lanes we may have to slow down for pedestrians
3640 756581353 : vLinkWait = MIN2(vLinkWait, v);
3641 756581353 : }
3642 :
3643 :
3644 : double
3645 99579974 : MSVehicle::getDeltaPos(const double accel) const {
3646 99579974 : double vNext = myState.mySpeed + ACCEL2SPEED(accel);
3647 99579974 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3648 : // apply implicit Euler positional update
3649 0 : return SPEED2DIST(MAX2(vNext, 0.));
3650 : } else {
3651 : // apply ballistic update
3652 99579974 : if (vNext >= 0) {
3653 : // assume constant acceleration during this time step
3654 98964831 : return SPEED2DIST(myState.mySpeed + 0.5 * ACCEL2SPEED(accel));
3655 : } else {
3656 : // negative vNext indicates a stop within the middle of time step
3657 : // The corresponding stop time is s = mySpeed/deceleration \in [0,dt], and the
3658 : // covered distance is therefore deltaPos = mySpeed*s - 0.5*deceleration*s^2.
3659 : // Here, deceleration = (myState.mySpeed - vNext)/dt is the constant deceleration
3660 : // until the vehicle stops.
3661 615143 : return -SPEED2DIST(0.5 * myState.mySpeed * myState.mySpeed / ACCEL2SPEED(accel));
3662 : }
3663 : }
3664 : }
3665 :
3666 : void
3667 608595485 : MSVehicle::processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist) {
3668 :
3669 : // Speed limit due to zipper merging
3670 : double vSafeZipper = std::numeric_limits<double>::max();
3671 :
3672 608595485 : myHaveToWaitOnNextLink = false;
3673 : bool canBrakeVSafeMin = false;
3674 :
3675 : // Get safe velocities from DriveProcessItems.
3676 : assert(myLFLinkLanes.size() != 0 || isRemoteControlled());
3677 1208997743 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
3678 1040123815 : MSLink* const link = dpi.myLink;
3679 :
3680 : #ifdef DEBUG_EXEC_MOVE
3681 : if (DEBUG_COND) {
3682 : std::cout
3683 : << SIMTIME
3684 : << " veh=" << getID()
3685 : << " link=" << (link == 0 ? "NULL" : link->getViaLaneOrLane()->getID())
3686 : << " req=" << dpi.mySetRequest
3687 : << " vP=" << dpi.myVLinkPass
3688 : << " vW=" << dpi.myVLinkWait
3689 : << " d=" << dpi.myDistance
3690 : << "\n";
3691 : gDebugFlag1 = true; // See MSLink_DEBUG_OPENED
3692 : }
3693 : #endif
3694 :
3695 : // the vehicle must change the lane on one of the next lanes (XXX: refs to code further below???, Leo)
3696 1040123815 : if (link != nullptr && dpi.mySetRequest) {
3697 :
3698 : const LinkState ls = link->getState();
3699 : // vehicles should brake when running onto a yellow light if the distance allows to halt in front
3700 : const bool yellow = link->haveYellow();
3701 620392560 : const bool canBrake = (dpi.myDistance > getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)
3702 620392560 : || (MSGlobals::gSemiImplicitEulerUpdate && myState.mySpeed < ACCEL2SPEED(getCarFollowModel().getMaxDecel())));
3703 : assert(link->getLaneBefore() != nullptr);
3704 620392560 : const bool beyondStopLine = dpi.myDistance < link->getLaneBefore()->getVehicleStopOffset(this);
3705 620392560 : const bool ignoreRedLink = ignoreRed(link, canBrake) || beyondStopLine;
3706 620392560 : if (yellow && canBrake && !ignoreRedLink) {
3707 0 : vSafe = dpi.myVLinkWait;
3708 0 : myHaveToWaitOnNextLink = true;
3709 : #ifdef DEBUG_CHECKREWINDLINKLANES
3710 : if (DEBUG_COND) {
3711 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (yellow)\n";
3712 : }
3713 : #endif
3714 19990302 : break;
3715 : }
3716 620392560 : const bool influencerPrio = (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority());
3717 : MSLink::BlockingFoes collectFoes;
3718 620392560 : bool opened = (yellow || influencerPrio
3719 1860856646 : || link->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3720 620232043 : getVehicleType().getLength(),
3721 593403234 : canBrake ? getImpatience() : 1,
3722 : getCarFollowModel().getMaxDecel(),
3723 620232043 : getWaitingTimeFor(link), getLateralPositionOnLane(),
3724 : ls == LINKSTATE_ZIPPER ? &collectFoes : nullptr,
3725 620232043 : ignoreRedLink, this, dpi.myDistance));
3726 615149834 : if (opened && myLaneChangeModel->getShadowLane() != nullptr) {
3727 1901855 : const MSLink* const parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
3728 1901855 : if (parallelLink != nullptr) {
3729 1175317 : const double shadowLatPos = getLateralPositionOnLane() - myLaneChangeModel->getShadowDirection() * 0.5 * (
3730 1175317 : myLane->getWidth() + myLaneChangeModel->getShadowLane()->getWidth());
3731 2349827 : opened = yellow || influencerPrio || (opened && parallelLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3732 1174510 : getVehicleType().getLength(), getImpatience(),
3733 : getCarFollowModel().getMaxDecel(),
3734 : getWaitingTimeFor(link), shadowLatPos, nullptr,
3735 1174510 : ignoreRedLink, this, dpi.myDistance));
3736 : #ifdef DEBUG_EXEC_MOVE
3737 : if (DEBUG_COND) {
3738 : std::cout << SIMTIME
3739 : << " veh=" << getID()
3740 : << " shadowLane=" << myLaneChangeModel->getShadowLane()->getID()
3741 : << " shadowDir=" << myLaneChangeModel->getShadowDirection()
3742 : << " parallelLink=" << (parallelLink == 0 ? "NULL" : parallelLink->getViaLaneOrLane()->getID())
3743 : << " opened=" << opened
3744 : << "\n";
3745 : }
3746 : #endif
3747 : }
3748 : }
3749 : // vehicles should decelerate when approaching a minor link
3750 : #ifdef DEBUG_EXEC_MOVE
3751 : if (DEBUG_COND) {
3752 : std::cout << SIMTIME
3753 : << " opened=" << opened
3754 : << " influencerPrio=" << influencerPrio
3755 : << " linkPrio=" << link->havePriority()
3756 : << " lastContMajor=" << link->lastWasContMajor()
3757 : << " isCont=" << link->isCont()
3758 : << " ignoreRed=" << ignoreRedLink
3759 : << "\n";
3760 : }
3761 : #endif
3762 : double visibilityDistance = link->getFoeVisibilityDistance();
3763 620392560 : bool determinedFoePresence = dpi.myDistance <= visibilityDistance;
3764 620392560 : if (opened && !influencerPrio && !link->havePriority() && !link->lastWasContMajor() && !link->isCont() && !ignoreRedLink) {
3765 16855430 : if (!determinedFoePresence && (canBrake || !yellow)) {
3766 15910428 : vSafe = dpi.myVLinkWait;
3767 15910428 : myHaveToWaitOnNextLink = true;
3768 : #ifdef DEBUG_CHECKREWINDLINKLANES
3769 : if (DEBUG_COND) {
3770 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (minor)\n";
3771 : }
3772 : #endif
3773 15910428 : break;
3774 : } else {
3775 : // past the point of no return. we need to drive fast enough
3776 : // to make it across the link. However, minor slowdowns
3777 : // should be permissible to follow leading traffic safely
3778 : // basically, this code prevents dawdling
3779 : // (it's harder to do this later using
3780 : // SUMO_ATTR_JM_SIGMA_MINOR because we don't know whether the
3781 : // vehicle is already too close to stop at that part of the code)
3782 : //
3783 : // XXX: There is a problem in subsecond simulation: If we cannot
3784 : // make it across the minor link in one step, new traffic
3785 : // could appear on a major foe link and cause a collision. Refs. #1845, #2123
3786 945002 : vSafeMinDist = dpi.myDistance; // distance that must be covered
3787 945002 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3788 1725004 : vSafeMin = MIN3((double)DIST2SPEED(vSafeMinDist + POSITION_EPS), dpi.myVLinkPass, getCarFollowModel().maxNextSafeMin(getSpeed(), this));
3789 : } else {
3790 165000 : vSafeMin = MIN3((double)DIST2SPEED(2 * vSafeMinDist + NUMERICAL_EPS) - getSpeed(), dpi.myVLinkPass, getCarFollowModel().maxNextSafeMin(getSpeed(), this));
3791 : }
3792 : canBrakeVSafeMin = canBrake;
3793 : #ifdef DEBUG_EXEC_MOVE
3794 : if (DEBUG_COND) {
3795 : std::cout << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << " canBrake=" << canBrake << "\n";
3796 : }
3797 : #endif
3798 : }
3799 : }
3800 : // have waited; may pass if opened...
3801 604482132 : if (opened) {
3802 599219890 : vSafe = dpi.myVLinkPass;
3803 599219890 : if (vSafe < getCarFollowModel().getMaxDecel() && vSafe <= dpi.myVLinkWait && vSafe < getCarFollowModel().maxNextSpeed(getSpeed(), this)) {
3804 : // this vehicle is probably not gonna drive across the next junction (heuristic)
3805 53110970 : myHaveToWaitOnNextLink = true;
3806 : #ifdef DEBUG_CHECKREWINDLINKLANES
3807 : if (DEBUG_COND) {
3808 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (very slow)\n";
3809 : }
3810 : #endif
3811 : }
3812 599219890 : if (link->mustStop() && determinedFoePresence && myHaveStoppedFor == nullptr) {
3813 19918 : myHaveStoppedFor = link;
3814 : }
3815 5262242 : } else if (link->getState() == LINKSTATE_ZIPPER) {
3816 1182132 : vSafeZipper = MIN2(vSafeZipper,
3817 1182132 : link->getZipperSpeed(this, dpi.myDistance, dpi.myVLinkPass, dpi.myArrivalTime, &collectFoes));
3818 : } else if (!canBrake
3819 : // always brake hard for traffic lights (since an emergency stop is necessary anyway)
3820 1736 : && link->getTLLogic() == nullptr
3821 : // cannot brake even with emergency deceleration
3822 4080990 : && dpi.myDistance < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0.)) {
3823 : #ifdef DEBUG_EXEC_MOVE
3824 : if (DEBUG_COND) {
3825 : std::cout << SIMTIME << " too fast to brake for closed link\n";
3826 : }
3827 : #endif
3828 236 : vSafe = dpi.myVLinkPass;
3829 : } else {
3830 4079874 : vSafe = dpi.myVLinkWait;
3831 4079874 : myHaveToWaitOnNextLink = true;
3832 : #ifdef DEBUG_CHECKREWINDLINKLANES
3833 : if (DEBUG_COND) {
3834 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (closed)\n";
3835 : }
3836 : #endif
3837 : #ifdef DEBUG_EXEC_MOVE
3838 : if (DEBUG_COND) {
3839 : std::cout << SIMTIME << " braking for closed link=" << link->getViaLaneOrLane()->getID() << "\n";
3840 : }
3841 : #endif
3842 4079874 : break;
3843 : }
3844 620392560 : } else {
3845 419731255 : if (link != nullptr && link->getInternalLaneBefore() != nullptr && myLane->isInternal() && link->getJunction() == myLane->getEdge().getToJunction()) {
3846 : // blocked on the junction. yield request so other vehicles may
3847 : // become junction leader
3848 : #ifdef DEBUG_EXEC_MOVE
3849 : if (DEBUG_COND) {
3850 : std::cout << SIMTIME << " resetting junctionEntryTime at junction '" << link->getJunction()->getID() << "' beause of non-request exitLink\n";
3851 : }
3852 : #endif
3853 243486 : myJunctionEntryTime = SUMOTime_MAX;
3854 243486 : myJunctionConflictEntryTime = SUMOTime_MAX;
3855 : }
3856 : // we have: i->link == 0 || !i->setRequest
3857 419731255 : vSafe = dpi.myVLinkWait;
3858 419731255 : if (link != nullptr || myStopDist < (myLane->getLength() - getPositionOnLane())) {
3859 98534516 : if (vSafe < getSpeed()) {
3860 14866912 : myHaveToWaitOnNextLink = true;
3861 : #ifdef DEBUG_CHECKREWINDLINKLANES
3862 : if (DEBUG_COND) {
3863 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, braking) vSafe=" << vSafe << "\n";
3864 : }
3865 : #endif
3866 83667604 : } else if (vSafe < SUMO_const_haltingSpeed) {
3867 57656885 : myHaveToWaitOnNextLink = true;
3868 : #ifdef DEBUG_CHECKREWINDLINKLANES
3869 : if (DEBUG_COND) {
3870 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, stopping)\n";
3871 : }
3872 : #endif
3873 : }
3874 : }
3875 326233917 : if (link == nullptr && myLFLinkLanes.size() == 1
3876 265874045 : && getBestLanesContinuation().size() > 1
3877 1088435 : && getBestLanesContinuation()[1]->hadPermissionChanges()
3878 419868026 : && myLane->getFirstAnyVehicle() == this) {
3879 : // temporal lane closing without notification, visible to the
3880 : // vehicle at the front of the queue
3881 34547 : updateBestLanes(true);
3882 : //std::cout << SIMTIME << " veh=" << getID() << " updated bestLanes=" << toString(getBestLanesContinuation()) << "\n";
3883 : }
3884 : break;
3885 : }
3886 : }
3887 :
3888 : //#ifdef DEBUG_EXEC_MOVE
3889 : // if (DEBUG_COND) {
3890 : // std::cout << "\nvCurrent = " << toString(getSpeed(), 24) << "" << std::endl;
3891 : // std::cout << "vSafe = " << toString(vSafe, 24) << "" << std::endl;
3892 : // std::cout << "vSafeMin = " << toString(vSafeMin, 24) << "" << std::endl;
3893 : // std::cout << "vSafeMinDist = " << toString(vSafeMinDist, 24) << "" << std::endl;
3894 : //
3895 : // double gap = getLeader().second;
3896 : // std::cout << "gap = " << toString(gap, 24) << std::endl;
3897 : // std::cout << "vSafeStoppedLeader = " << toString(getCarFollowModel().stopSpeed(this, getSpeed(), gap, MSCFModel::CalcReason::FUTURE), 24)
3898 : // << "\n" << std::endl;
3899 : // }
3900 : //#endif
3901 :
3902 608595485 : if ((MSGlobals::gSemiImplicitEulerUpdate && vSafe + NUMERICAL_EPS < vSafeMin)
3903 608387435 : || (!MSGlobals::gSemiImplicitEulerUpdate && (vSafe + NUMERICAL_EPS < vSafeMin && vSafeMin != 0))) { // this might be good for the euler case as well
3904 : // XXX: (Leo) This often called stopSpeed with vSafeMinDist==0 (for the ballistic update), since vSafe can become negative
3905 : // 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
3906 : #ifdef DEBUG_EXEC_MOVE
3907 : if (DEBUG_COND) {
3908 : std::cout << "vSafeMin Problem? vSafe=" << vSafe << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << std::endl;
3909 : }
3910 : #endif
3911 247910 : if (canBrakeVSafeMin && vSafe < getSpeed()) {
3912 : // cannot drive across a link so we need to stop before it
3913 125490 : vSafe = MIN2(vSafe, MAX2(getCarFollowModel().minNextSpeed(getSpeed(), this),
3914 62745 : getCarFollowModel().stopSpeed(this, getSpeed(), vSafeMinDist)));
3915 62745 : vSafeMin = 0;
3916 62745 : myHaveToWaitOnNextLink = true;
3917 : #ifdef DEBUG_CHECKREWINDLINKLANES
3918 : if (DEBUG_COND) {
3919 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (vSafe=" << vSafe << " < vSafeMin=" << vSafeMin << ")\n";
3920 : }
3921 : #endif
3922 : } else {
3923 : // if the link is yellow or visibility distance is large
3924 : // then we might not make it across the link in one step anyway..
3925 : // Possibly, the lane after the intersection has a lower speed limit so
3926 : // we really need to drive slower already
3927 : // -> keep driving without dawdling
3928 185165 : vSafeMin = vSafe;
3929 : }
3930 : }
3931 :
3932 : // vehicles inside a roundabout should maintain their requests
3933 608595485 : if (myLane->getEdge().isRoundabout()) {
3934 2670824 : myHaveToWaitOnNextLink = false;
3935 : }
3936 :
3937 608595485 : vSafe = MIN2(vSafe, vSafeZipper);
3938 608595485 : }
3939 :
3940 :
3941 : double
3942 675837666 : MSVehicle::processTraCISpeedControl(double vSafe, double vNext) {
3943 675837666 : if (myInfluencer != nullptr) {
3944 502067 : myInfluencer->setOriginalSpeed(vNext);
3945 : #ifdef DEBUG_TRACI
3946 : if DEBUG_COND2(this) {
3947 : std::cout << SIMTIME << " MSVehicle::processTraCISpeedControl() for vehicle '" << getID() << "'"
3948 : << " vSafe=" << vSafe << " (init)vNext=" << vNext << " keepStopping=" << keepStopping();
3949 : }
3950 : #endif
3951 502067 : if (myInfluencer->isRemoteControlled()) {
3952 7752 : vNext = myInfluencer->implicitSpeedRemote(this, myState.mySpeed);
3953 : }
3954 502067 : const double vMax = getVehicleType().getCarFollowModel().maxNextSpeed(myState.mySpeed, this);
3955 502067 : double vMin = getVehicleType().getCarFollowModel().minNextSpeed(myState.mySpeed, this);
3956 502067 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3957 : vMin = MAX2(0., vMin);
3958 : }
3959 502067 : vNext = myInfluencer->influenceSpeed(MSNet::getInstance()->getCurrentTimeStep(), vNext, vSafe, vMin, vMax);
3960 502067 : if (keepStopping() && myStops.front().getSpeed() == 0) {
3961 : // avoid driving while stopped (unless it's actually a waypoint
3962 3746 : vNext = myInfluencer->getOriginalSpeed();
3963 : }
3964 : #ifdef DEBUG_TRACI
3965 : if DEBUG_COND2(this) {
3966 : std::cout << " (processed)vNext=" << vNext << std::endl;
3967 : }
3968 : #endif
3969 : }
3970 675837666 : return vNext;
3971 : }
3972 :
3973 :
3974 : void
3975 71516924 : MSVehicle::removePassedDriveItems() {
3976 : #ifdef DEBUG_ACTIONSTEPS
3977 : if (DEBUG_COND) {
3978 : std::cout << SIMTIME << " veh=" << getID() << " removePassedDriveItems()\n"
3979 : << " Current items: ";
3980 : for (auto& j : myLFLinkLanes) {
3981 : if (j.myLink == 0) {
3982 : std::cout << "\n Stop at distance " << j.myDistance;
3983 : } else {
3984 : const MSLane* to = j.myLink->getViaLaneOrLane();
3985 : const MSLane* from = j.myLink->getLaneBefore();
3986 : std::cout << "\n Link at distance " << j.myDistance << ": '"
3987 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
3988 : }
3989 : }
3990 : std::cout << "\n myNextDriveItem: ";
3991 : if (myLFLinkLanes.size() != 0) {
3992 : if (myNextDriveItem->myLink == 0) {
3993 : std::cout << "\n Stop at distance " << myNextDriveItem->myDistance;
3994 : } else {
3995 : const MSLane* to = myNextDriveItem->myLink->getViaLaneOrLane();
3996 : const MSLane* from = myNextDriveItem->myLink->getLaneBefore();
3997 : std::cout << "\n Link at distance " << myNextDriveItem->myDistance << ": '"
3998 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
3999 : }
4000 : }
4001 : std::cout << std::endl;
4002 : }
4003 : #endif
4004 71843099 : for (auto j = myLFLinkLanes.begin(); j != myNextDriveItem; ++j) {
4005 : #ifdef DEBUG_ACTIONSTEPS
4006 : if (DEBUG_COND) {
4007 : std::cout << " Removing item: ";
4008 : if (j->myLink == 0) {
4009 : std::cout << "Stop at distance " << j->myDistance;
4010 : } else {
4011 : const MSLane* to = j->myLink->getViaLaneOrLane();
4012 : const MSLane* from = j->myLink->getLaneBefore();
4013 : std::cout << "Link at distance " << j->myDistance << ": '"
4014 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4015 : }
4016 : std::cout << std::endl;
4017 : }
4018 : #endif
4019 326175 : if (j->myLink != nullptr) {
4020 326107 : j->myLink->removeApproaching(this);
4021 : }
4022 : }
4023 71516924 : myLFLinkLanes.erase(myLFLinkLanes.begin(), myNextDriveItem);
4024 71516924 : myNextDriveItem = myLFLinkLanes.begin();
4025 71516924 : }
4026 :
4027 :
4028 : void
4029 1113526 : MSVehicle::updateDriveItems() {
4030 : #ifdef DEBUG_ACTIONSTEPS
4031 : if (DEBUG_COND) {
4032 : std::cout << SIMTIME << " updateDriveItems(), veh='" << getID() << "' (lane: '" << getLane()->getID() << "')\nCurrent drive items:" << std::endl;
4033 : for (const auto& dpi : myLFLinkLanes) {
4034 : std::cout
4035 : << " vPass=" << dpi.myVLinkPass
4036 : << " vWait=" << dpi.myVLinkWait
4037 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4038 : << " request=" << dpi.mySetRequest
4039 : << "\n";
4040 : }
4041 : std::cout << " myNextDriveItem's linked lane: " << (myNextDriveItem->myLink == 0 ? "NULL" : myNextDriveItem->myLink->getViaLaneOrLane()->getID()) << std::endl;
4042 : }
4043 : #endif
4044 1113526 : if (myLFLinkLanes.size() == 0) {
4045 : // nothing to update
4046 : return;
4047 : }
4048 : const MSLink* nextPlannedLink = nullptr;
4049 : // auto i = myLFLinkLanes.begin();
4050 1113526 : auto i = myNextDriveItem;
4051 2227018 : while (i != myLFLinkLanes.end() && nextPlannedLink == nullptr) {
4052 1113492 : nextPlannedLink = i->myLink;
4053 : ++i;
4054 : }
4055 :
4056 1113526 : if (nextPlannedLink == nullptr) {
4057 : // No link for upcoming item -> no need for an update
4058 : #ifdef DEBUG_ACTIONSTEPS
4059 : if (DEBUG_COND) {
4060 : std::cout << "Found no link-related drive item." << std::endl;
4061 : }
4062 : #endif
4063 : return;
4064 : }
4065 :
4066 545474 : if (getLane() == nextPlannedLink->getLaneBefore()) {
4067 : // Current lane approaches the stored next link, i.e. no LC happend and no update is required.
4068 : #ifdef DEBUG_ACTIONSTEPS
4069 : if (DEBUG_COND) {
4070 : std::cout << "Continuing on planned lane sequence, no update required." << std::endl;
4071 : }
4072 : #endif
4073 : return;
4074 : }
4075 : // Lane must have been changed, determine the change direction
4076 535646 : const MSLink* parallelLink = nextPlannedLink->getParallelLink(1);
4077 535646 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4078 : // lcDir = 1;
4079 : } else {
4080 266568 : parallelLink = nextPlannedLink->getParallelLink(-1);
4081 266568 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4082 : // lcDir = -1;
4083 : } else {
4084 : // If the vehicle's current lane is not the approaching lane for the next
4085 : // drive process item's link, it is expected to lead to a parallel link,
4086 : // XXX: What if the lc was an overtaking maneuver and there is no upcoming link?
4087 : // Then a stop item should be scheduled! -> TODO!
4088 : //assert(false);
4089 72127 : return;
4090 : }
4091 : }
4092 : #ifdef DEBUG_ACTIONSTEPS
4093 : if (DEBUG_COND) {
4094 : std::cout << "Changed lane. Drive items will be updated along the current lane continuation." << std::endl;
4095 : }
4096 : #endif
4097 : // Trace link sequence along current best lanes and transfer drive items to the corresponding links
4098 : // DriveItemVector::iterator driveItemIt = myLFLinkLanes.begin();
4099 463519 : DriveItemVector::iterator driveItemIt = myNextDriveItem;
4100 : // In the loop below, lane holds the currently considered lane on the vehicles continuation (including internal lanes)
4101 463519 : const MSLane* lane = myLane;
4102 : assert(myLane == parallelLink->getLaneBefore());
4103 : // *lit is a pointer to the next lane in best continuations for the current lane (always non-internal)
4104 463519 : std::vector<MSLane*>::const_iterator bestLaneIt = getBestLanesContinuation().begin() + 1;
4105 : // Pointer to the new link for the current drive process item
4106 : MSLink* newLink = nullptr;
4107 1736187 : while (driveItemIt != myLFLinkLanes.end()) {
4108 1301857 : if (driveItemIt->myLink == nullptr) {
4109 : // Items not related to a specific link are not updated
4110 : // (XXX: when a stop item corresponded to a dead end, which is overcome by the LC that made
4111 : // the update necessary, this may slow down the vehicle's continuation on the new lane...)
4112 : ++driveItemIt;
4113 158757 : continue;
4114 : }
4115 : // Continuation links for current best lanes are less than for the former drive items (myLFLinkLanes)
4116 : // We just remove the leftover link-items, as they cannot be mapped to new links.
4117 1143100 : if (bestLaneIt == getBestLanesContinuation().end()) {
4118 : #ifdef DEBUG_ACTIONSTEPS
4119 : if (DEBUG_COND) {
4120 : std::cout << "Reached end of the new continuation sequence. Erasing leftover link-items." << std::endl;
4121 : }
4122 : #endif
4123 92037 : while (driveItemIt != myLFLinkLanes.end()) {
4124 62848 : if (driveItemIt->myLink == nullptr) {
4125 : ++driveItemIt;
4126 14345 : continue;
4127 : } else {
4128 48503 : driveItemIt->myLink->removeApproaching(this);
4129 : driveItemIt = myLFLinkLanes.erase(driveItemIt);
4130 : }
4131 : }
4132 : break;
4133 : }
4134 : // Do the actual link-remapping for the item. And un/register approaching information on the corresponding links
4135 1113911 : const MSLane* const target = *bestLaneIt;
4136 : assert(!target->isInternal());
4137 : newLink = nullptr;
4138 1233885 : for (MSLink* const link : lane->getLinkCont()) {
4139 1233885 : if (link->getLane() == target) {
4140 : newLink = link;
4141 : break;
4142 : }
4143 : }
4144 :
4145 1113911 : if (newLink == driveItemIt->myLink) {
4146 : // new continuation merged into previous - stop update
4147 : #ifdef DEBUG_ACTIONSTEPS
4148 : if (DEBUG_COND) {
4149 : std::cout << "Old and new continuation sequences merge at link\n"
4150 : << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'"
4151 : << "\nNo update beyond merge required." << std::endl;
4152 : }
4153 : #endif
4154 : break;
4155 : }
4156 :
4157 : #ifdef DEBUG_ACTIONSTEPS
4158 : if (DEBUG_COND) {
4159 : std::cout << "lane=" << lane->getID() << "\nUpdating link\n '" << driveItemIt->myLink->getLaneBefore()->getID() << "'->'" << driveItemIt->myLink->getViaLaneOrLane()->getID() << "'"
4160 : << "==> " << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'" << std::endl;
4161 : }
4162 : #endif
4163 1113911 : newLink->setApproaching(this, driveItemIt->myLink->getApproaching(this));
4164 1113911 : driveItemIt->myLink->removeApproaching(this);
4165 1113911 : driveItemIt->myLink = newLink;
4166 : lane = newLink->getViaLaneOrLane();
4167 : ++driveItemIt;
4168 1113911 : if (!lane->isInternal()) {
4169 : ++bestLaneIt;
4170 : }
4171 : }
4172 : #ifdef DEBUG_ACTIONSTEPS
4173 : if (DEBUG_COND) {
4174 : std::cout << "Updated drive items:" << std::endl;
4175 : for (const auto& dpi : myLFLinkLanes) {
4176 : std::cout
4177 : << " vPass=" << dpi.myVLinkPass
4178 : << " vWait=" << dpi.myVLinkWait
4179 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4180 : << " request=" << dpi.mySetRequest
4181 : << "\n";
4182 : }
4183 : }
4184 : #endif
4185 : }
4186 :
4187 :
4188 : void
4189 675837666 : MSVehicle::setBrakingSignals(double vNext) {
4190 : // To avoid casual blinking brake lights at high speeds due to dawdling of the
4191 : // leading vehicle, we don't show brake lights when the deceleration could be caused
4192 : // by frictional forces and air resistance (i.e. proportional to v^2, coefficient could be adapted further)
4193 675837666 : double pseudoFriction = (0.05 + 0.005 * getSpeed()) * getSpeed();
4194 675837666 : bool brakelightsOn = vNext < getSpeed() - ACCEL2SPEED(pseudoFriction);
4195 :
4196 675837666 : if (vNext <= SUMO_const_haltingSpeed) {
4197 : brakelightsOn = true;
4198 : }
4199 675837666 : if (brakelightsOn && !isStopped()) {
4200 : switchOnSignal(VEH_SIGNAL_BRAKELIGHT);
4201 : } else {
4202 : switchOffSignal(VEH_SIGNAL_BRAKELIGHT);
4203 : }
4204 675837666 : }
4205 :
4206 :
4207 : void
4208 675941764 : MSVehicle::updateWaitingTime(double vNext) {
4209 675941764 : if (vNext <= SUMO_const_haltingSpeed && (!isStopped() || isIdling()) && myAcceleration <= accelThresholdForWaiting()) {
4210 83723271 : myWaitingTime += DELTA_T;
4211 83723271 : myWaitingTimeCollector.passTime(DELTA_T, true);
4212 : } else {
4213 592218493 : myWaitingTime = 0;
4214 592218493 : myWaitingTimeCollector.passTime(DELTA_T, false);
4215 592218493 : if (hasInfluencer()) {
4216 276628 : getInfluencer().setExtraImpatience(0);
4217 : }
4218 : }
4219 675941764 : }
4220 :
4221 :
4222 : void
4223 675837484 : MSVehicle::updateTimeLoss(double vNext) {
4224 : // update time loss (depends on the updated edge)
4225 675837484 : if (!isStopped()) {
4226 662206360 : const double vmax = myLane->getVehicleMaxSpeed(this);
4227 662206360 : if (vmax > 0) {
4228 662198976 : myTimeLoss += TS * (vmax - vNext) / vmax;
4229 : }
4230 : }
4231 675837484 : }
4232 :
4233 :
4234 : double
4235 1485565965 : MSVehicle::checkReversal(bool& canReverse, double speedThreshold, double seen) const {
4236 49696151 : const bool stopOk = (myStops.empty() || myStops.front().edge != myCurrEdge
4237 1508237567 : || (myStops.front().getSpeed() > 0 && myState.myPos > myStops.front().pars.endPos - 2 * POSITION_EPS));
4238 : #ifdef DEBUG_REVERSE_BIDI
4239 : if (DEBUG_COND) std::cout << SIMTIME << " checkReversal lane=" << myLane->getID()
4240 : << " pos=" << myState.myPos
4241 : << " speed=" << std::setprecision(6) << getPreviousSpeed() << std::setprecision(gPrecision)
4242 : << " speedThreshold=" << speedThreshold
4243 : << " seen=" << seen
4244 : << " isRail=" << isRail()
4245 : << " speedOk=" << (getPreviousSpeed() <= speedThreshold)
4246 : << " posOK=" << (myState.myPos <= myLane->getLength())
4247 : << " normal=" << !myLane->isInternal()
4248 : << " routeOK=" << ((myCurrEdge + 1) != myRoute->end())
4249 : << " bidi=" << (myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1))
4250 : << " stopOk=" << stopOk
4251 : << "\n";
4252 : #endif
4253 1485565965 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4254 6621971 : && getPreviousSpeed() <= speedThreshold
4255 5649856 : && myState.myPos <= myLane->getLength()
4256 5648863 : && !myLane->isInternal()
4257 5583628 : && (myCurrEdge + 1) != myRoute->end()
4258 5494826 : && myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1)
4259 : // ensure there are no further stops on this edge
4260 1486412561 : && stopOk
4261 : ) {
4262 : //if (isSelected()) std::cout << " check1 passed\n";
4263 :
4264 : // ensure that the vehicle is fully on bidi edges that allow reversal
4265 177786 : const int neededFutureRoute = 1 + (int)(MSGlobals::gUsingInternalLanes
4266 : ? myFurtherLanes.size()
4267 504 : : ceil((double)myFurtherLanes.size() / 2.0));
4268 177786 : const int remainingRoute = int(myRoute->end() - myCurrEdge) - 1;
4269 177786 : if (remainingRoute < neededFutureRoute) {
4270 : #ifdef DEBUG_REVERSE_BIDI
4271 : if (DEBUG_COND) {
4272 : std::cout << " fail: remainingEdges=" << ((int)(myRoute->end() - myCurrEdge)) << " further=" << myFurtherLanes.size() << "\n";
4273 : }
4274 : #endif
4275 3567 : return getMaxSpeed();
4276 : }
4277 : //if (isSelected()) std::cout << " check2 passed\n";
4278 :
4279 : // ensure that the turn-around connection exists from the current edge to its bidi-edge
4280 174219 : const MSEdgeVector& succ = myLane->getEdge().getSuccessors();
4281 174219 : if (std::find(succ.begin(), succ.end(), myLane->getEdge().getBidiEdge()) == succ.end()) {
4282 : #ifdef DEBUG_REVERSE_BIDI
4283 : if (DEBUG_COND) {
4284 : std::cout << " noTurn (bidi=" << myLane->getEdge().getBidiEdge()->getID() << " succ=" << toString(succ) << "\n";
4285 : }
4286 : #endif
4287 909 : return getMaxSpeed();
4288 : }
4289 : //if (isSelected()) std::cout << " check3 passed\n";
4290 :
4291 : // ensure that the vehicle front will not move past a stop on the bidi edge of the current edge
4292 173310 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + 1)) {
4293 160006 : const double stopPos = myStops.front().getEndPos(*this);
4294 160006 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4295 160006 : const double newPos = myLane->getLength() - (getBackPositionOnLane() + brakeDist);
4296 160006 : if (newPos > stopPos) {
4297 : #ifdef DEBUG_REVERSE_BIDI
4298 : if (DEBUG_COND) {
4299 : std::cout << " reversal would go past stop on " << myLane->getBidiLane()->getID() << "\n";
4300 : }
4301 : #endif
4302 158332 : if (seen > MAX2(brakeDist, 1.0)) {
4303 157202 : return getMaxSpeed();
4304 : } else {
4305 : #ifdef DEBUG_REVERSE_BIDI
4306 : if (DEBUG_COND) {
4307 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4308 : }
4309 : #endif
4310 : }
4311 : }
4312 : }
4313 : //if (isSelected()) std::cout << " check4 passed\n";
4314 :
4315 : // ensure that bidi-edges exist for all further edges
4316 : // and that no stops will be skipped when reversing
4317 : // and that the train will not be on top of a red rail signal after reversal
4318 16108 : const MSLane* bidi = myLane->getBidiLane();
4319 : int view = 2;
4320 32828 : for (MSLane* further : myFurtherLanes) {
4321 18277 : if (!further->getEdge().isInternal()) {
4322 9709 : if (further->getEdge().getBidiEdge() != *(myCurrEdge + view)) {
4323 : #ifdef DEBUG_REVERSE_BIDI
4324 : if (DEBUG_COND) {
4325 : std::cout << " noBidi view=" << view << " further=" << further->getID() << " furtherBidi=" << Named::getIDSecure(further->getEdge().getBidiEdge()) << " future=" << (*(myCurrEdge + view))->getID() << "\n";
4326 : }
4327 : #endif
4328 1398 : return getMaxSpeed();
4329 : }
4330 8311 : const MSLane* nextBidi = further->getBidiLane();
4331 8311 : const MSLink* toNext = bidi->getLinkTo(nextBidi);
4332 8311 : if (toNext == nullptr) {
4333 : // can only happen if the route is invalid
4334 0 : return getMaxSpeed();
4335 : }
4336 8311 : if (toNext->haveRed()) {
4337 : #ifdef DEBUG_REVERSE_BIDI
4338 : if (DEBUG_COND) {
4339 : std::cout << " do not reverse on a red signal\n";
4340 : }
4341 : #endif
4342 0 : return getMaxSpeed();
4343 : }
4344 : bidi = nextBidi;
4345 8311 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + view)) {
4346 453 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4347 453 : const double stopPos = myStops.front().getEndPos(*this);
4348 453 : const double newPos = further->getLength() - (getBackPositionOnLane(further) + brakeDist);
4349 453 : if (newPos > stopPos) {
4350 : #ifdef DEBUG_REVERSE_BIDI
4351 : if (DEBUG_COND) {
4352 : std::cout << " reversal would go past stop on further-opposite lane " << further->getBidiLane()->getID() << "\n";
4353 : }
4354 : #endif
4355 171 : if (seen > MAX2(brakeDist, 1.0)) {
4356 159 : canReverse = false;
4357 159 : return getMaxSpeed();
4358 : } else {
4359 : #ifdef DEBUG_REVERSE_BIDI
4360 : if (DEBUG_COND) {
4361 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4362 : }
4363 : #endif
4364 : }
4365 : }
4366 : }
4367 8152 : view++;
4368 : }
4369 : }
4370 : // reverse as soon as comfortably possible
4371 14551 : const double vMinComfortable = getCarFollowModel().minNextSpeed(getSpeed(), this);
4372 : #ifdef DEBUG_REVERSE_BIDI
4373 : if (DEBUG_COND) {
4374 : std::cout << SIMTIME << " seen=" << seen << " vReverseOK=" << vMinComfortable << "\n";
4375 : }
4376 : #endif
4377 14551 : canReverse = true;
4378 14551 : return vMinComfortable;
4379 : }
4380 1485388179 : return getMaxSpeed();
4381 : }
4382 :
4383 :
4384 : void
4385 676051550 : MSVehicle::processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason) {
4386 691562953 : for (std::vector<MSLane*>::reverse_iterator i = myFurtherLanes.rbegin(); i != myFurtherLanes.rend(); ++i) {
4387 15511403 : passedLanes.push_back(*i);
4388 : }
4389 676051550 : if (passedLanes.size() == 0 || passedLanes.back() != myLane) {
4390 676051550 : passedLanes.push_back(myLane);
4391 : }
4392 : // let trains reverse direction
4393 676051550 : bool reverseTrain = false;
4394 676051550 : checkReversal(reverseTrain);
4395 676051550 : if (reverseTrain) {
4396 : // Train is 'reversing' so toggle the logical state
4397 772 : myAmReversed = !myAmReversed;
4398 : // add some slack to ensure that the back of train does appear looped
4399 772 : myState.myPos += 2 * (myLane->getLength() - myState.myPos) + myType->getLength() + NUMERICAL_EPS;
4400 772 : myState.mySpeed = 0;
4401 : #ifdef DEBUG_REVERSE_BIDI
4402 : if (DEBUG_COND) {
4403 : std::cout << SIMTIME << " reversing train=" << getID() << " newPos=" << myState.myPos << "\n";
4404 : }
4405 : #endif
4406 : }
4407 : // move on lane(s)
4408 676051550 : if (myState.myPos > myLane->getLength()) {
4409 : // The vehicle has moved at least to the next lane (maybe it passed even more than one)
4410 17907955 : if (myCurrEdge != myRoute->end() - 1) {
4411 15163437 : MSLane* approachedLane = myLane;
4412 : // move the vehicle forward
4413 15163437 : myNextDriveItem = myLFLinkLanes.begin();
4414 32908460 : while (myNextDriveItem != myLFLinkLanes.end() && approachedLane != nullptr && myState.myPos > approachedLane->getLength()) {
4415 17760016 : const MSLink* link = myNextDriveItem->myLink;
4416 17760016 : const double linkDist = myNextDriveItem->myDistance;
4417 : ++myNextDriveItem;
4418 : // check whether the vehicle was allowed to enter lane
4419 : // otherwise it is decelerated and we do not need to test for it's
4420 : // approach on the following lanes when a lane changing is performed
4421 : // proceed to the next lane
4422 17760016 : if (approachedLane->mustCheckJunctionCollisions()) {
4423 : // vehicle moves past approachedLane within a single step, collision checking must still be done
4424 60626 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(approachedLane);
4425 : }
4426 17760016 : if (link != nullptr) {
4427 17757118 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4428 39825 : && !myLane->isInternal()
4429 21098 : && myLane->getBidiLane() != nullptr
4430 11981 : && link->getLane()->getBidiLane() == myLane
4431 17757887 : && !reverseTrain) {
4432 : emergencyReason = " because it must reverse direction";
4433 : approachedLane = nullptr;
4434 : break;
4435 : }
4436 17757115 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4437 39822 : && myState.myPos < myLane->getLength() + NUMERICAL_EPS
4438 17757340 : && hasStops() && getNextStop().edge == myCurrEdge) {
4439 : // avoid skipping stop due to numerical instability
4440 : // this is a special case for rail vehicles because they
4441 : // continue myLFLinkLanes past stops
4442 197 : approachedLane = myLane;
4443 197 : myState.myPos = myLane->getLength();
4444 197 : break;
4445 : }
4446 17756918 : approachedLane = link->getViaLaneOrLane();
4447 17756918 : if (myInfluencer == nullptr || myInfluencer->getEmergencyBrakeRedLight()) {
4448 17755322 : bool beyondStopLine = linkDist < link->getLaneBefore()->getVehicleStopOffset(this);
4449 17755322 : if (link->haveRed() && !ignoreRed(link, false) && !beyondStopLine && !reverseTrain) {
4450 : emergencyReason = " because of a red traffic light";
4451 : break;
4452 : }
4453 : }
4454 17756864 : if (reverseTrain && approachedLane->isInternal()) {
4455 : // avoid getting stuck on a slow turn-around internal lane
4456 842 : myState.myPos += approachedLane->getLength();
4457 : }
4458 2898 : } else if (myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4459 : // avoid warning due to numerical instability
4460 165 : approachedLane = myLane;
4461 165 : myState.myPos = myLane->getLength();
4462 2733 : } else if (reverseTrain) {
4463 0 : approachedLane = (*(myCurrEdge + 1))->getLanes()[0];
4464 0 : link = myLane->getLinkTo(approachedLane);
4465 : assert(link != 0);
4466 0 : while (link->getViaLane() != nullptr) {
4467 0 : link = link->getViaLane()->getLinkCont()[0];
4468 : }
4469 : --myNextDriveItem;
4470 : } else {
4471 : emergencyReason = " because there is no connection to the next edge";
4472 : approachedLane = nullptr;
4473 : break;
4474 : }
4475 17757029 : if (approachedLane != myLane && approachedLane != nullptr) {
4476 17756864 : leaveLane(MSMoveReminder::NOTIFICATION_JUNCTION, approachedLane);
4477 17756864 : myState.myPos -= myLane->getLength();
4478 : assert(myState.myPos > 0);
4479 17756864 : enterLaneAtMove(approachedLane);
4480 17756864 : if (link->isEntryLink()) {
4481 6820126 : myJunctionEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4482 6820126 : myJunctionEntryTimeNeverYield = myJunctionEntryTime;
4483 6820126 : myHaveStoppedFor = nullptr;
4484 : }
4485 17756864 : if (link->isConflictEntryLink()) {
4486 6819689 : myJunctionConflictEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4487 : // renew yielded request
4488 6819689 : myJunctionEntryTime = myJunctionEntryTimeNeverYield;
4489 : }
4490 17756864 : if (link->isExitLink()) {
4491 : // passed junction, reset for approaching the next one
4492 6759884 : myJunctionEntryTime = SUMOTime_MAX;
4493 6759884 : myJunctionEntryTimeNeverYield = SUMOTime_MAX;
4494 6759884 : myJunctionConflictEntryTime = SUMOTime_MAX;
4495 : }
4496 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
4497 : if (DEBUG_COND) {
4498 : std::cout << "Update junctionTimes link=" << link->getViaLaneOrLane()->getID()
4499 : << " entry=" << link->isEntryLink() << " conflict=" << link->isConflictEntryLink() << " exit=" << link->isExitLink()
4500 : << " ET=" << myJunctionEntryTime
4501 : << " ETN=" << myJunctionEntryTimeNeverYield
4502 : << " CET=" << myJunctionConflictEntryTime
4503 : << "\n";
4504 : }
4505 : #endif
4506 17756864 : if (hasArrivedInternal()) {
4507 : break;
4508 : }
4509 17745614 : if (myLaneChangeModel->isChangingLanes()) {
4510 6570 : if (link->getDirection() == LinkDirection::LEFT || link->getDirection() == LinkDirection::RIGHT) {
4511 : // abort lane change
4512 0 : WRITE_WARNING("Vehicle '" + getID() + "' could not finish continuous lane change (turn lane) time=" +
4513 : time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4514 0 : myLaneChangeModel->endLaneChangeManeuver();
4515 : }
4516 : }
4517 17745614 : if (approachedLane->getEdge().isVaporizing()) {
4518 756 : leaveLane(MSMoveReminder::NOTIFICATION_VAPORIZED_VAPORIZER);
4519 : break;
4520 : }
4521 17744858 : passedLanes.push_back(approachedLane);
4522 : }
4523 : }
4524 : // NOTE: Passed drive items will be erased in the next simstep's planMove()
4525 :
4526 : #ifdef DEBUG_ACTIONSTEPS
4527 : if (DEBUG_COND && myNextDriveItem != myLFLinkLanes.begin()) {
4528 : std::cout << "Updated drive items:" << std::endl;
4529 : for (DriveItemVector::iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
4530 : std::cout
4531 : << " vPass=" << (*i).myVLinkPass
4532 : << " vWait=" << (*i).myVLinkWait
4533 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
4534 : << " request=" << (*i).mySetRequest
4535 : << "\n";
4536 : }
4537 : }
4538 : #endif
4539 2744518 : } else if (!hasArrivedInternal() && myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4540 : // avoid warning due to numerical instability when stopping at the end of the route
4541 59 : myState.myPos = myLane->getLength();
4542 : }
4543 :
4544 : }
4545 676051550 : }
4546 :
4547 :
4548 :
4549 : bool
4550 680112409 : MSVehicle::executeMove() {
4551 : #ifdef DEBUG_EXEC_MOVE
4552 : if (DEBUG_COND) {
4553 : std::cout << "\nEXECUTE_MOVE\n"
4554 : << SIMTIME
4555 : << " veh=" << getID()
4556 : << " speed=" << getSpeed() // toString(getSpeed(), 24)
4557 : << std::endl;
4558 : }
4559 : #endif
4560 :
4561 :
4562 : // Maximum safe velocity
4563 680112409 : double vSafe = std::numeric_limits<double>::max();
4564 : // Minimum safe velocity (lower bound).
4565 680112409 : double vSafeMin = -std::numeric_limits<double>::max();
4566 : // The distance to a link, which should either be crossed this step
4567 : // or in front of which we need to stop.
4568 680112409 : double vSafeMinDist = 0;
4569 :
4570 680112409 : if (myActionStep) {
4571 : // Actuate control (i.e. choose bounds for safe speed in current simstep (euler), resp. after current sim step (ballistic))
4572 608595485 : processLinkApproaches(vSafe, vSafeMin, vSafeMinDist);
4573 : #ifdef DEBUG_ACTIONSTEPS
4574 : if (DEBUG_COND) {
4575 : std::cout << SIMTIME << " vehicle '" << getID() << "'\n"
4576 : " vsafe from processLinkApproaches(): vsafe " << vSafe << std::endl;
4577 : }
4578 : #endif
4579 : } else {
4580 : // Continue with current acceleration
4581 71516924 : vSafe = getSpeed() + ACCEL2SPEED(myAcceleration);
4582 : #ifdef DEBUG_ACTIONSTEPS
4583 : if (DEBUG_COND) {
4584 : std::cout << SIMTIME << " vehicle '" << getID() << "' skips processLinkApproaches()\n"
4585 : " continues with constant accel " << myAcceleration << "...\n"
4586 : << "speed: " << getSpeed() << " -> " << vSafe << std::endl;
4587 : }
4588 : #endif
4589 : }
4590 :
4591 :
4592 : //#ifdef DEBUG_EXEC_MOVE
4593 : // if (DEBUG_COND) {
4594 : // std::cout << "vSafe = " << toString(vSafe,12) << "\n" << std::endl;
4595 : // }
4596 : //#endif
4597 :
4598 : // Determine vNext = speed after current sim step (ballistic), resp. in current simstep (euler)
4599 : // Call to finalizeSpeed applies speed reduction due to dawdling / lane changing but ensures minimum safe speed
4600 680112409 : double vNext = vSafe;
4601 680112409 : const double rawAccel = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4602 680112409 : if (vNext <= SUMO_const_haltingSpeed * TS && myWaitingTime > MSGlobals::gStartupWaitThreshold && rawAccel <= accelThresholdForWaiting() && myActionStep) {
4603 68167180 : myTimeSinceStartup = 0;
4604 611945229 : } else if (isStopped()) {
4605 : // do not apply startupDelay for waypoints
4606 17894677 : if (getCarFollowModel().startupDelayStopped() && getNextStop().pars.speed <= 0) {
4607 13772 : myTimeSinceStartup = DELTA_T;
4608 : } else {
4609 : // do not apply startupDelay but signal that a stop has taken place
4610 17880905 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
4611 : }
4612 : } else {
4613 : // identify potential startup (before other effects reduce the speed again)
4614 594050552 : myTimeSinceStartup += DELTA_T;
4615 : }
4616 680112409 : if (myActionStep) {
4617 608595485 : vNext = getCarFollowModel().finalizeSpeed(this, vSafe);
4618 604320560 : if (vNext > 0) {
4619 563184344 : vNext = MAX2(vNext, vSafeMin);
4620 : }
4621 : }
4622 : // (Leo) to avoid tiny oscillations (< 1e-10) of vNext in a standing vehicle column (observed for ballistic update), we cap off vNext
4623 : // (We assure to do this only for vNext<<NUMERICAL_EPS since otherwise this would nullify the workaround for #2995
4624 : // (Jakob) We also need to make sure to reach a stop at the start of the next edge
4625 675837484 : if (fabs(vNext) < NUMERICAL_EPS_SPEED && (myStopDist > POSITION_EPS || (hasStops() && myCurrEdge == getNextStop().edge))) {
4626 : vNext = 0.;
4627 : }
4628 : #ifdef DEBUG_EXEC_MOVE
4629 : if (DEBUG_COND) {
4630 : std::cout << SIMTIME << " finalizeSpeed vSafe=" << vSafe << " vSafeMin=" << (vSafeMin == -std::numeric_limits<double>::max() ? "-Inf" : toString(vSafeMin))
4631 : << " vNext=" << vNext << " (i.e. accel=" << SPEED2ACCEL(vNext - getSpeed()) << ")" << std::endl;
4632 : }
4633 : #endif
4634 :
4635 : // vNext may be higher than vSafe without implying a bug:
4636 : // - when approaching a green light that suddenly switches to yellow
4637 : // - when using unregulated junctions
4638 : // - when using tau < step-size
4639 : // - when using unsafe car following models
4640 : // - when using TraCI and some speedMode / laneChangeMode settings
4641 : //if (vNext > vSafe + NUMERICAL_EPS) {
4642 : // WRITE_WARNING("vehicle '" + getID() + "' cannot brake hard enough to reach safe speed "
4643 : // + toString(vSafe, 4) + ", moving at " + toString(vNext, 4) + " instead. time="
4644 : // + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4645 : //}
4646 :
4647 675837484 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4648 : vNext = MAX2(vNext, 0.);
4649 : } else {
4650 : // (Leo) Ballistic: negative vNext can be used to indicate a stop within next step.
4651 : }
4652 :
4653 : // Check for speed advices from the traci client
4654 675837484 : vNext = processTraCISpeedControl(vSafe, vNext);
4655 :
4656 : // the acceleration of a vehicle equipped with the elecHybrid device is restricted by the maximal power of the electric drive as well
4657 675837484 : MSDevice_ElecHybrid* elecHybridOfVehicle = dynamic_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid)));
4658 1135 : if (elecHybridOfVehicle != nullptr) {
4659 : // this is the consumption given by the car following model-computed acceleration
4660 1135 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4661 : // but the maximum power of the electric motor may be lower
4662 : // it needs to be converted from [W] to [Wh/s] (3600s / 1h) so that TS can be taken into account
4663 1135 : double maxPower = getEmissionParameters()->getDoubleOptional(SUMO_ATTR_MAXIMUMPOWER, 100000.) / 3600;
4664 1135 : if (elecHybridOfVehicle->getConsum() / TS > maxPower) {
4665 : // no, we cannot accelerate that fast, recompute the maximum possible acceleration
4666 70 : double accel = elecHybridOfVehicle->acceleration(*this, maxPower, this->getSpeed());
4667 : // and update the speed of the vehicle
4668 70 : vNext = MIN2(vNext, this->getSpeed() + accel * TS);
4669 : vNext = MAX2(vNext, 0.);
4670 : // and set the vehicle consumption to reflect this
4671 70 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4672 : }
4673 : }
4674 :
4675 675837484 : setBrakingSignals(vNext);
4676 :
4677 : // update position and speed
4678 675837484 : int oldLaneOffset = myLane->getEdge().getNumLanes() - myLane->getIndex();
4679 : const MSLane* oldLaneMaybeOpposite = myLane;
4680 675837484 : if (myLaneChangeModel->isOpposite()) {
4681 : // transform to the forward-direction lane, move and then transform back
4682 409832 : myState.myPos = myLane->getOppositePos(myState.myPos);
4683 409832 : myLane = myLane->getParallelOpposite();
4684 : }
4685 675837484 : updateState(vNext);
4686 675837484 : updateWaitingTime(vNext);
4687 :
4688 : // Lanes, which the vehicle touched at some moment of the executed simstep
4689 : std::vector<MSLane*> passedLanes;
4690 : // remember previous lane (myLane is updated in processLaneAdvances)
4691 675837484 : const MSLane* oldLane = myLane;
4692 : // Reason for a possible emergency stop
4693 : std::string emergencyReason;
4694 675837484 : processLaneAdvances(passedLanes, emergencyReason);
4695 :
4696 675837484 : updateTimeLoss(vNext);
4697 675837484 : myCollisionImmunity = MAX2((SUMOTime) - 1, myCollisionImmunity - DELTA_T);
4698 :
4699 675837484 : if (!hasArrivedInternal() && !myLane->getEdge().isVaporizing()) {
4700 672930356 : if (myState.myPos > myLane->getLength()) {
4701 359 : if (emergencyReason == "") {
4702 51 : emergencyReason = TL(" for unknown reasons");
4703 : }
4704 1436 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency stop at the end of lane '%'% (decel=%, offset=%), time=%."),
4705 : getID(), myLane->getID(), emergencyReason, myAcceleration - myState.mySpeed,
4706 : myState.myPos - myLane->getLength(), time2string(SIMSTEP));
4707 359 : MSNet::getInstance()->getVehicleControl().registerEmergencyStop();
4708 359 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::EMERGENCYSTOP);
4709 359 : myState.myPos = myLane->getLength();
4710 359 : myState.mySpeed = 0;
4711 359 : myAcceleration = 0;
4712 : }
4713 672930356 : const MSLane* oldBackLane = getBackLane();
4714 672930356 : if (myLaneChangeModel->isOpposite()) {
4715 : passedLanes.clear(); // ignore back occupation
4716 : }
4717 : #ifdef DEBUG_ACTIONSTEPS
4718 : if (DEBUG_COND) {
4719 : std::cout << SIMTIME << " veh '" << getID() << "' updates further lanes." << std::endl;
4720 : }
4721 : #endif
4722 672930356 : myState.myBackPos = updateFurtherLanes(myFurtherLanes, myFurtherLanesPosLat, passedLanes);
4723 672930356 : if (passedLanes.size() > 1 && isRail()) {
4724 731644 : for (auto pi = passedLanes.rbegin(); pi != passedLanes.rend(); ++pi) {
4725 554815 : MSLane* pLane = *pi;
4726 554815 : if (pLane != myLane && std::find(myFurtherLanes.begin(), myFurtherLanes.end(), pLane) == myFurtherLanes.end()) {
4727 39518 : leaveLaneBack(MSMoveReminder::NOTIFICATION_JUNCTION, *pi);
4728 : }
4729 : }
4730 : }
4731 : // bestLanes need to be updated before lane changing starts. NOTE: This call is also a presumption for updateDriveItems()
4732 672930356 : updateBestLanes();
4733 672930356 : if (myLane != oldLane || oldBackLane != getBackLane()) {
4734 21933210 : if (myLaneChangeModel->getShadowLane() != nullptr || getLateralOverlap() > POSITION_EPS) {
4735 : // shadow lane must be updated if the front or back lane changed
4736 : // either if we already have a shadowLane or if there is lateral overlap
4737 400383 : myLaneChangeModel->updateShadowLane();
4738 : }
4739 21933210 : if (MSGlobals::gLateralResolution > 0 && !myLaneChangeModel->isOpposite()) {
4740 : // The vehicles target lane must be also be updated if the front or back lane changed
4741 4293100 : myLaneChangeModel->updateTargetLane();
4742 : }
4743 : }
4744 672930356 : setBlinkerInformation(); // needs updated bestLanes
4745 : //change the blue light only for emergency vehicles SUMOVehicleClass
4746 672930356 : if (myType->getVehicleClass() == SVC_EMERGENCY) {
4747 85919 : setEmergencyBlueLight(MSNet::getInstance()->getCurrentTimeStep());
4748 : }
4749 : // must be done before angle computation
4750 : // State needs to be reset for all vehicles before the next call to MSEdgeControl::changeLanes
4751 672930356 : if (myActionStep) {
4752 : // check (#2681): Can this be skipped?
4753 601434653 : myLaneChangeModel->prepareStep();
4754 : } else {
4755 71495703 : myLaneChangeModel->resetSpeedLat();
4756 : #ifdef DEBUG_ACTIONSTEPS
4757 : if (DEBUG_COND) {
4758 : std::cout << SIMTIME << " veh '" << getID() << "' skips LCM->prepareStep()." << std::endl;
4759 : }
4760 : #endif
4761 : }
4762 672930356 : myLaneChangeModel->setPreviousAngleOffset(myLaneChangeModel->getAngleOffset());
4763 672930356 : myAngle = computeAngle();
4764 : }
4765 :
4766 : #ifdef DEBUG_EXEC_MOVE
4767 : if (DEBUG_COND) {
4768 : std::cout << SIMTIME << " executeMove finished veh=" << getID() << " lane=" << myLane->getID() << " myPos=" << getPositionOnLane() << " myPosLat=" << getLateralPositionOnLane() << "\n";
4769 : gDebugFlag1 = false; // See MSLink_DEBUG_OPENED
4770 : }
4771 : #endif
4772 675837484 : if (myLaneChangeModel->isOpposite()) {
4773 : // transform back to the opposite-direction lane
4774 : MSLane* newOpposite = nullptr;
4775 409832 : const MSEdge* newOppositeEdge = myLane->getEdge().getOppositeEdge();
4776 409832 : if (newOppositeEdge != nullptr) {
4777 409782 : newOpposite = newOppositeEdge->getLanes()[newOppositeEdge->getNumLanes() - MAX2(1, oldLaneOffset)];
4778 : #ifdef DEBUG_EXEC_MOVE
4779 : if (DEBUG_COND) {
4780 : std::cout << SIMTIME << " newOppositeEdge=" << newOppositeEdge->getID() << " oldLaneOffset=" << oldLaneOffset << " leftMost=" << newOppositeEdge->getNumLanes() - 1 << " newOpposite=" << Named::getIDSecure(newOpposite) << "\n";
4781 : }
4782 : #endif
4783 : }
4784 409782 : if (newOpposite == nullptr) {
4785 50 : if (!myLaneChangeModel->hasBlueLight()) {
4786 : // unusual overtaking at junctions is ok for emergency vehicles
4787 0 : WRITE_WARNINGF(TL("Unexpected end of opposite lane for vehicle '%' at lane '%', time=%."),
4788 : getID(), myLane->getID(), time2string(SIMSTEP));
4789 : }
4790 50 : myLaneChangeModel->changedToOpposite();
4791 50 : if (myState.myPos < getLength()) {
4792 : // further lanes is always cleared during opposite driving
4793 50 : MSLane* oldOpposite = oldLane->getOpposite();
4794 50 : if (oldOpposite != nullptr) {
4795 50 : myFurtherLanes.push_back(oldOpposite);
4796 50 : myFurtherLanesPosLat.push_back(0);
4797 : // small value since the lane is going in the other direction
4798 50 : myState.myBackPos = getLength() - myState.myPos;
4799 50 : myAngle = computeAngle();
4800 : } else {
4801 : SOFT_ASSERT(false);
4802 : }
4803 : }
4804 : } else {
4805 409782 : myState.myPos = myLane->getOppositePos(myState.myPos);
4806 409782 : myLane = newOpposite;
4807 : oldLane = oldLaneMaybeOpposite;
4808 : //std::cout << SIMTIME << " updated myLane=" << Named::getIDSecure(myLane) << " oldLane=" << oldLane->getID() << "\n";
4809 409782 : myCachedPosition = Position::INVALID;
4810 409782 : myLaneChangeModel->updateShadowLane();
4811 : }
4812 : }
4813 675837484 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4814 : // Return whether the vehicle did move to another lane
4815 1351674968 : return myLane != oldLane;
4816 675837484 : }
4817 :
4818 : void
4819 214066 : MSVehicle::executeFractionalMove(double dist) {
4820 214066 : myState.myPos += dist;
4821 214066 : myState.myLastCoveredDist = dist;
4822 214066 : myCachedPosition = Position::INVALID;
4823 :
4824 214066 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(dist);
4825 214066 : const SUMOTime t = MSNet::getInstance()->getCurrentTimeStep();
4826 444137 : for (int i = 0; i < (int)lanes.size(); i++) {
4827 230071 : MSLink* link = nullptr;
4828 230071 : if (i + 1 < (int)lanes.size()) {
4829 16005 : const MSLane* const to = lanes[i + 1];
4830 16005 : const bool internal = to->isInternal();
4831 16010 : for (MSLink* const l : lanes[i]->getLinkCont()) {
4832 16010 : if ((internal && l->getViaLane() == to) || (!internal && l->getLane() == to)) {
4833 16005 : link = l;
4834 16005 : break;
4835 : }
4836 : }
4837 : }
4838 230071 : myLFLinkLanes.emplace_back(link, getSpeed(), getSpeed(), true, t, getSpeed(), 0, 0, dist);
4839 : }
4840 : // minimum execute move:
4841 : std::vector<MSLane*> passedLanes;
4842 : // Reason for a possible emergency stop
4843 214066 : if (lanes.size() > 1) {
4844 4005 : myLane->removeVehicle(this, MSMoveReminder::NOTIFICATION_JUNCTION, false);
4845 : }
4846 : std::string emergencyReason;
4847 214066 : processLaneAdvances(passedLanes, emergencyReason);
4848 : #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
4849 : if (DEBUG_COND) {
4850 : std::cout << SIMTIME << " veh=" << getID() << " executeFractionalMove dist=" << dist
4851 : << " passedLanes=" << toString(passedLanes) << " lanes=" << toString(lanes)
4852 : << " finalPos=" << myState.myPos
4853 : << " speed=" << getSpeed()
4854 : << " myFurtherLanes=" << toString(myFurtherLanes)
4855 : << "\n";
4856 : }
4857 : #endif
4858 214066 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4859 214066 : if (lanes.size() > 1) {
4860 4010 : for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
4861 : #ifdef DEBUG_FURTHER
4862 : if (DEBUG_COND) {
4863 : std::cout << SIMTIME << " leaveLane \n";
4864 : }
4865 : #endif
4866 5 : (*i)->resetPartialOccupation(this);
4867 : }
4868 : myFurtherLanes.clear();
4869 : myFurtherLanesPosLat.clear();
4870 4005 : myLane->forceVehicleInsertion(this, getPositionOnLane(), MSMoveReminder::NOTIFICATION_JUNCTION, getLateralPositionOnLane());
4871 : }
4872 214066 : }
4873 :
4874 :
4875 : void
4876 684234477 : MSVehicle::updateState(double vNext, bool parking) {
4877 : // update position and speed
4878 : double deltaPos; // positional change
4879 684234477 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4880 : // euler
4881 584654503 : deltaPos = SPEED2DIST(vNext);
4882 : } else {
4883 : // ballistic
4884 99579974 : deltaPos = getDeltaPos(SPEED2ACCEL(vNext - myState.mySpeed));
4885 : }
4886 :
4887 : // the *mean* acceleration during the next step (probably most appropriate for emission calculation)
4888 : // NOTE: for the ballistic update vNext may be negative, indicating a stop.
4889 684234477 : myAcceleration = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4890 :
4891 : #ifdef DEBUG_EXEC_MOVE
4892 : if (DEBUG_COND) {
4893 : std::cout << SIMTIME << " updateState() for veh '" << getID() << "': deltaPos=" << deltaPos
4894 : << " pos=" << myState.myPos << " newPos=" << myState.myPos + deltaPos << std::endl;
4895 : }
4896 : #endif
4897 684234477 : double decelPlus = -myAcceleration - getCarFollowModel().getMaxDecel() - NUMERICAL_EPS;
4898 684234477 : if (decelPlus > 0) {
4899 420380 : const double previousAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
4900 420380 : if (myAcceleration + NUMERICAL_EPS < previousAcceleration) {
4901 : // vehicle brakes beyond wished maximum deceleration (only warn at the start of the braking manoeuvre)
4902 289238 : decelPlus += 2 * NUMERICAL_EPS;
4903 289238 : const double emergencyFraction = decelPlus / MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel());
4904 289238 : if (emergencyFraction >= MSGlobals::gEmergencyDecelWarningThreshold) {
4905 93756 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency braking on lane '%' with decel=%, wished=%, severity=%, time=%."),
4906 : //+ " decelPlus=" + toString(decelPlus)
4907 : //+ " prevAccel=" + toString(previousAcceleration)
4908 : //+ " reserve=" + toString(MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel()))
4909 : getID(), myLane->getID(), -myAcceleration, getCarFollowModel().getMaxDecel(), emergencyFraction, time2string(SIMSTEP));
4910 31252 : MSNet::getInstance()->getVehicleControl().registerEmergencyBraking();
4911 : }
4912 : }
4913 : }
4914 :
4915 684234477 : myState.myPreviousSpeed = myState.mySpeed;
4916 684234477 : myState.mySpeed = MAX2(vNext, 0.);
4917 :
4918 684234477 : if (isRemoteControlled()) {
4919 7580 : deltaPos = myInfluencer->implicitDeltaPosRemote(this);
4920 : }
4921 :
4922 684234477 : myState.myPos += deltaPos;
4923 684234477 : myState.myLastCoveredDist = deltaPos;
4924 684234477 : myNextTurn.first -= deltaPos;
4925 :
4926 684234477 : if (!parking) {
4927 675837484 : myCachedPosition = Position::INVALID;
4928 : }
4929 684234477 : }
4930 :
4931 : void
4932 8396993 : MSVehicle::updateParkingState() {
4933 8396993 : updateState(0, true);
4934 : // deboard while parked
4935 8396993 : if (myPersonDevice != nullptr) {
4936 586422 : myPersonDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
4937 : }
4938 8396993 : if (myContainerDevice != nullptr) {
4939 59887 : myContainerDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
4940 : }
4941 16446686 : for (MSVehicleDevice* const dev : myDevices) {
4942 8049693 : dev->notifyParking();
4943 : }
4944 8396993 : }
4945 :
4946 :
4947 : void
4948 30668 : MSVehicle::replaceVehicleType(const MSVehicleType* type) {
4949 30668 : MSBaseVehicle::replaceVehicleType(type);
4950 30668 : delete myCFVariables;
4951 30668 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
4952 30668 : }
4953 :
4954 :
4955 : const MSLane*
4956 1331519495 : MSVehicle::getBackLane() const {
4957 1331519495 : if (myFurtherLanes.size() > 0) {
4958 17966778 : return myFurtherLanes.back();
4959 : } else {
4960 1313552717 : return myLane;
4961 : }
4962 : }
4963 :
4964 :
4965 : double
4966 678310207 : MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<double>& furtherLanesPosLat,
4967 : const std::vector<MSLane*>& passedLanes) {
4968 : #ifdef DEBUG_SETFURTHER
4969 : if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID()
4970 : << " updateFurtherLanes oldFurther=" << toString(furtherLanes)
4971 : << " oldFurtherPosLat=" << toString(furtherLanesPosLat)
4972 : << " passed=" << toString(passedLanes)
4973 : << "\n";
4974 : #endif
4975 693856934 : for (MSLane* further : furtherLanes) {
4976 15546727 : further->resetPartialOccupation(this);
4977 15546727 : if (further->getBidiLane() != nullptr
4978 15546727 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
4979 25789 : further->getBidiLane()->resetPartialOccupation(this);
4980 : }
4981 : }
4982 :
4983 : std::vector<MSLane*> newFurther;
4984 : std::vector<double> newFurtherPosLat;
4985 678310207 : double backPosOnPreviousLane = myState.myPos - getLength();
4986 : bool widthShift = myFurtherLanesPosLat.size() > myFurtherLanes.size();
4987 678310207 : if (passedLanes.size() > 1) {
4988 : // There are candidates for further lanes. (passedLanes[-1] is the current lane, or current shadow lane in context of updateShadowLanes())
4989 : std::vector<MSLane*>::const_iterator fi = furtherLanes.begin();
4990 : std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
4991 41746213 : for (auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
4992 : // As long as vehicle back reaches into passed lane, add it to the further lanes
4993 15480532 : MSLane* further = *pi;
4994 15480532 : newFurther.push_back(further);
4995 15480532 : backPosOnPreviousLane += further->setPartialOccupation(this);
4996 15480532 : if (further->getBidiLane() != nullptr
4997 15480532 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
4998 25277 : further->getBidiLane()->setPartialOccupation(this);
4999 : }
5000 15480532 : if (fi != furtherLanes.end() && further == *fi) {
5001 : // Lateral position on this lane is already known. Assume constant and use old value.
5002 6654186 : newFurtherPosLat.push_back(*fpi);
5003 : ++fi;
5004 : ++fpi;
5005 : } else {
5006 : // The lane *pi was not in furtherLanes before.
5007 : // If it is downstream, we assume as lateral position the current position
5008 : // If it is a new lane upstream (can appear as shadow further in case of LC-maneuvering, e.g.)
5009 : // we assign the last known lateral position.
5010 8826346 : if (newFurtherPosLat.size() == 0) {
5011 8226148 : if (widthShift) {
5012 1447032 : newFurtherPosLat.push_back(myFurtherLanesPosLat.back());
5013 : } else {
5014 6779116 : newFurtherPosLat.push_back(myState.myPosLat);
5015 : }
5016 : } else {
5017 600198 : newFurtherPosLat.push_back(newFurtherPosLat.back());
5018 : }
5019 : }
5020 : #ifdef DEBUG_SETFURTHER
5021 : if (DEBUG_COND) {
5022 : std::cout << SIMTIME << " updateFurtherLanes \n"
5023 : << " further lane '" << further->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
5024 : << std::endl;
5025 : }
5026 : #endif
5027 : }
5028 26265681 : furtherLanes = newFurther;
5029 26265681 : furtherLanesPosLat = newFurtherPosLat;
5030 : } else {
5031 : furtherLanes.clear();
5032 : furtherLanesPosLat.clear();
5033 : }
5034 : #ifdef DEBUG_SETFURTHER
5035 : if (DEBUG_COND) std::cout
5036 : << " newFurther=" << toString(furtherLanes)
5037 : << " newFurtherPosLat=" << toString(furtherLanesPosLat)
5038 : << " newBackPos=" << backPosOnPreviousLane
5039 : << "\n";
5040 : #endif
5041 678310207 : return backPosOnPreviousLane;
5042 678310207 : }
5043 :
5044 :
5045 : double
5046 34165613047 : MSVehicle::getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const {
5047 : #ifdef DEBUG_FURTHER
5048 : if (DEBUG_COND) {
5049 : std::cout << SIMTIME
5050 : << " getBackPositionOnLane veh=" << getID()
5051 : << " lane=" << Named::getIDSecure(lane)
5052 : << " cbgP=" << calledByGetPosition
5053 : << " pos=" << myState.myPos
5054 : << " backPos=" << myState.myBackPos
5055 : << " myLane=" << myLane->getID()
5056 : << " myLaneBidi=" << Named::getIDSecure(myLane->getBidiLane())
5057 : << " further=" << toString(myFurtherLanes)
5058 : << " furtherPosLat=" << toString(myFurtherLanesPosLat)
5059 : << "\n shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
5060 : << " shadowFurther=" << toString(myLaneChangeModel->getShadowFurtherLanes())
5061 : << " shadowFurtherPosLat=" << toString(myLaneChangeModel->getShadowFurtherLanesPosLat())
5062 : << "\n targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
5063 : << " furtherTargets=" << toString(myLaneChangeModel->getFurtherTargetLanes())
5064 : << std::endl;
5065 : }
5066 : #endif
5067 34165613047 : if (lane == myLane
5068 8086790519 : || lane == myLaneChangeModel->getShadowLane()
5069 38767963523 : || lane == myLaneChangeModel->getTargetLane()) {
5070 29564837182 : if (myLaneChangeModel->isOpposite()) {
5071 231910764 : if (lane == myLaneChangeModel->getShadowLane()) {
5072 199120733 : return lane->getLength() - myState.myPos - myType->getLength();
5073 : } else {
5074 37737184 : return myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5075 : }
5076 29332926418 : } else if (&lane->getEdge() != &myLane->getEdge()) {
5077 20812223 : return lane->getLength() - myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5078 : } else {
5079 : // account for parallel lanes of different lengths in the most conservative manner (i.e. while turning)
5080 58624955134 : return myState.myPos - myType->getLength() + MIN2(0.0, lane->getLength() - myLane->getLength());
5081 : }
5082 4600775865 : } else if (lane == myLane->getBidiLane()) {
5083 3848173 : return lane->getLength() - myState.myPos + myType->getLength() * (calledByGetPosition ? -1 : 1);
5084 4598335946 : } else if (myFurtherLanes.size() > 0 && lane == myFurtherLanes.back()) {
5085 4544821854 : return myState.myBackPos;
5086 53514092 : } else if ((myLaneChangeModel->getShadowFurtherLanes().size() > 0 && lane == myLaneChangeModel->getShadowFurtherLanes().back())
5087 54151385 : || (myLaneChangeModel->getFurtherTargetLanes().size() > 0 && lane == myLaneChangeModel->getFurtherTargetLanes().back())) {
5088 : assert(myFurtherLanes.size() > 0);
5089 20255062 : if (lane->getLength() == myFurtherLanes.back()->getLength()) {
5090 19597482 : return myState.myBackPos;
5091 : } else {
5092 : // interpolate
5093 : //if (DEBUG_COND) {
5094 : //if (myFurtherLanes.back()->getLength() != lane->getLength()) {
5095 : // std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " further=" << myFurtherLanes.back()->getID()
5096 : // << " len=" << lane->getLength() << " fLen=" << myFurtherLanes.back()->getLength()
5097 : // << " backPos=" << myState.myBackPos << " result=" << myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength() << "\n";
5098 : //}
5099 657580 : return myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength();
5100 : }
5101 : } else {
5102 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherLanes=" << toString(myFurtherLanes) << "\n";
5103 33259030 : double leftLength = myType->getLength() - myState.myPos;
5104 :
5105 : std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin();
5106 35222452 : while (leftLength > 0 && i != myFurtherLanes.end()) {
5107 35194893 : leftLength -= (*i)->getLength();
5108 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5109 35194893 : if (*i == lane) {
5110 32923238 : return -leftLength;
5111 2271655 : } else if (*i == lane->getBidiLane()) {
5112 308233 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5113 : }
5114 : ++i;
5115 : }
5116 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
5117 27559 : leftLength = myType->getLength() - myState.myPos;
5118 27559 : i = myLaneChangeModel->getShadowFurtherLanes().begin();
5119 27559 : while (leftLength > 0 && i != myLaneChangeModel->getShadowFurtherLanes().end()) {
5120 27554 : leftLength -= (*i)->getLength();
5121 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5122 27554 : if (*i == lane) {
5123 27554 : return -leftLength;
5124 : }
5125 : ++i;
5126 : }
5127 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherTargetLanes=" << toString(myLaneChangeModel->getFurtherTargetLanes()) << "\n";
5128 : leftLength = myType->getLength() - myState.myPos;
5129 : i = getFurtherLanes().begin();
5130 5 : const std::vector<MSLane*> furtherTargetLanes = myLaneChangeModel->getFurtherTargetLanes();
5131 : auto j = furtherTargetLanes.begin();
5132 5 : while (leftLength > 0 && j != furtherTargetLanes.end()) {
5133 2 : leftLength -= (*i)->getLength();
5134 : // if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5135 2 : if (*j == lane) {
5136 2 : return -leftLength;
5137 : }
5138 : ++i;
5139 : ++j;
5140 : }
5141 21 : WRITE_WARNING("Request backPos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane)
5142 : + "' time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".")
5143 : SOFT_ASSERT(false);
5144 3 : return myState.myBackPos;
5145 5 : }
5146 : }
5147 :
5148 :
5149 : double
5150 28013783101 : MSVehicle::getPositionOnLane(const MSLane* lane) const {
5151 28013783101 : return getBackPositionOnLane(lane, true) + myType->getLength();
5152 : }
5153 :
5154 :
5155 : bool
5156 421163487 : MSVehicle::isFrontOnLane(const MSLane* lane) const {
5157 421163487 : return lane == myLane || lane == myLaneChangeModel->getShadowLane() || lane == myLane->getBidiLane();
5158 : }
5159 :
5160 :
5161 : void
5162 608595485 : MSVehicle::checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const {
5163 608595485 : if (MSGlobals::gUsingInternalLanes && !myLane->getEdge().isRoundabout() && !myLaneChangeModel->isOpposite()) {
5164 605393422 : double seenSpace = -lengthsInFront;
5165 : #ifdef DEBUG_CHECKREWINDLINKLANES
5166 : if (DEBUG_COND) {
5167 : std::cout << "\nCHECK_REWIND_LINKLANES\n" << " veh=" << getID() << " lengthsInFront=" << lengthsInFront << "\n";
5168 : };
5169 : #endif
5170 605393422 : bool foundStopped = false;
5171 : // compute available space until a stopped vehicle is found
5172 : // this is the sum of non-interal lane length minus in-between vehicle lengths
5173 1749479093 : for (int i = 0; i < (int)lfLinks.size(); ++i) {
5174 : // skip unset links
5175 1144085671 : DriveProcessItem& item = lfLinks[i];
5176 : #ifdef DEBUG_CHECKREWINDLINKLANES
5177 : if (DEBUG_COND) std::cout << SIMTIME
5178 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5179 : << " foundStopped=" << foundStopped;
5180 : #endif
5181 1144085671 : if (item.myLink == nullptr || foundStopped) {
5182 382779396 : if (!foundStopped) {
5183 335084439 : item.availableSpace += seenSpace;
5184 : } else {
5185 47694957 : item.availableSpace = seenSpace;
5186 : }
5187 : #ifdef DEBUG_CHECKREWINDLINKLANES
5188 : if (DEBUG_COND) {
5189 : std::cout << " avail=" << item.availableSpace << "\n";
5190 : }
5191 : #endif
5192 382779396 : continue;
5193 : }
5194 : // get the next lane, determine whether it is an internal lane
5195 : const MSLane* approachedLane = item.myLink->getViaLane();
5196 761306275 : if (approachedLane != nullptr) {
5197 411958179 : if (keepClear(item.myLink)) {
5198 124374116 : seenSpace = seenSpace - approachedLane->getBruttoVehLenSum();
5199 124374116 : if (approachedLane == myLane) {
5200 52319 : seenSpace += getVehicleType().getLengthWithGap();
5201 : }
5202 : } else {
5203 287584063 : seenSpace = seenSpace + approachedLane->getSpaceTillLastStanding(this, foundStopped);// - approachedLane->getBruttoVehLenSum() + approachedLane->getLength();
5204 : }
5205 411958179 : item.availableSpace = seenSpace;
5206 : #ifdef DEBUG_CHECKREWINDLINKLANES
5207 : if (DEBUG_COND) std::cout
5208 : << " approached=" << approachedLane->getID()
5209 : << " approachedBrutto=" << approachedLane->getBruttoVehLenSum()
5210 : << " avail=" << item.availableSpace
5211 : << " seenSpace=" << seenSpace
5212 : << " hadStoppedVehicle=" << item.hadStoppedVehicle
5213 : << " lengthsInFront=" << lengthsInFront
5214 : << "\n";
5215 : #endif
5216 411958179 : continue;
5217 : }
5218 : approachedLane = item.myLink->getLane();
5219 349348096 : const MSVehicle* last = approachedLane->getLastAnyVehicle();
5220 349348096 : if (last == nullptr || last == this) {
5221 54430087 : if (approachedLane->getLength() > getVehicleType().getLength()
5222 54430087 : || keepClear(item.myLink)) {
5223 52204121 : seenSpace += approachedLane->getLength();
5224 : }
5225 54430087 : item.availableSpace = seenSpace;
5226 : #ifdef DEBUG_CHECKREWINDLINKLANES
5227 : if (DEBUG_COND) {
5228 : std::cout << " last=" << Named::getIDSecure(last) << " laneLength=" << approachedLane->getLength() << " avail=" << item.availableSpace << "\n";
5229 : }
5230 : #endif
5231 : } else {
5232 294918009 : bool foundStopped2 = false;
5233 294918009 : double spaceTillLastStanding = approachedLane->getSpaceTillLastStanding(this, foundStopped2);
5234 294918009 : if (approachedLane->getBidiLane() != nullptr) {
5235 79964 : const MSVehicle* oncomingVeh = approachedLane->getBidiLane()->getFirstFullVehicle();
5236 79964 : if (oncomingVeh) {
5237 26576 : const double oncomingGap = approachedLane->getLength() - oncomingVeh->getPositionOnLane();
5238 26576 : const double oncomingBGap = oncomingVeh->getBrakeGap(true);
5239 : // oncoming movement until ego enters the junction
5240 26576 : const double oncomingMove = STEPS2TIME(item.myArrivalTime - SIMSTEP) * oncomingVeh->getSpeed();
5241 26576 : const double spaceTillOncoming = oncomingGap - oncomingBGap - oncomingMove;
5242 : spaceTillLastStanding = MIN2(spaceTillLastStanding, spaceTillOncoming);
5243 26576 : if (spaceTillOncoming <= getVehicleType().getLengthWithGap()) {
5244 21724 : foundStopped = true;
5245 : }
5246 : #ifdef DEBUG_CHECKREWINDLINKLANES
5247 : if (DEBUG_COND) {
5248 : std::cout << " oVeh=" << oncomingVeh->getID()
5249 : << " oGap=" << oncomingGap
5250 : << " bGap=" << oncomingBGap
5251 : << " mGap=" << oncomingMove
5252 : << " sto=" << spaceTillOncoming;
5253 : }
5254 : #endif
5255 : }
5256 : }
5257 294918009 : seenSpace += spaceTillLastStanding;
5258 294918009 : if (foundStopped2) {
5259 19041281 : foundStopped = true;
5260 19041281 : item.hadStoppedVehicle = true;
5261 : }
5262 294918009 : item.availableSpace = seenSpace;
5263 294918009 : if (last->myHaveToWaitOnNextLink || last->isStopped()) {
5264 29333751 : foundStopped = true;
5265 29333751 : item.hadStoppedVehicle = true;
5266 : }
5267 : #ifdef DEBUG_CHECKREWINDLINKLANES
5268 : if (DEBUG_COND) std::cout
5269 : << " approached=" << approachedLane->getID()
5270 : << " last=" << last->getID()
5271 : << " lastHasToWait=" << last->myHaveToWaitOnNextLink
5272 : << " lastBrakeLight=" << last->signalSet(VEH_SIGNAL_BRAKELIGHT)
5273 : << " lastBrakeGap=" << last->getCarFollowModel().brakeGap(last->getSpeed())
5274 : << " lastGap=" << (last->getBackPositionOnLane(approachedLane) + last->getCarFollowModel().brakeGap(last->getSpeed()) - last->getSpeed() * last->getCarFollowModel().getHeadwayTime()
5275 : // gap of last up to the next intersection
5276 : - last->getVehicleType().getMinGap())
5277 : << " stls=" << spaceTillLastStanding
5278 : << " avail=" << item.availableSpace
5279 : << " seenSpace=" << seenSpace
5280 : << " foundStopped=" << foundStopped
5281 : << " foundStopped2=" << foundStopped2
5282 : << "\n";
5283 : #endif
5284 : }
5285 : }
5286 :
5287 : // check which links allow continuation and add pass available to the previous item
5288 1144085671 : for (int i = ((int)lfLinks.size() - 1); i > 0; --i) {
5289 538692249 : DriveProcessItem& item = lfLinks[i - 1];
5290 538692249 : DriveProcessItem& nextItem = lfLinks[i];
5291 538692249 : const bool canLeaveJunction = item.myLink->getViaLane() == nullptr || nextItem.myLink == nullptr || nextItem.mySetRequest;
5292 : const bool opened = (item.myLink != nullptr
5293 538692249 : && (canLeaveJunction || (
5294 : // indirect bicycle turn
5295 25008679 : nextItem.myLink != nullptr && nextItem.myLink->isInternalJunctionLink() && nextItem.myLink->haveRed()))
5296 513697632 : && (
5297 513697632 : item.myLink->havePriority()
5298 25241849 : || i == 1 // the upcoming link (item 0) is checked in executeMove anyway. No need to use outdata approachData here
5299 4533813 : || (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority())
5300 4504297 : || item.myLink->opened(item.myArrivalTime, item.myArrivalSpeed,
5301 4504297 : item.getLeaveSpeed(), getVehicleType().getLength(),
5302 4504297 : getImpatience(), getCarFollowModel().getMaxDecel(), getWaitingTime(), getLateralPositionOnLane(), nullptr, false, this)));
5303 538692249 : bool allowsContinuation = (item.myLink == nullptr || item.myLink->isCont() || opened) && !item.hadStoppedVehicle;
5304 : #ifdef DEBUG_CHECKREWINDLINKLANES
5305 : if (DEBUG_COND) std::cout
5306 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5307 : << " canLeave=" << canLeaveJunction
5308 : << " opened=" << opened
5309 : << " allowsContinuation=" << allowsContinuation
5310 : << " foundStopped=" << foundStopped
5311 : << "\n";
5312 : #endif
5313 538692249 : if (!opened && item.myLink != nullptr) {
5314 25572032 : foundStopped = true;
5315 25572032 : if (i > 1) {
5316 4043885 : DriveProcessItem& item2 = lfLinks[i - 2];
5317 4043885 : if (item2.myLink != nullptr && item2.myLink->isCont()) {
5318 : allowsContinuation = true;
5319 : }
5320 : }
5321 : }
5322 536272752 : if (allowsContinuation) {
5323 483374040 : item.availableSpace = nextItem.availableSpace;
5324 : #ifdef DEBUG_CHECKREWINDLINKLANES
5325 : if (DEBUG_COND) std::cout
5326 : << " link=" << (item.myLink == nullptr ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5327 : << " copy nextAvail=" << nextItem.availableSpace
5328 : << "\n";
5329 : #endif
5330 : }
5331 : }
5332 :
5333 : // find removalBegin
5334 : int removalBegin = -1;
5335 723556503 : for (int i = 0; foundStopped && i < (int)lfLinks.size() && removalBegin < 0; ++i) {
5336 : // skip unset links
5337 118163081 : const DriveProcessItem& item = lfLinks[i];
5338 118163081 : if (item.myLink == nullptr) {
5339 5573764 : continue;
5340 : }
5341 : /*
5342 : double impatienceCorrection = MAX2(0., double(double(myWaitingTime)));
5343 : if (seenSpace<getVehicleType().getLengthWithGap()-impatienceCorrection/10.&&nextSeenNonInternal!=0) {
5344 : removalBegin = lastLinkToInternal;
5345 : }
5346 : */
5347 :
5348 112589317 : const double leftSpace = item.availableSpace - getVehicleType().getLengthWithGap();
5349 : #ifdef DEBUG_CHECKREWINDLINKLANES
5350 : if (DEBUG_COND) std::cout
5351 : << SIMTIME
5352 : << " veh=" << getID()
5353 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5354 : << " avail=" << item.availableSpace
5355 : << " leftSpace=" << leftSpace
5356 : << "\n";
5357 : #endif
5358 112589317 : if (leftSpace < 0/* && item.myLink->willHaveBlockedFoe()*/) {
5359 : double impatienceCorrection = 0;
5360 : /*
5361 : if(item.myLink->getState()==LINKSTATE_MINOR) {
5362 : impatienceCorrection = MAX2(0., STEPS2TIME(myWaitingTime));
5363 : }
5364 : */
5365 : // may ignore keepClear rules
5366 71459660 : if (leftSpace < -impatienceCorrection / 10. && keepClear(item.myLink)) {
5367 : removalBegin = i;
5368 : }
5369 : //removalBegin = i;
5370 : }
5371 : }
5372 : // abort requests
5373 605393422 : if (removalBegin != -1 && !(removalBegin == 0 && myLane->getEdge().isInternal())) {
5374 29135475 : const double brakeGap = getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.);
5375 99583917 : while (removalBegin < (int)(lfLinks.size())) {
5376 74979389 : DriveProcessItem& dpi = lfLinks[removalBegin];
5377 74979389 : if (dpi.myLink == nullptr) {
5378 : break;
5379 : }
5380 70448442 : dpi.myVLinkPass = dpi.myVLinkWait;
5381 : #ifdef DEBUG_CHECKREWINDLINKLANES
5382 : if (DEBUG_COND) {
5383 : std::cout << " removalBegin=" << removalBegin << " brakeGap=" << brakeGap << " dist=" << dpi.myDistance << " speed=" << myState.mySpeed << " a2s=" << ACCEL2SPEED(getCarFollowModel().getMaxDecel()) << "\n";
5384 : }
5385 : #endif
5386 70448442 : if (dpi.myDistance >= brakeGap + POSITION_EPS) {
5387 : // always leave junctions after requesting to enter
5388 70439079 : if (!dpi.myLink->isExitLink() || !lfLinks[removalBegin - 1].mySetRequest) {
5389 70431098 : dpi.mySetRequest = false;
5390 : }
5391 : }
5392 70448442 : ++removalBegin;
5393 : }
5394 : }
5395 : }
5396 608595485 : }
5397 :
5398 :
5399 : void
5400 680112409 : MSVehicle::setApproachingForAllLinks() {
5401 680112409 : if (!myActionStep) {
5402 : return;
5403 : }
5404 608595485 : removeApproachingInformation(myLFLinkLanesPrev);
5405 1760504853 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5406 1151909368 : if (dpi.myLink != nullptr) {
5407 809514415 : if (dpi.myLink->getState() == LINKSTATE_ALLWAY_STOP) {
5408 2722956 : dpi.myArrivalTime += (SUMOTime)RandHelper::rand((int)2, getRNG()); // tie braker
5409 : }
5410 809514415 : dpi.myLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5411 809514415 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance, getLateralPositionOnLane());
5412 : }
5413 : }
5414 608595485 : if (isRail()) {
5415 7488977 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5416 6266720 : if (dpi.myLink != nullptr && dpi.myLink->getTLLogic() != nullptr && dpi.myLink->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL) {
5417 550470 : MSRailSignalControl::getInstance().notifyApproach(dpi.myLink);
5418 : }
5419 : }
5420 : }
5421 608595485 : if (myLaneChangeModel->getShadowLane() != nullptr) {
5422 : // register on all shadow links
5423 7334527 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
5424 4852316 : if (dpi.myLink != nullptr) {
5425 3328298 : MSLink* parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
5426 3328298 : if (parallelLink == nullptr && getLaneChangeModel().isOpposite() && dpi.myLink->isEntryLink()) {
5427 : // register on opposite direction entry link to warn foes at minor side road
5428 170031 : parallelLink = dpi.myLink->getOppositeDirectionLink();
5429 : }
5430 3328298 : if (parallelLink != nullptr) {
5431 2365712 : const double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
5432 2365712 : parallelLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5433 2365712 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance,
5434 : latOffset);
5435 2365712 : myLaneChangeModel->setShadowApproachingInformation(parallelLink);
5436 : }
5437 : }
5438 : }
5439 : }
5440 : #ifdef DEBUG_PLAN_MOVE
5441 : if (DEBUG_COND) {
5442 : std::cout << SIMTIME
5443 : << " veh=" << getID()
5444 : << " after checkRewindLinkLanes\n";
5445 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5446 : std::cout
5447 : << " vPass=" << dpi.myVLinkPass
5448 : << " vWait=" << dpi.myVLinkWait
5449 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
5450 : << " request=" << dpi.mySetRequest
5451 : << " atime=" << dpi.myArrivalTime
5452 : << "\n";
5453 : }
5454 : }
5455 : #endif
5456 : }
5457 :
5458 :
5459 : void
5460 1669 : MSVehicle::registerInsertionApproach(MSLink* link, double dist) {
5461 : DriveProcessItem dpi(0, dist);
5462 1669 : dpi.myLink = link;
5463 1669 : const double arrivalSpeedBraking = getCarFollowModel().getMinimalArrivalSpeedEuler(dist, getSpeed());
5464 1669 : link->setApproaching(this, SUMOTime_MAX, 0, 0, false, arrivalSpeedBraking, 0, dpi.myDistance, 0);
5465 : // ensure cleanup in the next step
5466 1669 : myLFLinkLanes.push_back(dpi);
5467 1669 : MSRailSignalControl::getInstance().notifyApproach(link);
5468 1669 : }
5469 :
5470 :
5471 : void
5472 17773882 : MSVehicle::enterLaneAtMove(MSLane* enteredLane, bool onTeleporting) {
5473 17773882 : myAmOnNet = !onTeleporting;
5474 : // vaporizing edge?
5475 : /*
5476 : if (enteredLane->getEdge().isVaporizing()) {
5477 : // yep, let's do the vaporization...
5478 : myLane = enteredLane;
5479 : return true;
5480 : }
5481 : */
5482 : // Adjust MoveReminder offset to the next lane
5483 17773882 : adaptLaneEntering2MoveReminder(*enteredLane);
5484 : // set the entered lane as the current lane
5485 17773882 : MSLane* oldLane = myLane;
5486 17773882 : myLane = enteredLane;
5487 17773882 : myLastBestLanesEdge = nullptr;
5488 :
5489 : // internal edges are not a part of the route...
5490 17773882 : if (!enteredLane->getEdge().isInternal()) {
5491 : ++myCurrEdge;
5492 : assert(myLaneChangeModel->isOpposite() || haveValidStopEdges());
5493 : }
5494 17773882 : if (myInfluencer != nullptr) {
5495 9101 : myInfluencer->adaptLaneTimeLine(myLane->getIndex() - oldLane->getIndex());
5496 : }
5497 17773882 : if (!onTeleporting) {
5498 17756864 : activateReminders(MSMoveReminder::NOTIFICATION_JUNCTION, enteredLane);
5499 17756864 : if (MSGlobals::gLateralResolution > 0) {
5500 3738231 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5501 : // transform lateral position when the lane width changes
5502 : assert(oldLane != nullptr);
5503 3738231 : const MSLink* const link = oldLane->getLinkTo(myLane);
5504 3738231 : if (link != nullptr) {
5505 3738189 : myState.myPosLat += link->getLateralShift();
5506 : } else {
5507 42 : myState.myPosLat += (oldLane->getCenterOnEdge() - myLane->getCanonicalPredecessorLane()->getRightSideOnEdge()) / 2;
5508 : }
5509 14018633 : } else if (fabs(myState.myPosLat) > NUMERICAL_EPS) {
5510 195813 : const double overlap = MAX2(0.0, getLateralOverlap(myState.myPosLat, oldLane));
5511 195813 : const double range = (oldLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5512 195813 : const double range2 = (myLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5513 195813 : myState.myPosLat *= range2 / range;
5514 : }
5515 17756864 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5516 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5517 : // (unless the lane is shared with cars)
5518 9357 : myLane->getBidiLane()->setPartialOccupation(this);
5519 : }
5520 : } else {
5521 : // normal move() isn't called so reset position here. must be done
5522 : // before calling reminders
5523 17018 : myState.myPos = 0;
5524 17018 : myCachedPosition = Position::INVALID;
5525 17018 : activateReminders(MSMoveReminder::NOTIFICATION_TELEPORT, enteredLane);
5526 : }
5527 : // update via
5528 17773882 : if (myParameter->via.size() > 0 && myLane->getEdge().getID() == myParameter->via.front()) {
5529 5725 : myParameter->via.erase(myParameter->via.begin());
5530 : }
5531 17773882 : }
5532 :
5533 :
5534 : void
5535 1070401 : MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
5536 1070401 : myAmOnNet = true;
5537 1070401 : myLane = enteredLane;
5538 1070401 : myCachedPosition = Position::INVALID;
5539 : // need to update myCurrentLaneInBestLanes
5540 1070401 : updateBestLanes();
5541 : // switch to and activate the new lane's reminders
5542 : // keep OldLaneReminders
5543 1265200 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5544 194799 : addReminder(*rem);
5545 : }
5546 1070401 : activateReminders(MSMoveReminder::NOTIFICATION_LANE_CHANGE, enteredLane);
5547 1070401 : MSLane* lane = myLane;
5548 1070401 : double leftLength = getVehicleType().getLength() - myState.myPos;
5549 : int deleteFurther = 0;
5550 : #ifdef DEBUG_SETFURTHER
5551 : if (DEBUG_COND) {
5552 : std::cout << SIMTIME << " enterLaneAtLaneChange entered=" << Named::getIDSecure(enteredLane) << " oldFurther=" << toString(myFurtherLanes) << "\n";
5553 : }
5554 : #endif
5555 1070401 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5556 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5557 : // (unless the lane is shared with cars)
5558 8352 : myLane->getBidiLane()->setPartialOccupation(this);
5559 : }
5560 1152763 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
5561 82362 : if (lane != nullptr) {
5562 79287 : lane = lane->getLogicalPredecessorLane(myFurtherLanes[i]->getEdge());
5563 : }
5564 : #ifdef DEBUG_SETFURTHER
5565 : if (DEBUG_COND) {
5566 : std::cout << " enterLaneAtLaneChange i=" << i << " lane=" << Named::getIDSecure(lane) << " leftLength=" << leftLength << "\n";
5567 : }
5568 : #endif
5569 82362 : if (leftLength > 0) {
5570 81784 : if (lane != nullptr) {
5571 32059 : myFurtherLanes[i]->resetPartialOccupation(this);
5572 32059 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5573 32059 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5574 45 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5575 : }
5576 : // lane changing onto longer lanes may reduce the number of
5577 : // remaining further lanes
5578 32059 : myFurtherLanes[i] = lane;
5579 32059 : myFurtherLanesPosLat[i] = myState.myPosLat;
5580 32059 : leftLength -= lane->setPartialOccupation(this);
5581 32059 : if (lane->getBidiLane() != nullptr
5582 32059 : && (!isRailway(getVClass()) || (lane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5583 552 : lane->getBidiLane()->setPartialOccupation(this);
5584 : }
5585 32059 : myState.myBackPos = -leftLength;
5586 : #ifdef DEBUG_SETFURTHER
5587 : if (DEBUG_COND) {
5588 : std::cout << SIMTIME << " newBackPos=" << myState.myBackPos << "\n";
5589 : }
5590 : #endif
5591 : } else {
5592 : // keep the old values, but ensure there is no shadow
5593 49725 : if (myLaneChangeModel->isChangingLanes()) {
5594 0 : myLaneChangeModel->setNoShadowPartialOccupator(myFurtherLanes[i]);
5595 : }
5596 49725 : if (myState.myBackPos < 0) {
5597 51 : myState.myBackPos += myFurtherLanes[i]->getLength();
5598 : }
5599 : #ifdef DEBUG_SETFURTHER
5600 : if (DEBUG_COND) {
5601 : std::cout << SIMTIME << " i=" << i << " further=" << myFurtherLanes[i]->getID() << " newBackPos=" << myState.myBackPos << "\n";
5602 : }
5603 : #endif
5604 : }
5605 : } else {
5606 578 : myFurtherLanes[i]->resetPartialOccupation(this);
5607 578 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5608 578 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5609 0 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5610 : }
5611 578 : deleteFurther++;
5612 : }
5613 : }
5614 1070401 : if (deleteFurther > 0) {
5615 : #ifdef DEBUG_SETFURTHER
5616 : if (DEBUG_COND) {
5617 : std::cout << SIMTIME << " veh=" << getID() << " shortening myFurtherLanes by " << deleteFurther << "\n";
5618 : }
5619 : #endif
5620 553 : myFurtherLanes.erase(myFurtherLanes.end() - deleteFurther, myFurtherLanes.end());
5621 553 : myFurtherLanesPosLat.erase(myFurtherLanesPosLat.end() - deleteFurther, myFurtherLanesPosLat.end());
5622 : }
5623 : #ifdef DEBUG_SETFURTHER
5624 : if (DEBUG_COND) {
5625 : std::cout << SIMTIME << " enterLaneAtLaneChange new furtherLanes=" << toString(myFurtherLanes)
5626 : << " furterLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
5627 : }
5628 : #endif
5629 1070401 : myAngle = computeAngle();
5630 1070401 : }
5631 :
5632 :
5633 : void
5634 3121471 : MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision) {
5635 : // build the list of lanes the vehicle is lapping into
5636 3121471 : if (!myLaneChangeModel->isOpposite()) {
5637 3099805 : double leftLength = myType->getLength() - pos;
5638 3099805 : MSLane* clane = enteredLane;
5639 3099805 : int routeIndex = getRoutePosition();
5640 3199655 : while (leftLength > 0) {
5641 218432 : if (routeIndex > 0 && clane->getEdge().isNormal()) {
5642 : // get predecessor lane that corresponds to prior route
5643 4434 : routeIndex--;
5644 4434 : const MSEdge* fromRouteEdge = myRoute->getEdges()[routeIndex];
5645 : MSLane* target = clane;
5646 4434 : clane = nullptr;
5647 5804 : for (auto ili : target->getIncomingLanes()) {
5648 5797 : if (ili.lane->getEdge().getNormalBefore() == fromRouteEdge) {
5649 4427 : clane = ili.lane;
5650 4427 : break;
5651 : }
5652 : }
5653 : } else {
5654 213998 : clane = clane->getLogicalPredecessorLane();
5655 : }
5656 128988 : if (clane == nullptr || clane == myLane || clane == myLane->getBidiLane()
5657 347412 : || (clane->isInternal() && (
5658 105937 : clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN
5659 76807 : || clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN_LEFTHAND))) {
5660 : break;
5661 : }
5662 99850 : if (!collision || std::find(myFurtherLanes.begin(), myFurtherLanes.end(), clane) == myFurtherLanes.end()) {
5663 99387 : myFurtherLanes.push_back(clane);
5664 99387 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5665 99387 : clane->setPartialOccupation(this);
5666 99387 : if (clane->getBidiLane() != nullptr
5667 99387 : && (!isRailway(getVClass()) || (clane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5668 5 : clane->getBidiLane()->setPartialOccupation(this);
5669 : }
5670 : }
5671 99850 : leftLength -= clane->getLength();
5672 : }
5673 3099805 : myState.myBackPos = -leftLength;
5674 : #ifdef DEBUG_SETFURTHER
5675 : if (DEBUG_COND) {
5676 : std::cout << SIMTIME << " computeFurtherLanes veh=" << getID() << " pos=" << pos << " myFurtherLanes=" << toString(myFurtherLanes) << " backPos=" << myState.myBackPos << "\n";
5677 : }
5678 : #endif
5679 : } else {
5680 : // clear partial occupation
5681 22074 : for (MSLane* further : myFurtherLanes) {
5682 : #ifdef DEBUG_SETFURTHER
5683 : if (DEBUG_COND) {
5684 : std::cout << SIMTIME << " opposite: resetPartialOccupation " << further->getID() << " \n";
5685 : }
5686 : #endif
5687 408 : further->resetPartialOccupation(this);
5688 408 : if (further->getBidiLane() != nullptr
5689 408 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5690 0 : further->getBidiLane()->resetPartialOccupation(this);
5691 : }
5692 : }
5693 : myFurtherLanes.clear();
5694 : myFurtherLanesPosLat.clear();
5695 : }
5696 3121471 : }
5697 :
5698 :
5699 : void
5700 3121010 : MSVehicle::enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification) {
5701 3121010 : myState = State(pos, speed, posLat, pos - getVehicleType().getLength(), hasDeparted() ? myState.myPreviousSpeed : speed);
5702 3121010 : if (myDeparture == NOT_YET_DEPARTED) {
5703 3049502 : onDepart();
5704 : }
5705 3121010 : myCachedPosition = Position::INVALID;
5706 : assert(myState.myPos >= 0);
5707 : assert(myState.mySpeed >= 0);
5708 3121010 : myLane = enteredLane;
5709 3121010 : myAmOnNet = true;
5710 : // schedule action for the next timestep
5711 3121010 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + DELTA_T;
5712 3121010 : if (notification != MSMoveReminder::NOTIFICATION_TELEPORT) {
5713 3110204 : if (notification == MSMoveReminder::NOTIFICATION_PARKING && myInfluencer != nullptr) {
5714 13 : drawOutsideNetwork(false);
5715 : }
5716 : // set and activate the new lane's reminders, teleports already did that at enterLaneAtMove
5717 6513751 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5718 3403547 : addReminder(*rem);
5719 : }
5720 3110204 : activateReminders(notification, enteredLane);
5721 : } else {
5722 10806 : myLastBestLanesEdge = nullptr;
5723 10806 : myLastBestLanesInternalLane = nullptr;
5724 10806 : myLaneChangeModel->resetState();
5725 11764 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()
5726 11319 : && myStops.front().pars.endPos < pos) {
5727 0 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5728 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5729 0 : myStops.pop_front();
5730 : }
5731 : // avoid startup-effects after teleport
5732 10806 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
5733 :
5734 : }
5735 3121008 : computeFurtherLanes(enteredLane, pos);
5736 3121008 : if (MSGlobals::gLateralResolution > 0) {
5737 499466 : myLaneChangeModel->updateShadowLane();
5738 499466 : myLaneChangeModel->updateTargetLane();
5739 2621542 : } else if (MSGlobals::gLaneChangeDuration > 0) {
5740 34035 : myLaneChangeModel->updateShadowLane();
5741 : }
5742 3121008 : if (notification != MSMoveReminder::NOTIFICATION_LOAD_STATE) {
5743 3119427 : myAngle = computeAngle();
5744 3119427 : if (myLaneChangeModel->isOpposite()) {
5745 21666 : myAngle += M_PI;
5746 : }
5747 : }
5748 3121008 : if (MSNet::getInstance()->hasPersons()) {
5749 65251 : for (MSLane* further : myFurtherLanes) {
5750 745 : if (further->mustCheckJunctionCollisions()) {
5751 4 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(further);
5752 : }
5753 : }
5754 : }
5755 3121008 : }
5756 :
5757 :
5758 : void
5759 21849080 : MSVehicle::leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane) {
5760 60960835 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5761 39111755 : if (rem->first->notifyLeave(*this, myState.myPos + rem->second, reason, approachedLane)) {
5762 : #ifdef _DEBUG
5763 : if (myTraceMoveReminders) {
5764 : traceMoveReminder("notifyLeave", rem->first, rem->second, true);
5765 : }
5766 : #endif
5767 : ++rem;
5768 : } else {
5769 : #ifdef _DEBUG
5770 : if (myTraceMoveReminders) {
5771 : traceMoveReminder("notifyLeave", rem->first, rem->second, false);
5772 : }
5773 : #endif
5774 : rem = myMoveReminders.erase(rem);
5775 : }
5776 : }
5777 21849080 : if ((reason == MSMoveReminder::NOTIFICATION_JUNCTION
5778 21849080 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT
5779 4080835 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT_CONTINUATION)
5780 17774142 : && myLane != nullptr) {
5781 17774112 : myOdometer += getLane()->getLength();
5782 : }
5783 21849050 : if (myLane != nullptr && myLane->getBidiLane() != nullptr && myAmOnNet
5784 21889678 : && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5785 18248 : myLane->getBidiLane()->resetPartialOccupation(this);
5786 : }
5787 21849080 : if (reason != MSMoveReminder::NOTIFICATION_JUNCTION && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5788 : // @note. In case of lane change, myFurtherLanes and partial occupation
5789 : // are handled in enterLaneAtLaneChange()
5790 3007671 : for (MSLane* further : myFurtherLanes) {
5791 : #ifdef DEBUG_FURTHER
5792 : if (DEBUG_COND) {
5793 : std::cout << SIMTIME << " leaveLane \n";
5794 : }
5795 : #endif
5796 28981 : further->resetPartialOccupation(this);
5797 28981 : if (further->getBidiLane() != nullptr
5798 28981 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5799 0 : further->getBidiLane()->resetPartialOccupation(this);
5800 : }
5801 : }
5802 : myFurtherLanes.clear();
5803 : myFurtherLanesPosLat.clear();
5804 : }
5805 2978690 : if (reason >= MSMoveReminder::NOTIFICATION_TELEPORT) {
5806 2978690 : myAmOnNet = false;
5807 2978690 : myWaitingTime = 0;
5808 : }
5809 21849080 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && resumeFromStopping()) {
5810 542 : myStopDist = std::numeric_limits<double>::max();
5811 542 : if (myPastStops.back().speed <= 0) {
5812 972 : WRITE_WARNINGF(TL("Vehicle '%' aborts stop."), getID());
5813 : }
5814 : }
5815 21849080 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5816 20720982 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()) {
5817 971 : if (myStops.front().getSpeed() <= 0) {
5818 1962 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5819 : time2string(MSNet::getInstance()->getCurrentTimeStep()))
5820 654 : if (MSStopOut::active()) {
5821 : // clean up if stopBlocked was called
5822 6 : MSStopOut::getInstance()->stopNotStarted(this);
5823 : }
5824 654 : myStops.pop_front();
5825 : } else {
5826 : MSStop& stop = myStops.front();
5827 : // passed waypoint at the end of the lane
5828 317 : if (!stop.reached) {
5829 317 : if (MSStopOut::active()) {
5830 12 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), MSNet::getInstance()->getCurrentTimeStep());
5831 : }
5832 317 : stop.reached = true;
5833 : // enter stopping place so leaveFrom works as expected
5834 317 : if (stop.busstop != nullptr) {
5835 : // let the bus stop know the vehicle
5836 25 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5837 : }
5838 317 : if (stop.containerstop != nullptr) {
5839 : // let the container stop know the vehicle
5840 13 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5841 : }
5842 : // do not enter parkingarea!
5843 317 : if (stop.chargingStation != nullptr) {
5844 : // let the container stop know the vehicle
5845 121 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5846 : }
5847 : }
5848 317 : resumeFromStopping();
5849 : }
5850 971 : myStopDist = std::numeric_limits<double>::max();
5851 : }
5852 : }
5853 21849080 : }
5854 :
5855 :
5856 : void
5857 39518 : MSVehicle::leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane* leftLane) {
5858 161860 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5859 122342 : if (rem->first->notifyLeaveBack(*this, reason, leftLane)) {
5860 : #ifdef _DEBUG
5861 : if (myTraceMoveReminders) {
5862 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, true);
5863 : }
5864 : #endif
5865 : ++rem;
5866 : } else {
5867 : #ifdef _DEBUG
5868 : if (myTraceMoveReminders) {
5869 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, false);
5870 : }
5871 : #endif
5872 : rem = myMoveReminders.erase(rem);
5873 : }
5874 : }
5875 : #ifdef DEBUG_MOVEREMINDERS
5876 : if (DEBUG_COND) {
5877 : std::cout << SIMTIME << " veh=" << getID() << " myReminders:";
5878 : for (auto rem : myMoveReminders) {
5879 : std::cout << rem.first->getDescription() << " ";
5880 : }
5881 : std::cout << "\n";
5882 : }
5883 : #endif
5884 39518 : }
5885 :
5886 :
5887 : MSAbstractLaneChangeModel&
5888 10219185726 : MSVehicle::getLaneChangeModel() {
5889 10219185726 : return *myLaneChangeModel;
5890 : }
5891 :
5892 :
5893 : const MSAbstractLaneChangeModel&
5894 4807273385 : MSVehicle::getLaneChangeModel() const {
5895 4807273385 : return *myLaneChangeModel;
5896 : }
5897 :
5898 : bool
5899 521038 : MSVehicle::isOppositeLane(const MSLane* lane) const {
5900 521038 : return (lane->isInternal()
5901 521038 : ? & (lane->getLinkCont()[0]->getLane()->getEdge()) != *(myCurrEdge + 1)
5902 519277 : : &lane->getEdge() != *myCurrEdge);
5903 : }
5904 :
5905 : const std::vector<MSVehicle::LaneQ>&
5906 499638262 : MSVehicle::getBestLanes() const {
5907 499638262 : return *myBestLanes.begin();
5908 : }
5909 :
5910 :
5911 : void
5912 1007220853 : MSVehicle::updateBestLanes(bool forceRebuild, const MSLane* startLane) {
5913 : #ifdef DEBUG_BESTLANES
5914 : if (DEBUG_COND) {
5915 : std::cout << SIMTIME << " updateBestLanes veh=" << getID() << " force=" << forceRebuild << " startLane1=" << Named::getIDSecure(startLane) << " myLane=" << Named::getIDSecure(myLane) << "\n";
5916 : }
5917 : #endif
5918 1007220853 : if (startLane == nullptr) {
5919 961591150 : startLane = myLane;
5920 : }
5921 : assert(startLane != 0);
5922 1007220853 : if (myLaneChangeModel->isOpposite()) {
5923 : // depending on the calling context, startLane might be the forward lane
5924 : // or the reverse-direction lane. In the latter case we need to
5925 : // transform it to the forward lane.
5926 521038 : if (isOppositeLane(startLane)) {
5927 : // use leftmost lane of forward edge
5928 111030 : startLane = startLane->getEdge().getOppositeEdge()->getLanes().back();
5929 : assert(startLane != 0);
5930 : #ifdef DEBUG_BESTLANES
5931 : if (DEBUG_COND) {
5932 : std::cout << " startLaneIsOpposite newStartLane=" << startLane->getID() << "\n";
5933 : }
5934 : #endif
5935 : }
5936 : }
5937 1007220853 : if (forceRebuild) {
5938 1899724 : myLastBestLanesEdge = nullptr;
5939 1899724 : myLastBestLanesInternalLane = nullptr;
5940 : }
5941 1007220853 : if (myBestLanes.size() > 0 && !forceRebuild && myLastBestLanesEdge == &startLane->getEdge()) {
5942 979534397 : updateOccupancyAndCurrentBestLane(startLane);
5943 : #ifdef DEBUG_BESTLANES
5944 : if (DEBUG_COND) {
5945 : std::cout << " only updateOccupancyAndCurrentBestLane\n";
5946 : }
5947 : #endif
5948 979534397 : return;
5949 : }
5950 27686456 : if (startLane->getEdge().isInternal()) {
5951 12608379 : if (myBestLanes.size() == 0 || forceRebuild) {
5952 : // rebuilt from previous non-internal lane (may backtrack twice if behind an internal junction)
5953 2293 : updateBestLanes(true, startLane->getLogicalPredecessorLane());
5954 : }
5955 12608379 : if (myLastBestLanesInternalLane == startLane && !forceRebuild) {
5956 : #ifdef DEBUG_BESTLANES
5957 : if (DEBUG_COND) {
5958 : std::cout << " nothing to do on internal\n";
5959 : }
5960 : #endif
5961 : return;
5962 : }
5963 : // adapt best lanes to fit the current internal edge:
5964 : // keep the entries that are reachable from this edge
5965 4471668 : const MSEdge* nextEdge = startLane->getNextNormal();
5966 : assert(!nextEdge->isInternal());
5967 8815222 : for (std::vector<std::vector<LaneQ> >::iterator it = myBestLanes.begin(); it != myBestLanes.end();) {
5968 : std::vector<LaneQ>& lanes = *it;
5969 : assert(lanes.size() > 0);
5970 8815222 : if (&(lanes[0].lane->getEdge()) == nextEdge) {
5971 : // keep those lanes which are successors of internal lanes from the edge of startLane
5972 4471668 : std::vector<LaneQ> oldLanes = lanes;
5973 : lanes.clear();
5974 : const std::vector<MSLane*>& sourceLanes = startLane->getEdge().getLanes();
5975 10253011 : for (std::vector<MSLane*>::const_iterator it_source = sourceLanes.begin(); it_source != sourceLanes.end(); ++it_source) {
5976 9726803 : for (std::vector<LaneQ>::iterator it_lane = oldLanes.begin(); it_lane != oldLanes.end(); ++it_lane) {
5977 9726803 : if ((*it_source)->getLinkCont()[0]->getLane() == (*it_lane).lane) {
5978 5781343 : lanes.push_back(*it_lane);
5979 : break;
5980 : }
5981 : }
5982 : }
5983 : assert(lanes.size() == startLane->getEdge().getLanes().size());
5984 : // patch invalid bestLaneOffset and updated myCurrentLaneInBestLanes
5985 10253011 : for (int i = 0; i < (int)lanes.size(); ++i) {
5986 5781343 : if (i + lanes[i].bestLaneOffset < 0) {
5987 105946 : lanes[i].bestLaneOffset = -i;
5988 : }
5989 5781343 : if (i + lanes[i].bestLaneOffset >= (int)lanes.size()) {
5990 23457 : lanes[i].bestLaneOffset = (int)lanes.size() - i - 1;
5991 : }
5992 : assert(i + lanes[i].bestLaneOffset >= 0);
5993 : assert(i + lanes[i].bestLaneOffset < (int)lanes.size());
5994 5781343 : if (lanes[i].bestContinuations[0] != 0) {
5995 : // patch length of bestContinuation to match expectations (only once)
5996 5612432 : lanes[i].bestContinuations.insert(lanes[i].bestContinuations.begin(), (MSLane*)nullptr);
5997 : }
5998 5781343 : if (startLane->getLinkCont()[0]->getLane() == lanes[i].lane) {
5999 4512574 : myCurrentLaneInBestLanes = lanes.begin() + i;
6000 : }
6001 : assert(&(lanes[i].lane->getEdge()) == nextEdge);
6002 : }
6003 4471668 : myLastBestLanesInternalLane = startLane;
6004 4471668 : updateOccupancyAndCurrentBestLane(startLane);
6005 : #ifdef DEBUG_BESTLANES
6006 : if (DEBUG_COND) {
6007 : std::cout << " updated for internal\n";
6008 : }
6009 : #endif
6010 : return;
6011 4471668 : } else {
6012 : // remove passed edges
6013 4343554 : it = myBestLanes.erase(it);
6014 : }
6015 : }
6016 : assert(false); // should always find the next edge
6017 : }
6018 : // start rebuilding
6019 15078077 : myLastBestLanesInternalLane = nullptr;
6020 15078077 : myLastBestLanesEdge = &startLane->getEdge();
6021 : myBestLanes.clear();
6022 :
6023 : // get information about the next stop
6024 15078077 : MSRouteIterator nextStopEdge = myRoute->end();
6025 : const MSLane* nextStopLane = nullptr;
6026 : double nextStopPos = 0;
6027 : bool nextStopIsWaypoint = false;
6028 15078077 : if (!myStops.empty()) {
6029 : const MSStop& nextStop = myStops.front();
6030 239036 : nextStopLane = nextStop.lane;
6031 239036 : if (nextStop.isOpposite) {
6032 : // target leftmost lane in forward direction
6033 340 : nextStopLane = nextStopLane->getEdge().getOppositeEdge()->getLanes().back();
6034 : }
6035 239036 : nextStopEdge = nextStop.edge;
6036 239036 : nextStopPos = nextStop.pars.startPos;
6037 239036 : nextStopIsWaypoint = nextStop.getSpeed() > 0;
6038 : }
6039 : // myArrivalTime = -1 in the context of validating departSpeed with departLane=best
6040 15078077 : if (myParameter->arrivalLaneProcedure >= ArrivalLaneDefinition::GIVEN && nextStopEdge == myRoute->end() && myArrivalLane >= 0) {
6041 269984 : nextStopEdge = (myRoute->end() - 1);
6042 269984 : nextStopLane = (*nextStopEdge)->getLanes()[myArrivalLane];
6043 269984 : nextStopPos = myArrivalPos;
6044 : }
6045 15078077 : if (nextStopEdge != myRoute->end()) {
6046 : // make sure that the "wrong" lanes get a penalty. (penalty needs to be
6047 : // large enough to overcome a magic threshold in MSLaneChangeModel::DK2004.cpp:383)
6048 509020 : nextStopPos = MAX2(POSITION_EPS, MIN2((double)nextStopPos, (double)(nextStopLane->getLength() - 2 * POSITION_EPS)));
6049 509020 : if (nextStopLane->isInternal()) {
6050 : // switch to the correct lane before entering the intersection
6051 171 : nextStopPos = (*nextStopEdge)->getLength();
6052 : }
6053 : }
6054 :
6055 : // go forward along the next lanes;
6056 : // trains do not have to deal with lane-changing for stops but their best
6057 : // lanes lookahead is needed for rail signal control
6058 15078077 : const bool continueAfterStop = nextStopIsWaypoint || isRailway(getVClass());
6059 : int seen = 0;
6060 : double seenLength = 0;
6061 : bool progress = true;
6062 : // bestLanes must cover the braking distance even when at the very end of the current lane to avoid unecessary slow down
6063 30156154 : const double maxBrakeDist = startLane->getLength() + getCarFollowModel().getHeadwayTime() * getMaxSpeed() + getCarFollowModel().brakeGap(getMaxSpeed()) + getVehicleType().getMinGap();
6064 15078077 : const double lookahead = getLaneChangeModel().getStrategicLookahead();
6065 77590156 : for (MSRouteIterator ce = myCurrEdge; progress;) {
6066 : std::vector<LaneQ> currentLanes;
6067 : const std::vector<MSLane*>* allowed = nullptr;
6068 : const MSEdge* nextEdge = nullptr;
6069 62512079 : if (ce != myRoute->end() && ce + 1 != myRoute->end()) {
6070 51588946 : nextEdge = *(ce + 1);
6071 51588946 : allowed = (*ce)->allowedLanes(*nextEdge, myType->getVehicleClass());
6072 : }
6073 62512079 : const std::vector<MSLane*>& lanes = (*ce)->getLanes();
6074 157767549 : for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
6075 : LaneQ q;
6076 95255470 : MSLane* cl = *i;
6077 95255470 : q.lane = cl;
6078 95255470 : q.bestContinuations.push_back(cl);
6079 95255470 : q.bestLaneOffset = 0;
6080 95255470 : q.length = cl->allowsVehicleClass(myType->getVehicleClass()) ? (*ce)->getLength() : 0;
6081 95255470 : q.currentLength = q.length;
6082 : // if all lanes are forbidden (i.e. due to a dynamic closing) we want to express no preference
6083 95255470 : q.allowsContinuation = allowed == nullptr || std::find(allowed->begin(), allowed->end(), cl) != allowed->end();
6084 95255470 : q.occupation = 0;
6085 95255470 : q.nextOccupation = 0;
6086 95255470 : currentLanes.push_back(q);
6087 : }
6088 : //
6089 : if (nextStopEdge == ce
6090 : // already past the stop edge
6091 62512079 : && !(ce == myCurrEdge && myLane != nullptr && myLane->isInternal())) {
6092 501769 : if (!nextStopLane->isInternal() && !continueAfterStop) {
6093 : progress = false;
6094 : }
6095 501769 : const MSLane* normalStopLane = nextStopLane->getNormalPredecessorLane();
6096 1618831 : for (std::vector<LaneQ>::iterator q = currentLanes.begin(); q != currentLanes.end(); ++q) {
6097 1117062 : if (nextStopLane != nullptr && normalStopLane != (*q).lane) {
6098 615293 : (*q).allowsContinuation = false;
6099 615293 : (*q).length = nextStopPos;
6100 615293 : (*q).currentLength = (*q).length;
6101 : }
6102 : }
6103 : }
6104 :
6105 62512079 : myBestLanes.push_back(currentLanes);
6106 62512079 : ++seen;
6107 62512079 : seenLength += currentLanes[0].lane->getLength();
6108 : ++ce;
6109 62512079 : if (lookahead >= 0) {
6110 45 : progress &= (seen <= 2 || seenLength < lookahead); // custom (but we need to look at least one edge ahead)
6111 : } else {
6112 83360466 : progress &= (seen <= 4 || seenLength < MAX2(maxBrakeDist, 3000.0)); // motorway
6113 67276347 : progress &= (seen <= 8 || seenLength < MAX2(maxBrakeDist, 200.0) || isRailway(getVClass())); // urban
6114 : }
6115 62512079 : progress &= ce != myRoute->end();
6116 : /*
6117 : if(progress) {
6118 : progress &= (currentLanes.size()!=1||(*ce)->getLanes().size()!=1);
6119 : }
6120 : */
6121 62512079 : }
6122 :
6123 : // we are examining the last lane explicitly
6124 15078077 : if (myBestLanes.size() != 0) {
6125 : double bestLength = -1;
6126 : // minimum and maximum lane index with best length
6127 : int bestThisIndex = 0;
6128 : int bestThisMaxIndex = 0;
6129 : int index = 0;
6130 : std::vector<LaneQ>& last = myBestLanes.back();
6131 39177959 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6132 24099882 : if ((*j).length > bestLength) {
6133 : bestLength = (*j).length;
6134 : bestThisIndex = index;
6135 : bestThisMaxIndex = index;
6136 5945396 : } else if ((*j).length == bestLength) {
6137 : bestThisMaxIndex = index;
6138 : }
6139 : }
6140 : index = 0;
6141 : bool requiredChangeRightForbidden = false;
6142 : int requireChangeToLeftForbidden = -1;
6143 39177959 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6144 24099882 : if ((*j).length < bestLength) {
6145 3491443 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6146 124016 : (*j).bestLaneOffset = bestThisIndex - index;
6147 : } else {
6148 3367427 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6149 : }
6150 3491443 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6151 299722 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6152 295143 : || requiredChangeRightForbidden)) {
6153 : // this lane and all further lanes to the left cannot be used
6154 : requiredChangeRightForbidden = true;
6155 4589 : (*j).length = 0;
6156 3486854 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6157 3191680 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6158 : // this lane and all previous lanes to the right cannot be used
6159 32127 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6160 : }
6161 : }
6162 : }
6163 15110259 : for (int i = requireChangeToLeftForbidden; i >= 0; i--) {
6164 32182 : if (last[i].bestLaneOffset > 0) {
6165 32142 : last[i].length = 0;
6166 : }
6167 : }
6168 : #ifdef DEBUG_BESTLANES
6169 : if (DEBUG_COND) {
6170 : std::cout << " last edge=" << last.front().lane->getEdge().getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6171 : std::vector<LaneQ>& laneQs = myBestLanes.back();
6172 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6173 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << "\n";
6174 : }
6175 : }
6176 : #endif
6177 : }
6178 : // go backward through the lanes
6179 : // track back best lane and compute the best prior lane(s)
6180 62512079 : for (std::vector<std::vector<LaneQ> >::reverse_iterator i = myBestLanes.rbegin() + 1; i != myBestLanes.rend(); ++i) {
6181 : std::vector<LaneQ>& nextLanes = (*(i - 1));
6182 : std::vector<LaneQ>& clanes = (*i);
6183 47434002 : MSEdge* const cE = &clanes[0].lane->getEdge();
6184 : int index = 0;
6185 : double bestConnectedLength = -1;
6186 : double bestLength = -1;
6187 117988650 : for (const LaneQ& j : nextLanes) {
6188 141109296 : if (j.lane->isApproachedFrom(cE) && bestConnectedLength < j.length) {
6189 : bestConnectedLength = j.length;
6190 : }
6191 70554648 : if (bestLength < j.length) {
6192 : bestLength = j.length;
6193 : }
6194 : }
6195 : // compute index of the best lane (highest length and least offset from the best next lane)
6196 : int bestThisIndex = 0;
6197 : int bestThisMaxIndex = 0;
6198 47434002 : if (bestConnectedLength > 0) {
6199 : index = 0;
6200 118567652 : for (LaneQ& j : clanes) {
6201 : const LaneQ* bestConnectedNext = nullptr;
6202 71141852 : if (j.allowsContinuation) {
6203 170482067 : for (const LaneQ& m : nextLanes) {
6204 117894006 : if ((m.lane->allowsVehicleClass(getVClass()) || m.lane->hadPermissionChanges())
6205 108561365 : && m.lane->isApproachedFrom(cE, j.lane)) {
6206 63732189 : if (betterContinuation(bestConnectedNext, m)) {
6207 : bestConnectedNext = &m;
6208 : }
6209 : }
6210 : }
6211 61975952 : if (bestConnectedNext != nullptr) {
6212 61975948 : if (bestConnectedNext->length == bestConnectedLength && abs(bestConnectedNext->bestLaneOffset) < 2) {
6213 60297231 : j.length += bestLength;
6214 : } else {
6215 1678717 : j.length += bestConnectedNext->length;
6216 : }
6217 61975948 : j.bestLaneOffset = bestConnectedNext->bestLaneOffset;
6218 : }
6219 : }
6220 61975948 : if (bestConnectedNext != nullptr && (bestConnectedNext->allowsContinuation || bestConnectedNext->length > 0)) {
6221 61950687 : copy(bestConnectedNext->bestContinuations.begin(), bestConnectedNext->bestContinuations.end(), back_inserter(j.bestContinuations));
6222 : } else {
6223 9191165 : j.allowsContinuation = false;
6224 : }
6225 71141852 : if (clanes[bestThisIndex].length < j.length
6226 64460738 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) > abs(j.bestLaneOffset))
6227 196021387 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset) &&
6228 60548628 : nextLinkPriority(clanes[bestThisIndex].bestContinuations) < nextLinkPriority(j.bestContinuations))
6229 : ) {
6230 : bestThisIndex = index;
6231 : bestThisMaxIndex = index;
6232 64319131 : } else if (clanes[bestThisIndex].length == j.length
6233 60536979 : && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset)
6234 124855983 : && nextLinkPriority(clanes[bestThisIndex].bestContinuations) == nextLinkPriority(j.bestContinuations)) {
6235 : bestThisMaxIndex = index;
6236 : }
6237 71141852 : index++;
6238 : }
6239 :
6240 : //vehicle with elecHybrid device prefers running under an overhead wire
6241 47425800 : if (getDevice(typeid(MSDevice_ElecHybrid)) != nullptr) {
6242 : index = 0;
6243 221 : for (const LaneQ& j : clanes) {
6244 159 : std::string overheadWireSegmentID = MSNet::getInstance()->getStoppingPlaceID(j.lane, j.currentLength / 2., SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6245 159 : if (overheadWireSegmentID != "") {
6246 : bestThisIndex = index;
6247 : bestThisMaxIndex = index;
6248 : }
6249 159 : index++;
6250 : }
6251 : }
6252 :
6253 : } else {
6254 : // only needed in case of disconnected routes
6255 : int bestNextIndex = 0;
6256 8202 : int bestDistToNeeded = (int) clanes.size();
6257 : index = 0;
6258 21938 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6259 13736 : if ((*j).allowsContinuation) {
6260 : int nextIndex = 0;
6261 30304 : for (std::vector<LaneQ>::const_iterator m = nextLanes.begin(); m != nextLanes.end(); ++m, ++nextIndex) {
6262 16766 : if ((*m).lane->isApproachedFrom(cE, (*j).lane)) {
6263 5893 : if (bestDistToNeeded > abs((*m).bestLaneOffset)) {
6264 : bestDistToNeeded = abs((*m).bestLaneOffset);
6265 : bestThisIndex = index;
6266 : bestThisMaxIndex = index;
6267 : bestNextIndex = nextIndex;
6268 : }
6269 : }
6270 : }
6271 : }
6272 : }
6273 8202 : clanes[bestThisIndex].length += nextLanes[bestNextIndex].length;
6274 8202 : copy(nextLanes[bestNextIndex].bestContinuations.begin(), nextLanes[bestNextIndex].bestContinuations.end(), back_inserter(clanes[bestThisIndex].bestContinuations));
6275 :
6276 : }
6277 : // set bestLaneOffset for all lanes
6278 : index = 0;
6279 : bool requiredChangeRightForbidden = false;
6280 : int requireChangeToLeftForbidden = -1;
6281 118589590 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6282 71155588 : if ((*j).length < clanes[bestThisIndex].length
6283 60312894 : || ((*j).length == clanes[bestThisIndex].length && abs((*j).bestLaneOffset) > abs(clanes[bestThisIndex].bestLaneOffset))
6284 131468278 : || (nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)
6285 : ) {
6286 11017967 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6287 732342 : (*j).bestLaneOffset = bestThisIndex - index;
6288 : } else {
6289 10285625 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6290 : }
6291 11017967 : if ((nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)) {
6292 : // try to move away from the lower-priority lane before it ends
6293 9386234 : (*j).length = (*j).currentLength;
6294 : }
6295 11017967 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6296 3478014 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6297 3462489 : || requiredChangeRightForbidden)) {
6298 : // this lane and all further lanes to the left cannot be used
6299 : requiredChangeRightForbidden = true;
6300 32861 : if ((*j).length == (*j).currentLength) {
6301 29837 : (*j).length = 0;
6302 : }
6303 10985106 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6304 7483046 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6305 : // this lane and all previous lanes to the right cannot be used
6306 95459 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6307 : }
6308 : } else {
6309 60137621 : (*j).bestLaneOffset = 0;
6310 : }
6311 : }
6312 47538673 : for (int idx = requireChangeToLeftForbidden; idx >= 0; idx--) {
6313 104671 : if (clanes[idx].length == clanes[idx].currentLength) {
6314 98997 : clanes[idx].length = 0;
6315 : };
6316 : }
6317 :
6318 : //vehicle with elecHybrid device prefers running under an overhead wire
6319 47434002 : if (static_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid))) != 0) {
6320 : index = 0;
6321 62 : std::string overheadWireID = MSNet::getInstance()->getStoppingPlaceID(clanes[bestThisIndex].lane, (clanes[bestThisIndex].currentLength) / 2, SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6322 62 : if (overheadWireID != "") {
6323 211 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6324 153 : (*j).bestLaneOffset = bestThisIndex - index;
6325 : }
6326 : }
6327 : }
6328 :
6329 : #ifdef DEBUG_BESTLANES
6330 : if (DEBUG_COND) {
6331 : std::cout << " edge=" << cE->getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6332 : std::vector<LaneQ>& laneQs = clanes;
6333 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6334 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << " allowCont=" << (*j).allowsContinuation << "\n";
6335 : }
6336 : }
6337 : #endif
6338 :
6339 : }
6340 15078077 : updateOccupancyAndCurrentBestLane(startLane);
6341 : #ifdef DEBUG_BESTLANES
6342 : if (DEBUG_COND) {
6343 : std::cout << SIMTIME << " veh=" << getID() << " bestCont=" << toString(getBestLanesContinuation()) << "\n";
6344 : }
6345 : #endif
6346 : }
6347 :
6348 : void
6349 250 : MSVehicle::updateLaneBruttoSum() {
6350 250 : if (myLane != nullptr) {
6351 250 : myLane->markRecalculateBruttoSum();
6352 : }
6353 250 : }
6354 :
6355 : bool
6356 63732189 : MSVehicle::betterContinuation(const LaneQ* bestConnectedNext, const LaneQ& m) const {
6357 63732189 : if (bestConnectedNext == nullptr) {
6358 : return true;
6359 1756241 : } else if (m.lane->getBidiLane() != nullptr && bestConnectedNext->lane->getBidiLane() == nullptr) {
6360 : return false;
6361 1755503 : } else if (bestConnectedNext->lane->getBidiLane() != nullptr && m.lane->getBidiLane() == nullptr) {
6362 : return true;
6363 1755503 : } else if (bestConnectedNext->length < m.length) {
6364 : return true;
6365 1505069 : } else if (bestConnectedNext->length == m.length) {
6366 1127267 : if (abs(bestConnectedNext->bestLaneOffset) > abs(m.bestLaneOffset)) {
6367 : return true;
6368 : }
6369 1029512 : const double contRight = getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_CONTRIGHT, 1);
6370 : if (contRight < 1
6371 : // if we don't check for adjacency, the rightmost line will get
6372 : // multiple chances to be better which leads to an uninituitve distribution
6373 1006 : && (m.lane->getIndex() - bestConnectedNext->lane->getIndex()) == 1
6374 1030291 : && RandHelper::rand(getRNG()) > contRight) {
6375 : return true;
6376 : }
6377 : }
6378 : return false;
6379 : }
6380 :
6381 :
6382 : int
6383 384832274 : MSVehicle::nextLinkPriority(const std::vector<MSLane*>& conts) {
6384 384832274 : if (conts.size() < 2) {
6385 : return -1;
6386 : } else {
6387 352041893 : const MSLink* const link = conts[0]->getLinkTo(conts[1]);
6388 352041893 : if (link != nullptr) {
6389 352035557 : return link->havePriority() ? 1 : 0;
6390 : } else {
6391 : // disconnected route
6392 : return -1;
6393 : }
6394 : }
6395 : }
6396 :
6397 :
6398 : void
6399 999084142 : MSVehicle::updateOccupancyAndCurrentBestLane(const MSLane* startLane) {
6400 : std::vector<LaneQ>& currLanes = *myBestLanes.begin();
6401 : std::vector<LaneQ>::iterator i;
6402 2785108390 : for (i = currLanes.begin(); i != currLanes.end(); ++i) {
6403 : double nextOccupation = 0;
6404 4212690599 : for (std::vector<MSLane*>::const_iterator j = (*i).bestContinuations.begin() + 1; j != (*i).bestContinuations.end(); ++j) {
6405 2426666351 : nextOccupation += (*j)->getBruttoVehLenSum();
6406 : }
6407 1786024248 : (*i).nextOccupation = nextOccupation;
6408 : #ifdef DEBUG_BESTLANES
6409 : if (DEBUG_COND) {
6410 : std::cout << " lane=" << (*i).lane->getID() << " nextOccupation=" << nextOccupation << "\n";
6411 : }
6412 : #endif
6413 1786024248 : if ((*i).lane == startLane) {
6414 994612445 : myCurrentLaneInBestLanes = i;
6415 : }
6416 : }
6417 999084142 : }
6418 :
6419 :
6420 : const std::vector<MSLane*>&
6421 1986962139 : MSVehicle::getBestLanesContinuation() const {
6422 1986962139 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6423 : return myEmptyLaneVector;
6424 : }
6425 1986962139 : return (*myCurrentLaneInBestLanes).bestContinuations;
6426 : }
6427 :
6428 :
6429 : const std::vector<MSLane*>&
6430 64318611 : MSVehicle::getBestLanesContinuation(const MSLane* const l) const {
6431 : const MSLane* lane = l;
6432 : // XXX: shouldn't this be a "while" to cover more than one internal lane? (Leo) Refs. #2575
6433 64318611 : if (lane->getEdge().isInternal()) {
6434 : // internal edges are not kept inside the bestLanes structure
6435 4713097 : lane = lane->getLinkCont()[0]->getLane();
6436 : }
6437 64318611 : if (myBestLanes.size() == 0) {
6438 : return myEmptyLaneVector;
6439 : }
6440 105513718 : for (std::vector<LaneQ>::const_iterator i = myBestLanes[0].begin(); i != myBestLanes[0].end(); ++i) {
6441 105501609 : if ((*i).lane == lane) {
6442 64306502 : return (*i).bestContinuations;
6443 : }
6444 : }
6445 : return myEmptyLaneVector;
6446 : }
6447 :
6448 : const std::vector<const MSLane*>
6449 286513 : MSVehicle::getUpcomingLanesUntil(double distance) const {
6450 : std::vector<const MSLane*> lanes;
6451 :
6452 286513 : if (distance <= 0. || hasArrived()) {
6453 : // WRITE_WARNINGF(TL("MSVehicle::getUpcomingLanesUntil(): distance ('%') should be greater than 0."), distance);
6454 : return lanes;
6455 : }
6456 :
6457 286305 : if (!myLaneChangeModel->isOpposite()) {
6458 282979 : distance += getPositionOnLane();
6459 : } else {
6460 3326 : distance += myLane->getOppositePos(getPositionOnLane());
6461 : }
6462 286305 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6463 294342 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6464 8037 : lanes.insert(lanes.end(), lane);
6465 8037 : distance -= lane->getLength();
6466 13519 : lane = lane->getLinkCont().front()->getViaLaneOrLane();
6467 : }
6468 :
6469 286305 : const std::vector<MSLane*>& contLanes = getBestLanesContinuation();
6470 286305 : if (contLanes.empty()) {
6471 : return lanes;
6472 : }
6473 : auto contLanesIt = contLanes.begin();
6474 286305 : MSRouteIterator routeIt = myCurrEdge; // keep track of covered edges in myRoute
6475 613080 : while (distance > 0.) {
6476 334586 : MSLane* l = nullptr;
6477 334586 : if (contLanesIt != contLanes.end()) {
6478 318688 : l = *contLanesIt;
6479 : if (l != nullptr) {
6480 : assert(l->getEdge().getID() == (*routeIt)->getLanes().front()->getEdge().getID());
6481 : }
6482 : ++contLanesIt;
6483 318688 : if (l != nullptr || myLane->isInternal()) {
6484 : ++routeIt;
6485 : }
6486 318688 : if (l == nullptr) {
6487 5478 : continue;
6488 : }
6489 15898 : } else if (routeIt != myRoute->end()) { // bestLanes didn't get us far enough
6490 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6491 8976 : l = (*routeIt)->getLanes().back();
6492 : ++routeIt;
6493 : } else { // the search distance goes beyond our route
6494 : break;
6495 : }
6496 :
6497 : assert(l != nullptr);
6498 :
6499 : // insert internal lanes if applicable
6500 322186 : const MSLane* internalLane = lanes.size() > 0 ? lanes.back()->getInternalFollowingLane(l) : nullptr;
6501 366343 : while ((internalLane != nullptr) && internalLane->isInternal() && (distance > 0.)) {
6502 44157 : lanes.insert(lanes.end(), internalLane);
6503 44157 : distance -= internalLane->getLength();
6504 70570 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6505 : }
6506 322186 : if (distance <= 0.) {
6507 : break;
6508 : }
6509 :
6510 321297 : lanes.insert(lanes.end(), l);
6511 321297 : distance -= l->getLength();
6512 : }
6513 :
6514 : return lanes;
6515 0 : }
6516 :
6517 : const std::vector<const MSLane*>
6518 6689 : MSVehicle::getPastLanesUntil(double distance) const {
6519 : std::vector<const MSLane*> lanes;
6520 :
6521 6689 : if (distance <= 0.) {
6522 : // WRITE_WARNINGF(TL("MSVehicle::getPastLanesUntil(): distance ('%') should be greater than 0."), distance);
6523 : return lanes;
6524 : }
6525 :
6526 6581 : MSRouteIterator routeIt = myCurrEdge;
6527 6581 : if (!myLaneChangeModel->isOpposite()) {
6528 6557 : distance += myLane->getLength() - getPositionOnLane();
6529 : } else {
6530 24 : distance += myLane->getParallelOpposite()->getLength() - myLane->getOppositePos(getPositionOnLane());
6531 : }
6532 6581 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6533 6602 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6534 21 : lanes.insert(lanes.end(), lane);
6535 21 : distance -= lane->getLength();
6536 21 : lane = lane->getLogicalPredecessorLane();
6537 : }
6538 :
6539 10123 : while (distance > 0.) {
6540 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6541 8789 : MSLane* l = (*routeIt)->getLanes().back();
6542 :
6543 : // insert internal lanes if applicable
6544 8789 : const MSEdge* internalEdge = lanes.size() > 0 ? (*routeIt)->getInternalFollowingEdge(&(lanes.back()->getEdge()), getVClass()) : nullptr;
6545 8810 : const MSLane* internalLane = internalEdge != nullptr ? internalEdge->getLanes().front() : nullptr;
6546 : std::vector<const MSLane*> internalLanes;
6547 11011 : while ((internalLane != nullptr) && internalLane->isInternal()) { // collect all internal successor lanes
6548 2222 : internalLanes.insert(internalLanes.begin(), internalLane);
6549 4430 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6550 : }
6551 11011 : for (auto it = internalLanes.begin(); (it != internalLanes.end()) && (distance > 0.); ++it) { // check remaining distance in correct order
6552 2222 : lanes.insert(lanes.end(), *it);
6553 2222 : distance -= (*it)->getLength();
6554 : }
6555 8789 : if (distance <= 0.) {
6556 : break;
6557 : }
6558 :
6559 8773 : lanes.insert(lanes.end(), l);
6560 8773 : distance -= l->getLength();
6561 :
6562 : // NOTE: we're going backwards with the (bi-directional) Iterator
6563 : // TODO: consider make reverse_iterator() when moving on to C++14 or later
6564 8773 : if (routeIt != myRoute->begin()) {
6565 : --routeIt;
6566 : } else { // we went backwards to begin() and already processed the first and final element
6567 : break;
6568 : }
6569 8789 : }
6570 :
6571 : return lanes;
6572 0 : }
6573 :
6574 :
6575 : const std::vector<MSLane*>
6576 6353 : MSVehicle::getUpstreamOppositeLanes() const {
6577 6353 : const std::vector<const MSLane*> routeLanes = getPastLanesUntil(myLane->getMaximumBrakeDist());
6578 : std::vector<MSLane*> result;
6579 15437 : for (const MSLane* lane : routeLanes) {
6580 9855 : MSLane* opposite = lane->getOpposite();
6581 9855 : if (opposite != nullptr) {
6582 9084 : result.push_back(opposite);
6583 : } else {
6584 : break;
6585 : }
6586 : }
6587 6353 : return result;
6588 6353 : }
6589 :
6590 :
6591 : int
6592 295987967 : MSVehicle::getBestLaneOffset() const {
6593 295987967 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6594 : return 0;
6595 : } else {
6596 295433258 : return (*myCurrentLaneInBestLanes).bestLaneOffset;
6597 : }
6598 : }
6599 :
6600 : double
6601 19949 : MSVehicle::getBestLaneDist() const {
6602 19949 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6603 : return -1;
6604 : } else {
6605 19949 : return (*myCurrentLaneInBestLanes).length;
6606 : }
6607 : }
6608 :
6609 :
6610 :
6611 : void
6612 629238888 : MSVehicle::adaptBestLanesOccupation(int laneIndex, double density) {
6613 : std::vector<MSVehicle::LaneQ>& preb = myBestLanes.front();
6614 : assert(laneIndex < (int)preb.size());
6615 629238888 : preb[laneIndex].occupation = density + preb[laneIndex].nextOccupation;
6616 629238888 : }
6617 :
6618 :
6619 : void
6620 62886 : MSVehicle::fixPosition() {
6621 62886 : if (MSGlobals::gLaneChangeDuration > 0 && !myLaneChangeModel->isChangingLanes()) {
6622 33628 : myState.myPosLat = 0;
6623 : }
6624 62886 : }
6625 :
6626 : std::pair<const MSLane*, double>
6627 255 : MSVehicle::getLanePosAfterDist(double distance) const {
6628 255 : if (distance == 0) {
6629 227 : return std::make_pair(myLane, getPositionOnLane());
6630 : }
6631 28 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(distance);
6632 28 : distance += getPositionOnLane();
6633 28 : for (const MSLane* lane : lanes) {
6634 28 : if (lane->getLength() > distance) {
6635 : return std::make_pair(lane, distance);
6636 : }
6637 0 : distance -= lane->getLength();
6638 : }
6639 0 : return std::make_pair(nullptr, -1);
6640 28 : }
6641 :
6642 :
6643 : double
6644 16920 : MSVehicle::getDistanceToPosition(double destPos, const MSLane* destLane) const {
6645 16920 : if (isOnRoad() && destLane != nullptr) {
6646 16874 : return myRoute->getDistanceBetween(getPositionOnLane(), destPos, myLane, destLane);
6647 : }
6648 : return std::numeric_limits<double>::max();
6649 : }
6650 :
6651 :
6652 : std::pair<const MSVehicle* const, double>
6653 76411359 : MSVehicle::getLeader(double dist, bool considerCrossingFoes) const {
6654 76411359 : if (myLane == nullptr) {
6655 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6656 : }
6657 76411359 : if (dist == 0) {
6658 2474 : dist = getCarFollowModel().brakeGap(getSpeed()) + getVehicleType().getMinGap();
6659 : }
6660 : const MSVehicle* lead = nullptr;
6661 76411359 : const MSLane* lane = myLane; // ensure lane does not change between getVehiclesSecure and releaseVehicles;
6662 76411359 : const MSLane::VehCont& vehs = lane->getVehiclesSecure();
6663 : // vehicle might be outside the road network
6664 76411359 : MSLane::VehCont::const_iterator it = std::find(vehs.begin(), vehs.end(), this);
6665 76411359 : if (it != vehs.end() && it + 1 != vehs.end()) {
6666 72698458 : lead = *(it + 1);
6667 : }
6668 72698458 : if (lead != nullptr) {
6669 : std::pair<const MSVehicle* const, double> result(
6670 72698458 : lead, lead->getBackPositionOnLane(myLane) - getPositionOnLane() - getVehicleType().getMinGap());
6671 72698458 : lane->releaseVehicles();
6672 72698458 : return result;
6673 : }
6674 3712901 : const double seen = myLane->getLength() - getPositionOnLane();
6675 3712901 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(myLane);
6676 3712901 : std::pair<const MSVehicle* const, double> result = myLane->getLeaderOnConsecutive(dist, seen, getSpeed(), *this, bestLaneConts, considerCrossingFoes);
6677 3712900 : lane->releaseVehicles();
6678 3712900 : return result;
6679 : }
6680 :
6681 :
6682 : std::pair<const MSVehicle* const, double>
6683 2419056 : MSVehicle::getFollower(double dist) const {
6684 2419056 : if (myLane == nullptr) {
6685 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6686 : }
6687 2419056 : if (dist == 0) {
6688 748173 : dist = getCarFollowModel().brakeGap(myLane->getEdge().getSpeedLimit() * 2, 4.5, 0);
6689 : }
6690 2419056 : return myLane->getFollower(this, getPositionOnLane(), dist, MSLane::MinorLinkMode::FOLLOW_NEVER);
6691 : }
6692 :
6693 :
6694 : double
6695 0 : MSVehicle::getTimeGapOnLane() const {
6696 : // calling getLeader with 0 would induce a dist calculation but we only want to look for the leaders on the current lane
6697 0 : std::pair<const MSVehicle* const, double> leaderInfo = getLeader(-1);
6698 0 : if (leaderInfo.first == nullptr || getSpeed() == 0) {
6699 0 : return -1;
6700 : }
6701 0 : return (leaderInfo.second + getVehicleType().getMinGap()) / getSpeed();
6702 : }
6703 :
6704 :
6705 : void
6706 4285993 : MSVehicle::addTransportable(MSTransportable* transportable) {
6707 4285993 : MSBaseVehicle::addTransportable(transportable);
6708 11069 : if (myStops.size() > 0 && myStops.front().reached) {
6709 7877 : if (transportable->isPerson()) {
6710 7298 : if (myStops.front().triggered && myStops.front().numExpectedPerson > 0) {
6711 1503 : myStops.front().numExpectedPerson -= (int)myStops.front().pars.awaitedPersons.count(transportable->getID());
6712 : }
6713 : } else {
6714 579 : if (myStops.front().pars.containerTriggered && myStops.front().numExpectedContainer > 0) {
6715 20 : myStops.front().numExpectedContainer -= (int)myStops.front().pars.awaitedContainers.count(transportable->getID());
6716 : }
6717 : }
6718 : }
6719 11069 : }
6720 :
6721 :
6722 : void
6723 672930356 : MSVehicle::setBlinkerInformation() {
6724 : switchOffSignal(VEH_SIGNAL_BLINKER_RIGHT | VEH_SIGNAL_BLINKER_LEFT);
6725 672930356 : int state = myLaneChangeModel->getOwnState();
6726 : // do not set blinker for sublane changes or when blocked from changing to the right
6727 672930356 : const bool blinkerManoeuvre = (((state & LCA_SUBLANE) == 0) && (
6728 583087171 : (state & LCA_KEEPRIGHT) == 0 || (state & LCA_BLOCKED) == 0));
6729 : Signalling left = VEH_SIGNAL_BLINKER_LEFT;
6730 : Signalling right = VEH_SIGNAL_BLINKER_RIGHT;
6731 672930356 : if (MSGlobals::gLefthand) {
6732 : // lane indices increase from left to right
6733 : std::swap(left, right);
6734 : }
6735 672930356 : if ((state & LCA_LEFT) != 0 && blinkerManoeuvre) {
6736 19402654 : switchOnSignal(left);
6737 653527702 : } else if ((state & LCA_RIGHT) != 0 && blinkerManoeuvre) {
6738 5591166 : switchOnSignal(right);
6739 647936536 : } else if (myLaneChangeModel->isChangingLanes()) {
6740 248224 : if (myLaneChangeModel->getLaneChangeDirection() == 1) {
6741 159156 : switchOnSignal(left);
6742 : } else {
6743 89068 : switchOnSignal(right);
6744 : }
6745 : } else {
6746 647688312 : const MSLane* lane = getLane();
6747 647688312 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, 1, *lane, getBestLanesContinuation());
6748 647688312 : if (link != lane->getLinkCont().end() && lane->getLength() - getPositionOnLane() < lane->getVehicleMaxSpeed(this) * (double) 7.) {
6749 153333944 : switch ((*link)->getDirection()) {
6750 : case LinkDirection::TURN:
6751 : case LinkDirection::LEFT:
6752 : case LinkDirection::PARTLEFT:
6753 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT);
6754 : break;
6755 : case LinkDirection::RIGHT:
6756 : case LinkDirection::PARTRIGHT:
6757 : switchOnSignal(VEH_SIGNAL_BLINKER_RIGHT);
6758 : break;
6759 : default:
6760 : break;
6761 : }
6762 : }
6763 : }
6764 : // stopping related signals
6765 672930356 : if (hasStops()
6766 672930356 : && (myStops.begin()->reached ||
6767 14479522 : (myStopDist < (myLane->getLength() - getPositionOnLane())
6768 4901585 : && myStopDist < getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this), getCarFollowModel().getMaxDecel(), 3)))) {
6769 16671343 : if (myStops.begin()->lane->getIndex() > 0 && myStops.begin()->lane->getParallelLane(-1)->allowsVehicleClass(getVClass())) {
6770 : // not stopping on the right. Activate emergency blinkers
6771 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT | VEH_SIGNAL_BLINKER_RIGHT);
6772 16440022 : } else if (!myStops.begin()->reached && (myStops.begin()->pars.parking == ParkingType::OFFROAD)) {
6773 : // signal upcoming parking stop on the current lane when within braking distance (~2 seconds before braking)
6774 1493052 : switchOnSignal(MSGlobals::gLefthand ? VEH_SIGNAL_BLINKER_LEFT : VEH_SIGNAL_BLINKER_RIGHT);
6775 : }
6776 : }
6777 672930356 : if (myInfluencer != nullptr && myInfluencer->getSignals() >= 0) {
6778 15 : mySignals = myInfluencer->getSignals();
6779 : myInfluencer->setSignals(-1); // overwrite computed signals only once
6780 : }
6781 672930356 : }
6782 :
6783 : void
6784 85919 : MSVehicle::setEmergencyBlueLight(SUMOTime currentTime) {
6785 :
6786 : //TODO look if timestep ist SIMSTEP
6787 85919 : if (currentTime % 1000 == 0) {
6788 26126 : if (signalSet(VEH_SIGNAL_EMERGENCY_BLUE)) {
6789 : switchOffSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6790 : } else {
6791 : switchOnSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6792 : }
6793 : }
6794 85919 : }
6795 :
6796 :
6797 : int
6798 21192126 : MSVehicle::getLaneIndex() const {
6799 21192126 : return myLane == nullptr ? -1 : myLane->getIndex();
6800 : }
6801 :
6802 :
6803 : void
6804 13096636 : MSVehicle::setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat) {
6805 13096636 : myLane = lane;
6806 13096636 : myState.myPos = pos;
6807 13096636 : myState.myPosLat = posLat;
6808 13096636 : myState.myBackPos = pos - getVehicleType().getLength();
6809 13096636 : }
6810 :
6811 :
6812 : double
6813 384535320 : MSVehicle::getRightSideOnLane() const {
6814 384535320 : return myState.myPosLat + 0.5 * myLane->getWidth() - 0.5 * getVehicleType().getWidth();
6815 : }
6816 :
6817 :
6818 : double
6819 379257560 : MSVehicle::getLeftSideOnLane() const {
6820 379257560 : return myState.myPosLat + 0.5 * myLane->getWidth() + 0.5 * getVehicleType().getWidth();
6821 : }
6822 :
6823 :
6824 : double
6825 303836318 : MSVehicle::getRightSideOnLane(const MSLane* lane) const {
6826 303836318 : return myState.myPosLat + 0.5 * lane->getWidth() - 0.5 * getVehicleType().getWidth();
6827 : }
6828 :
6829 :
6830 : double
6831 303347706 : MSVehicle::getLeftSideOnLane(const MSLane* lane) const {
6832 303347706 : return myState.myPosLat + 0.5 * lane->getWidth() + 0.5 * getVehicleType().getWidth();
6833 : }
6834 :
6835 :
6836 : double
6837 242364464 : MSVehicle::getRightSideOnEdge(const MSLane* lane) const {
6838 242364464 : return getCenterOnEdge(lane) - 0.5 * getVehicleType().getWidth();
6839 : }
6840 :
6841 :
6842 : double
6843 29636389 : MSVehicle::getLeftSideOnEdge(const MSLane* lane) const {
6844 29636389 : return getCenterOnEdge(lane) + 0.5 * getVehicleType().getWidth();
6845 : }
6846 :
6847 :
6848 : double
6849 710409380 : MSVehicle::getCenterOnEdge(const MSLane* lane) const {
6850 710409380 : if (lane == nullptr || &lane->getEdge() == &myLane->getEdge()) {
6851 709958176 : return myLane->getRightSideOnEdge() + myState.myPosLat + 0.5 * myLane->getWidth();
6852 451204 : } else if (lane == myLaneChangeModel->getShadowLane()) {
6853 13696 : if (myLaneChangeModel->isOpposite() && &lane->getEdge() != &myLane->getEdge()) {
6854 13689 : return lane->getRightSideOnEdge() + lane->getWidth() - myState.myPosLat + 0.5 * myLane->getWidth();
6855 : }
6856 7 : if (myLaneChangeModel->getShadowDirection() == -1) {
6857 0 : return lane->getRightSideOnEdge() + lane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6858 : } else {
6859 7 : return lane->getRightSideOnEdge() - myLane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6860 : }
6861 437508 : } else if (lane == myLane->getBidiLane()) {
6862 1679 : return lane->getRightSideOnEdge() - myState.myPosLat + 0.5 * lane->getWidth();
6863 : } else {
6864 : assert(myFurtherLanes.size() == myFurtherLanesPosLat.size());
6865 509321 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6866 485919 : if (myFurtherLanes[i] == lane) {
6867 : #ifdef DEBUG_FURTHER
6868 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat=" << myFurtherLanesPosLat[i]
6869 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6870 : << "\n";
6871 : #endif
6872 412354 : return lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6873 73565 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6874 : #ifdef DEBUG_FURTHER
6875 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat(bidi)=" << myFurtherLanesPosLat[i]
6876 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6877 : << "\n";
6878 : #endif
6879 73 : return lane->getRightSideOnEdge() - myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6880 : }
6881 : }
6882 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6883 23402 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6884 23617 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6885 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
6886 23617 : if (shadowFurther[i] == lane) {
6887 : assert(myLaneChangeModel->getShadowLane() != 0);
6888 23402 : return (lane->getRightSideOnEdge() + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] + 0.5 * lane->getWidth()
6889 23402 : + (myLane->getCenterOnEdge() - myLaneChangeModel->getShadowLane()->getCenterOnEdge()));
6890 : }
6891 : }
6892 : assert(false);
6893 0 : throw ProcessError("Request lateral pos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
6894 : }
6895 : }
6896 :
6897 :
6898 : double
6899 3359167368 : MSVehicle::getLatOffset(const MSLane* lane) const {
6900 : assert(lane != 0);
6901 3359167368 : if (&lane->getEdge() == &myLane->getEdge()) {
6902 3306507030 : return myLane->getRightSideOnEdge() - lane->getRightSideOnEdge();
6903 52660338 : } else if (myLane->getParallelOpposite() == lane) {
6904 2172104 : return (myLane->getWidth() + lane->getWidth()) * 0.5 - 2 * getLateralPositionOnLane();
6905 50488234 : } else if (myLane->getBidiLane() == lane) {
6906 188780 : return -2 * getLateralPositionOnLane();
6907 : } else {
6908 : // Check whether the lane is a further lane for the vehicle
6909 59722066 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6910 58795622 : if (myFurtherLanes[i] == lane) {
6911 : #ifdef DEBUG_FURTHER
6912 : if (DEBUG_COND) {
6913 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherLat=" << myFurtherLanesPosLat[i] << "\n";
6914 : }
6915 : #endif
6916 49343585 : return myFurtherLanesPosLat[i] - myState.myPosLat;
6917 9452037 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6918 : #ifdef DEBUG_FURTHER
6919 : if (DEBUG_COND) {
6920 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
6921 : }
6922 : #endif
6923 29425 : return -2 * (myFurtherLanesPosLat[i] - myState.myPosLat);
6924 : }
6925 : }
6926 : #ifdef DEBUG_FURTHER
6927 : if (DEBUG_COND) {
6928 : std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6929 : }
6930 : #endif
6931 : // Check whether the lane is a "shadow further lane" for the vehicle
6932 926444 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6933 938446 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6934 935953 : if (shadowFurther[i] == lane) {
6935 : #ifdef DEBUG_FURTHER
6936 : if (DEBUG_COND) std::cout << " getLatOffset veh=" << getID()
6937 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
6938 : << " lane=" << lane->getID()
6939 : << " i=" << i
6940 : << " posLat=" << myState.myPosLat
6941 : << " shadowPosLat=" << getLatOffset(myLaneChangeModel->getShadowLane())
6942 : << " shadowFurtherLat=" << myLaneChangeModel->getShadowFurtherLanesPosLat()[i]
6943 : << "\n";
6944 : #endif
6945 923951 : return getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
6946 : }
6947 : }
6948 : // Check whether the vehicle issued a maneuverReservation on the lane.
6949 : const std::vector<MSLane*>& furtherTargets = myLaneChangeModel->getFurtherTargetLanes();
6950 2934 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6951 : // Further target lanes are just neighboring lanes of the vehicle's further lanes, @see MSAbstractLaneChangeModel::updateTargetLane()
6952 2933 : MSLane* targetLane = furtherTargets[i];
6953 2933 : if (targetLane == lane) {
6954 2492 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
6955 2492 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
6956 : #ifdef DEBUG_TARGET_LANE
6957 : if (DEBUG_COND) {
6958 : std::cout << " getLatOffset veh=" << getID()
6959 : << " wrt targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
6960 : << "\n i=" << i
6961 : << " posLat=" << myState.myPosLat
6962 : << " furtherPosLat=" << myFurtherLanesPosLat[i]
6963 : << " maneuverDist=" << myLaneChangeModel->getManeuverDist()
6964 : << " targetDir=" << targetDir
6965 : << " latOffset=" << latOffset
6966 : << std::endl;
6967 : }
6968 : #endif
6969 2492 : return latOffset;
6970 : }
6971 : }
6972 : assert(false);
6973 6 : throw ProcessError("Request lateral offset of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
6974 : }
6975 : }
6976 :
6977 :
6978 : double
6979 35548686 : MSVehicle::lateralDistanceToLane(const int offset) const {
6980 : // compute the distance when changing to the neighboring lane
6981 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
6982 : assert(offset == 0 || offset == 1 || offset == -1);
6983 : assert(myLane != nullptr);
6984 : assert(myLane->getParallelLane(offset) != nullptr || myLane->getParallelOpposite() != nullptr);
6985 35548686 : const double halfCurrentLaneWidth = 0.5 * myLane->getWidth();
6986 35548686 : const double halfVehWidth = 0.5 * (getWidth() + NUMERICAL_EPS);
6987 35548686 : const double latPos = getLateralPositionOnLane();
6988 35548686 : const double oppositeSign = getLaneChangeModel().isOpposite() ? -1 : 1;
6989 35548686 : double leftLimit = halfCurrentLaneWidth - halfVehWidth - oppositeSign * latPos;
6990 35548686 : double rightLimit = -halfCurrentLaneWidth + halfVehWidth - oppositeSign * latPos;
6991 : double latLaneDist = 0; // minimum distance to move the vehicle fully onto the new lane
6992 35548686 : if (offset == 0) {
6993 10 : if (latPos + halfVehWidth > halfCurrentLaneWidth) {
6994 : // correct overlapping left
6995 5 : latLaneDist = halfCurrentLaneWidth - latPos - halfVehWidth;
6996 5 : } else if (latPos - halfVehWidth < -halfCurrentLaneWidth) {
6997 : // correct overlapping right
6998 5 : latLaneDist = -halfCurrentLaneWidth - latPos + halfVehWidth;
6999 : }
7000 10 : latLaneDist *= oppositeSign;
7001 35548676 : } else if (offset == -1) {
7002 15641279 : latLaneDist = rightLimit - (getWidth() + NUMERICAL_EPS);
7003 19907397 : } else if (offset == 1) {
7004 19907397 : latLaneDist = leftLimit + (getWidth() + NUMERICAL_EPS);
7005 : }
7006 : #ifdef DEBUG_ACTIONSTEPS
7007 : if (DEBUG_COND) {
7008 : std::cout << SIMTIME
7009 : << " veh=" << getID()
7010 : << " halfCurrentLaneWidth=" << halfCurrentLaneWidth
7011 : << " halfVehWidth=" << halfVehWidth
7012 : << " latPos=" << latPos
7013 : << " latLaneDist=" << latLaneDist
7014 : << " leftLimit=" << leftLimit
7015 : << " rightLimit=" << rightLimit
7016 : << "\n";
7017 : }
7018 : #endif
7019 35548686 : return latLaneDist;
7020 : }
7021 :
7022 :
7023 : double
7024 5055560400 : MSVehicle::getLateralOverlap(double posLat, const MSLane* lane) const {
7025 5055560400 : return (fabs(posLat) + 0.5 * getVehicleType().getWidth()
7026 5055560400 : - 0.5 * lane->getWidth());
7027 : }
7028 :
7029 : double
7030 0 : MSVehicle::getLateralOverlap(const MSLane* lane) const {
7031 0 : return getLateralOverlap(getLateralPositionOnLane(), lane);
7032 : }
7033 :
7034 : double
7035 4868386638 : MSVehicle::getLateralOverlap() const {
7036 4868386638 : return getLateralOverlap(getLateralPositionOnLane(), myLane);
7037 : }
7038 :
7039 :
7040 : void
7041 616189015 : MSVehicle::removeApproachingInformation(const DriveItemVector& lfLinks) const {
7042 1770949597 : for (const DriveProcessItem& dpi : lfLinks) {
7043 1154760582 : if (dpi.myLink != nullptr) {
7044 809220194 : dpi.myLink->removeApproaching(this);
7045 : }
7046 : }
7047 : // unregister on all shadow links
7048 616189015 : myLaneChangeModel->removeShadowApproachingInformation();
7049 616189015 : }
7050 :
7051 :
7052 : bool
7053 800276 : MSVehicle::unsafeLinkAhead(const MSLane* lane, double zipperDist) const {
7054 : // the following links are unsafe:
7055 : // - zipper links if they are close enough and have approaching vehicles in the relevant time range
7056 : // - unprioritized links if the vehicle is currently approaching a prioritzed link and unable to stop in time
7057 800276 : double seen = myLane->getLength() - getPositionOnLane();
7058 800276 : const double dist = MAX2(zipperDist, getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0));
7059 800276 : if (seen < dist) {
7060 70693 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(lane);
7061 : int view = 1;
7062 70693 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7063 : DriveItemVector::const_iterator di = myLFLinkLanes.begin();
7064 117122 : while (!lane->isLinkEnd(link) && seen <= dist) {
7065 70621 : if ((!lane->isInternal()
7066 48272 : && (((*link)->getState() == LINKSTATE_ZIPPER && seen < (*link)->getFoeVisibilityDistance())
7067 26078 : || !(*link)->havePriority()))
7068 96519 : || (lane->isInternal() && zipperDist > 0)) {
7069 : // find the drive item corresponding to this link
7070 : bool found = false;
7071 51359 : while (di != myLFLinkLanes.end() && !found) {
7072 26615 : if ((*di).myLink != nullptr) {
7073 : const MSLane* diPredLane = (*di).myLink->getLaneBefore();
7074 26615 : if (diPredLane != nullptr) {
7075 26615 : if (&diPredLane->getEdge() == &lane->getEdge()) {
7076 : found = true;
7077 : }
7078 : }
7079 : }
7080 26615 : if (!found) {
7081 : di++;
7082 : }
7083 : }
7084 24744 : if (found) {
7085 24744 : const SUMOTime leaveTime = (*link)->getLeaveTime((*di).myArrivalTime, (*di).myArrivalSpeed,
7086 24744 : (*di).getLeaveSpeed(), getVehicleType().getLength());
7087 24744 : const MSLink* entry = (*link)->getCorrespondingEntryLink();
7088 : //if (DEBUG_COND) {
7089 : // 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";
7090 : //}
7091 24744 : if (entry->hasApproachingFoe((*di).myArrivalTime, leaveTime, (*di).myArrivalSpeed, getCarFollowModel().getMaxDecel())) {
7092 : //std::cout << SIMTIME << " veh=" << getID() << " aborting changeTo=" << Named::getIDSecure(bestLaneConts.front()) << " linkState=" << toString((*link)->getState()) << " seen=" << seen << " dist=" << dist << "\n";
7093 : return true;
7094 : }
7095 : }
7096 : // no drive item is found if the vehicle aborts its request within dist
7097 : }
7098 46429 : lane = (*link)->getViaLaneOrLane();
7099 46429 : if (!lane->getEdge().isInternal()) {
7100 24370 : view++;
7101 : }
7102 46429 : seen += lane->getLength();
7103 46429 : link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7104 : }
7105 : }
7106 : return false;
7107 : }
7108 :
7109 :
7110 : PositionVector
7111 6686724 : MSVehicle::getBoundingBox(double offset) const {
7112 6686724 : PositionVector centerLine;
7113 6686724 : Position pos = getPosition();
7114 6686724 : centerLine.push_back(pos);
7115 6686724 : switch (myType->getGuiShape()) {
7116 1730 : case SUMOVehicleShape::BUS_FLEXIBLE:
7117 : case SUMOVehicleShape::RAIL:
7118 : case SUMOVehicleShape::RAIL_CAR:
7119 : case SUMOVehicleShape::RAIL_CARGO:
7120 : case SUMOVehicleShape::TRUCK_SEMITRAILER:
7121 : case SUMOVehicleShape::TRUCK_1TRAILER: {
7122 4460 : for (MSLane* lane : myFurtherLanes) {
7123 2730 : centerLine.push_back(lane->getShape().back());
7124 : }
7125 : break;
7126 : }
7127 : default:
7128 : break;
7129 : }
7130 6686724 : double l = getLength();
7131 6686724 : Position backPos = getBackPosition();
7132 6686724 : if (pos.distanceTo2D(backPos) > l + NUMERICAL_EPS) {
7133 : // getBackPosition may not match the visual back in networks without internal lanes
7134 361890 : double a = getAngle() + M_PI; // angle pointing backwards
7135 361890 : backPos = pos + Position(l * cos(a), l * sin(a));
7136 : }
7137 6686724 : centerLine.push_back(backPos);
7138 6686724 : if (offset != 0) {
7139 6543 : centerLine.extrapolate2D(offset);
7140 : }
7141 : PositionVector result = centerLine;
7142 13369158 : result.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7143 13369158 : centerLine.move2side(MIN2(0.0, -0.5 * myType->getWidth() - offset));
7144 6686724 : result.append(centerLine.reverse(), POSITION_EPS);
7145 6686724 : return result;
7146 6686724 : }
7147 :
7148 :
7149 : PositionVector
7150 73840 : MSVehicle::getBoundingPoly(double offset) const {
7151 73840 : switch (myType->getGuiShape()) {
7152 73356 : case SUMOVehicleShape::PASSENGER:
7153 : case SUMOVehicleShape::PASSENGER_SEDAN:
7154 : case SUMOVehicleShape::PASSENGER_HATCHBACK:
7155 : case SUMOVehicleShape::PASSENGER_WAGON:
7156 : case SUMOVehicleShape::PASSENGER_VAN: {
7157 : // box with corners cut off
7158 73356 : PositionVector result;
7159 73356 : PositionVector centerLine;
7160 73356 : centerLine.push_back(getPosition());
7161 73356 : centerLine.push_back(getBackPosition());
7162 73356 : if (offset != 0) {
7163 1600 : centerLine.extrapolate2D(offset);
7164 : }
7165 : PositionVector line1 = centerLine;
7166 : PositionVector line2 = centerLine;
7167 146712 : line1.move2side(MAX2(0.0, 0.3 * myType->getWidth() + offset));
7168 146712 : line2.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7169 73356 : line2.scaleRelative(0.8);
7170 73356 : result.push_back(line1[0]);
7171 73356 : result.push_back(line2[0]);
7172 73356 : result.push_back(line2[1]);
7173 73356 : result.push_back(line1[1]);
7174 146712 : line1.move2side(MIN2(0.0, -0.6 * myType->getWidth() - offset));
7175 146712 : line2.move2side(MIN2(0.0, -1.0 * myType->getWidth() - offset));
7176 73356 : result.push_back(line1[1]);
7177 73356 : result.push_back(line2[1]);
7178 73356 : result.push_back(line2[0]);
7179 73356 : result.push_back(line1[0]);
7180 : return result;
7181 73356 : }
7182 484 : default:
7183 484 : return getBoundingBox();
7184 : }
7185 : }
7186 :
7187 :
7188 : bool
7189 550718 : MSVehicle::onFurtherEdge(const MSEdge* edge) const {
7190 638198 : for (std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
7191 183168 : if (&(*i)->getEdge() == edge) {
7192 : return true;
7193 : }
7194 : }
7195 : return false;
7196 : }
7197 :
7198 :
7199 : bool
7200 7642767172 : MSVehicle::isBidiOn(const MSLane* lane) const {
7201 7643858537 : return lane->getBidiLane() != nullptr && (
7202 1091365 : myLane == lane->getBidiLane()
7203 550718 : || onFurtherEdge(&lane->getBidiLane()->getEdge()));
7204 : }
7205 :
7206 :
7207 : bool
7208 20 : MSVehicle::rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg) {
7209 : // this function is based on MSTriggeredRerouter::rerouteParkingArea in order to keep
7210 : // consistency in the behaviour.
7211 :
7212 : // get vehicle params
7213 20 : MSParkingArea* destParkArea = getNextParkingArea();
7214 20 : const MSRoute& route = getRoute();
7215 20 : const MSEdge* lastEdge = route.getLastEdge();
7216 :
7217 20 : if (destParkArea == nullptr) {
7218 : // not driving towards a parking area
7219 0 : errorMsg = "Vehicle " + getID() + " is not driving to a parking area so it cannot be rerouted.";
7220 0 : return false;
7221 : }
7222 :
7223 : // if the current route ends at the parking area, the new route will also and at the new area
7224 20 : bool newDestination = (&destParkArea->getLane().getEdge() == route.getLastEdge()
7225 10 : && getArrivalPos() >= destParkArea->getBeginLanePosition()
7226 30 : && getArrivalPos() <= destParkArea->getEndLanePosition());
7227 :
7228 : // retrieve info on the new parking area
7229 20 : MSParkingArea* newParkingArea = (MSParkingArea*) MSNet::getInstance()->getStoppingPlace(
7230 : parkingAreaID, SumoXMLTag::SUMO_TAG_PARKING_AREA);
7231 :
7232 20 : if (newParkingArea == nullptr) {
7233 0 : errorMsg = "Parking area ID " + toString(parkingAreaID) + " not found in the network.";
7234 0 : return false;
7235 : }
7236 :
7237 20 : const MSEdge* newEdge = &(newParkingArea->getLane().getEdge());
7238 20 : SUMOAbstractRouter<MSEdge, SUMOVehicle>& router = getRouterTT();
7239 :
7240 : // Compute the route from the current edge to the parking area edge
7241 : ConstMSEdgeVector edgesToPark;
7242 20 : router.compute(getEdge(), getPositionOnLane(), newEdge, newParkingArea->getEndLanePosition(), this, MSNet::getInstance()->getCurrentTimeStep(), edgesToPark);
7243 :
7244 : // Compute the route from the parking area edge to the end of the route
7245 : ConstMSEdgeVector edgesFromPark;
7246 20 : if (!newDestination) {
7247 15 : router.compute(newEdge, lastEdge, this, MSNet::getInstance()->getCurrentTimeStep(), edgesFromPark);
7248 : } else {
7249 : // adapt plans of any riders
7250 10 : for (MSTransportable* p : getPersons()) {
7251 5 : p->rerouteParkingArea(getNextParkingArea(), newParkingArea);
7252 : }
7253 : }
7254 :
7255 : // we have a new destination, let's replace the vehicle route
7256 20 : ConstMSEdgeVector edges = edgesToPark;
7257 20 : if (edgesFromPark.size() > 0) {
7258 15 : edges.insert(edges.end(), edgesFromPark.begin() + 1, edgesFromPark.end());
7259 : }
7260 :
7261 20 : if (newDestination) {
7262 5 : SUMOVehicleParameter* newParameter = new SUMOVehicleParameter();
7263 5 : *newParameter = getParameter();
7264 5 : newParameter->arrivalPosProcedure = ArrivalPosDefinition::GIVEN;
7265 5 : newParameter->arrivalPos = newParkingArea->getEndLanePosition();
7266 5 : replaceParameter(newParameter);
7267 : }
7268 20 : const double routeCost = router.recomputeCosts(edges, this, MSNet::getInstance()->getCurrentTimeStep());
7269 20 : ConstMSEdgeVector prevEdges(myCurrEdge, myRoute->end());
7270 20 : const double savings = router.recomputeCosts(prevEdges, this, MSNet::getInstance()->getCurrentTimeStep());
7271 20 : if (replaceParkingArea(newParkingArea, errorMsg)) {
7272 20 : const bool onInit = myLane == nullptr;
7273 40 : replaceRouteEdges(edges, routeCost, savings, "TraCI:" + toString(SUMO_TAG_PARKING_AREA_REROUTE), onInit, false, false);
7274 : } else {
7275 0 : WRITE_WARNING("Vehicle '" + getID() + "' could not reroute to new parkingArea '" + newParkingArea->getID()
7276 : + "' reason=" + errorMsg + ", time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
7277 0 : return false;
7278 : }
7279 20 : return true;
7280 20 : }
7281 :
7282 :
7283 : bool
7284 45126 : MSVehicle::addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) {
7285 45126 : const int numStops = (int)myStops.size();
7286 45126 : const bool result = MSBaseVehicle::addTraciStop(stop, errorMsg);
7287 45126 : if (myLane != nullptr && numStops != (int)myStops.size()) {
7288 43544 : updateBestLanes(true);
7289 : }
7290 45126 : return result;
7291 : }
7292 :
7293 :
7294 : bool
7295 3345 : MSVehicle::handleCollisionStop(MSStop& stop, const double distToStop) {
7296 3345 : if (myCurrEdge == stop.edge && distToStop + POSITION_EPS < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0)) {
7297 1552 : if (distToStop < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)) {
7298 1110 : double vNew = getCarFollowModel().maximumSafeStopSpeed(distToStop, getCarFollowModel().getMaxDecel(), getSpeed(), false, 0);
7299 : //std::cout << SIMTIME << " veh=" << getID() << " v=" << myState.mySpeed << " distToStop=" << distToStop
7300 : // << " vMinNex=" << getCarFollowModel().minNextSpeed(getSpeed(), this)
7301 : // << " bg1=" << getCarFollowModel().brakeGap(myState.mySpeed)
7302 : // << " bg2=" << getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)
7303 : // << " vNew=" << vNew
7304 : // << "\n";
7305 1110 : myState.mySpeed = MIN2(myState.mySpeed, vNew + ACCEL2SPEED(getCarFollowModel().getEmergencyDecel()));
7306 1110 : myState.myPos = MIN2(myState.myPos, stop.pars.endPos);
7307 1110 : myCachedPosition = Position::INVALID;
7308 1110 : if (myState.myPos < myType->getLength()) {
7309 463 : computeFurtherLanes(myLane, myState.myPos, true);
7310 463 : myAngle = computeAngle();
7311 463 : if (myLaneChangeModel->isOpposite()) {
7312 0 : myAngle += M_PI;
7313 : }
7314 : }
7315 : }
7316 : }
7317 3345 : return true;
7318 : }
7319 :
7320 :
7321 : bool
7322 21879980 : MSVehicle::resumeFromStopping() {
7323 21879980 : if (isStopped()) {
7324 46538 : if (myAmRegisteredAsWaiting) {
7325 114 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
7326 114 : myAmRegisteredAsWaiting = false;
7327 : }
7328 : MSStop& stop = myStops.front();
7329 : // we have waited long enough and fulfilled any passenger-requirements
7330 46538 : if (stop.busstop != nullptr) {
7331 : // inform bus stop about leaving it
7332 17929 : stop.busstop->leaveFrom(this);
7333 : }
7334 : // we have waited long enough and fulfilled any container-requirements
7335 46538 : if (stop.containerstop != nullptr) {
7336 : // inform container stop about leaving it
7337 542 : stop.containerstop->leaveFrom(this);
7338 : }
7339 46538 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
7340 : // inform parking area about leaving it
7341 7530 : stop.parkingarea->leaveFrom(this);
7342 : }
7343 46538 : if (stop.chargingStation != nullptr) {
7344 : // inform charging station about leaving it
7345 3327 : stop.chargingStation->leaveFrom(this);
7346 : }
7347 : // the current stop is no longer valid
7348 46538 : myLane->getEdge().removeWaiting(this);
7349 : // MSStopOut needs to know whether the stop had a loaded 'ended' value so we call this before replacing the value
7350 46538 : if (stop.pars.started == -1) {
7351 : // waypoint edge was passed in a single step
7352 317 : stop.pars.started = MSNet::getInstance()->getCurrentTimeStep();
7353 : }
7354 46538 : if (MSStopOut::active()) {
7355 3657 : MSStopOut::getInstance()->stopEnded(this, stop.pars, stop.lane->getID());
7356 : }
7357 46538 : stop.pars.ended = MSNet::getInstance()->getCurrentTimeStep();
7358 102408 : for (const auto& rem : myMoveReminders) {
7359 55870 : rem.first->notifyStopEnded();
7360 : }
7361 46538 : if (stop.pars.collision && MSLane::getCollisionAction() == MSLane::COLLISION_ACTION_WARN) {
7362 458 : myCollisionImmunity = TIME2STEPS(5); // leave the conflict area
7363 : }
7364 46538 : if (stop.pars.posLat != INVALID_DOUBLE && MSGlobals::gLateralResolution <= 0) {
7365 : // reset lateral position to default
7366 207 : myState.myPosLat = 0;
7367 : }
7368 46538 : myPastStops.push_back(stop.pars);
7369 46538 : myPastStops.back().routeIndex = (int)(stop.edge - myRoute->begin());
7370 46538 : myStops.pop_front();
7371 46538 : myStopDist = std::numeric_limits<double>::max();
7372 : // do not count the stopping time towards gridlock time.
7373 : // Other outputs use an independent counter and are not affected.
7374 46538 : myWaitingTime = 0;
7375 : // maybe the next stop is on the same edge; let's rebuild best lanes
7376 46538 : updateBestLanes(true);
7377 : // continue as wished...
7378 46538 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::ENDING_STOP);
7379 46538 : MSNet::getInstance()->getVehicleControl().registerStopEnded();
7380 46538 : return true;
7381 : }
7382 : return false;
7383 : }
7384 :
7385 :
7386 : MSVehicle::Influencer&
7387 4584096 : MSVehicle::getInfluencer() {
7388 4584096 : if (myInfluencer == nullptr) {
7389 3562 : myInfluencer = new Influencer();
7390 : }
7391 4584096 : return *myInfluencer;
7392 : }
7393 :
7394 : MSVehicle::BaseInfluencer&
7395 24 : MSVehicle::getBaseInfluencer() {
7396 24 : return getInfluencer();
7397 : }
7398 :
7399 :
7400 : const MSVehicle::Influencer*
7401 0 : MSVehicle::getInfluencer() const {
7402 0 : return myInfluencer;
7403 : }
7404 :
7405 : const MSVehicle::BaseInfluencer*
7406 237678 : MSVehicle::getBaseInfluencer() const {
7407 237678 : return myInfluencer;
7408 : }
7409 :
7410 :
7411 : double
7412 4090 : MSVehicle::getSpeedWithoutTraciInfluence() const {
7413 4090 : if (myInfluencer != nullptr && myInfluencer->getOriginalSpeed() >= 0) {
7414 : // influencer original speed is -1 on initialization
7415 1666 : return myInfluencer->getOriginalSpeed();
7416 : }
7417 2424 : return myState.mySpeed;
7418 : }
7419 :
7420 :
7421 : int
7422 976475149 : MSVehicle::influenceChangeDecision(int state) {
7423 976475149 : if (hasInfluencer()) {
7424 2831674 : state = getInfluencer().influenceChangeDecision(
7425 : MSNet::getInstance()->getCurrentTimeStep(),
7426 2831674 : myLane->getEdge(),
7427 : getLaneIndex(),
7428 : state);
7429 : }
7430 976475149 : return state;
7431 : }
7432 :
7433 :
7434 : void
7435 7775 : MSVehicle::setRemoteState(Position xyPos) {
7436 7775 : myCachedPosition = xyPos;
7437 7775 : }
7438 :
7439 :
7440 : bool
7441 765178631 : MSVehicle::isRemoteControlled() const {
7442 765178631 : return myInfluencer != nullptr && myInfluencer->isRemoteControlled();
7443 : }
7444 :
7445 :
7446 : bool
7447 20926 : MSVehicle::wasRemoteControlled(SUMOTime lookBack) const {
7448 20926 : return myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() + lookBack >= MSNet::getInstance()->getCurrentTimeStep();
7449 : }
7450 :
7451 :
7452 : bool
7453 485646154 : MSVehicle::keepClear(const MSLink* link) const {
7454 485646154 : if (link->hasFoes() && link->keepClear() /* && item.myLink->willHaveBlockedFoe()*/) {
7455 155132870 : const double keepClearTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_KEEPCLEAR_TIME, -1);
7456 : //std::cout << SIMTIME << " veh=" << getID() << " keepClearTime=" << keepClearTime << " accWait=" << getAccumulatedWaitingSeconds() << " keepClear=" << (keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime) << "\n";
7457 156555019 : return keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime;
7458 : } else {
7459 : return false;
7460 : }
7461 : }
7462 :
7463 :
7464 : bool
7465 681961191 : MSVehicle::ignoreRed(const MSLink* link, bool canBrake) const {
7466 681961191 : if ((myInfluencer != nullptr && !myInfluencer->getEmergencyBrakeRedLight())) {
7467 : return true;
7468 : }
7469 681653346 : const double ignoreRedTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME, -1);
7470 : #ifdef DEBUG_IGNORE_RED
7471 : if (DEBUG_COND) {
7472 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID() << " state=" << toString(link->getState()) << "\n";
7473 : }
7474 : #endif
7475 681653346 : if (ignoreRedTime < 0) {
7476 681647947 : const double ignoreYellowTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_YELLOW_TIME, 0);
7477 681647947 : if (ignoreYellowTime > 0 && link->haveYellow()) {
7478 : assert(link->getTLLogic() != 0);
7479 52 : const double yellowDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7480 : // when activating ignoreYellow behavior, vehicles will drive if they cannot brake
7481 92 : return !canBrake || ignoreYellowTime > yellowDuration;
7482 : } else {
7483 : return false;
7484 : }
7485 5399 : } else if (link->haveYellow()) {
7486 : // always drive at yellow when ignoring red
7487 : return true;
7488 5243 : } else if (link->haveRed()) {
7489 : assert(link->getTLLogic() != 0);
7490 3832 : const double redDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7491 : #ifdef DEBUG_IGNORE_RED
7492 : if (DEBUG_COND) {
7493 : std::cout
7494 : // << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID()
7495 : << " ignoreRedTime=" << ignoreRedTime
7496 : << " spentRed=" << redDuration
7497 : << " canBrake=" << canBrake << "\n";
7498 : }
7499 : #endif
7500 : // when activating ignoreRed behavior, vehicles will always drive if they cannot brake
7501 6356 : return !canBrake || ignoreRedTime > redDuration;
7502 : } else {
7503 : return false;
7504 : }
7505 : }
7506 :
7507 : bool
7508 1256860538 : MSVehicle::ignoreFoe(const SUMOTrafficObject* foe) const {
7509 1256860538 : if (!getParameter().wasSet(VEHPARS_CFMODEL_PARAMS_SET)) {
7510 : return false;
7511 : }
7512 2768 : for (const std::string& typeID : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_TYPES), "")).getVector()) {
7513 398 : if (typeID == foe->getVehicleType().getID()) {
7514 : return true;
7515 : }
7516 1384 : }
7517 2381 : for (const std::string& id : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_IDS), "")).getVector()) {
7518 986 : if (id == foe->getID()) {
7519 : return true;
7520 : }
7521 986 : }
7522 409 : return false;
7523 : }
7524 :
7525 : bool
7526 525915010 : MSVehicle::passingMinor() const {
7527 : // either on an internal lane that was entered via minor link
7528 : // or on approach to minor link below visibility distance
7529 525915010 : if (myLane == nullptr) {
7530 : return false;
7531 : }
7532 525915010 : if (myLane->getEdge().isInternal()) {
7533 8440069 : return !myLane->getIncomingLanes().front().viaLink->havePriority();
7534 517474941 : } else if (myLFLinkLanes.size() > 0 && myLFLinkLanes.front().myLink != nullptr) {
7535 : MSLink* link = myLFLinkLanes.front().myLink;
7536 262803937 : return !link->havePriority() && myLFLinkLanes.front().myDistance <= link->getFoeVisibilityDistance();
7537 : }
7538 : return false;
7539 : }
7540 :
7541 : bool
7542 20115550 : MSVehicle::isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const {
7543 : assert(link->fromInternalLane());
7544 20115550 : if (veh == nullptr) {
7545 : return false;
7546 : }
7547 20115550 : if (!myLane->isInternal() || myLane->getEdge().getToJunction() != link->getJunction()) {
7548 : // if this vehicle is not yet on the junction, every vehicle is a leader
7549 : return true;
7550 : }
7551 1817268 : if (veh->getLaneChangeModel().hasBlueLight()) {
7552 : // blue light device automatically gets right of way
7553 : return true;
7554 : }
7555 1817000 : const MSLane* foeLane = veh->getLane();
7556 1817000 : if (foeLane->isInternal()) {
7557 1349645 : if (foeLane->getEdge().getFromJunction() == link->getJunction()) {
7558 1331805 : SUMOTime egoET = myJunctionConflictEntryTime;
7559 1331805 : SUMOTime foeET = veh->myJunctionEntryTime;
7560 : // check relationship between link and foeLane
7561 1331805 : if (foeLane->getNormalPredecessorLane() == link->getInternalLaneBefore()->getNormalPredecessorLane()) {
7562 : // we are entering the junction from the same lane
7563 442151 : egoET = myJunctionEntryTimeNeverYield;
7564 442151 : foeET = veh->myJunctionEntryTimeNeverYield;
7565 442151 : if (link->isExitLinkAfterInternalJunction() && link->getInternalLaneBefore()->getLogicalPredecessorLane()->getEntryLink()->isIndirect()) {
7566 91632 : egoET = myJunctionConflictEntryTime;
7567 : }
7568 : } else {
7569 889654 : const MSLink* foeLink = foeLane->getIncomingLanes()[0].viaLink;
7570 889654 : const MSJunctionLogic* logic = link->getJunction()->getLogic();
7571 : assert(logic != nullptr);
7572 : // determine who has right of way
7573 : bool response; // ego response to foe
7574 : bool response2; // foe response to ego
7575 : // attempt 1: tlLinkState
7576 889654 : const MSLink* entry = link->getCorrespondingEntryLink();
7577 889654 : const MSLink* foeEntry = foeLink->getCorrespondingEntryLink();
7578 889654 : if (entry->haveRed() || foeEntry->haveRed()) {
7579 : // ensure that vehicles which are stuck on the intersection may exit
7580 117970 : if (!foeEntry->haveRed() && veh->getSpeed() > SUMO_const_haltingSpeed && gap < 0) {
7581 : // foe might be oncoming, don't drive unless foe can still brake safely
7582 12518 : const double foeNextSpeed = veh->getSpeed() + ACCEL2SPEED(veh->getCarFollowModel().getMaxAccel());
7583 12518 : const double foeBrakeGap = veh->getCarFollowModel().brakeGap(
7584 12518 : foeNextSpeed, veh->getCarFollowModel().getMaxDecel(), veh->getCarFollowModel().getHeadwayTime());
7585 : // the minGap was subtracted from gap in MSLink::getLeaderInfo (enlarging the negative gap)
7586 : // so the -2* makes it point in the right direction
7587 12518 : const double foeGap = -gap - veh->getLength() - 2 * getVehicleType().getMinGap();
7588 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7589 : if (DEBUG_COND) {
7590 : std::cout << " foeGap=" << foeGap << " foeBGap=" << foeBrakeGap << "\n";
7591 :
7592 : }
7593 : #endif
7594 12518 : if (foeGap < foeBrakeGap) {
7595 : response = true;
7596 : response2 = false;
7597 : } else {
7598 : response = false;
7599 : response2 = true;
7600 : }
7601 : } else {
7602 : // let conflict entry time decide
7603 : response = true;
7604 : response2 = true;
7605 : }
7606 771684 : } else if (entry->havePriority() != foeEntry->havePriority()) {
7607 562137 : response = !entry->havePriority();
7608 562137 : response2 = !foeEntry->havePriority();
7609 209547 : } else if (entry->haveYellow() && foeEntry->haveYellow()) {
7610 : // let the faster vehicle keep moving
7611 5192 : response = veh->getSpeed() >= getSpeed();
7612 5192 : response2 = getSpeed() >= veh->getSpeed();
7613 : } else {
7614 : // fallback if pedestrian crossings are involved
7615 204355 : response = logic->getResponseFor(link->getIndex()).test(foeLink->getIndex());
7616 204355 : response2 = logic->getResponseFor(foeLink->getIndex()).test(link->getIndex());
7617 : }
7618 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7619 : if (DEBUG_COND) {
7620 : std::cout << SIMTIME
7621 : << " foeLane=" << foeLane->getID()
7622 : << " foeLink=" << foeLink->getViaLaneOrLane()->getID()
7623 : << " linkIndex=" << link->getIndex()
7624 : << " foeLinkIndex=" << foeLink->getIndex()
7625 : << " entryState=" << toString(entry->getState())
7626 : << " entryState2=" << toString(foeEntry->getState())
7627 : << " response=" << response
7628 : << " response2=" << response2
7629 : << "\n";
7630 : }
7631 : #endif
7632 889654 : if (!response) {
7633 : // if we have right of way over the foe, entryTime does not matter
7634 83324 : foeET = veh->myJunctionConflictEntryTime;
7635 83324 : egoET = myJunctionEntryTime;
7636 806330 : } else if (response && response2) {
7637 : // in a mutual conflict scenario, use entry time to avoid deadlock
7638 128784 : foeET = veh->myJunctionConflictEntryTime;
7639 128784 : egoET = myJunctionConflictEntryTime;
7640 : }
7641 : }
7642 1331805 : if (egoET == foeET) {
7643 : // try to use speed as tie braker
7644 125803 : if (getSpeed() == veh->getSpeed()) {
7645 : // use ID as tie braker
7646 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7647 : if (DEBUG_COND) {
7648 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7649 : << " foeIsLeaderByID=" << (getID() < veh->getID()) << "\n";
7650 : }
7651 : #endif
7652 62728 : return getID() < veh->getID();
7653 : } else {
7654 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7655 : if (DEBUG_COND) {
7656 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7657 : << " foeIsLeaderBySpeed=" << (getSpeed() < veh->getSpeed())
7658 : << " v=" << getSpeed() << " foeV=" << veh->getSpeed()
7659 : << "\n";
7660 : }
7661 : #endif
7662 63075 : return getSpeed() < veh->getSpeed();
7663 : }
7664 : } else {
7665 : // leader was on the junction first
7666 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7667 : if (DEBUG_COND) {
7668 : std::cout << SIMTIME << " veh=" << getID() << " egoET " << egoET << " with foe " << veh->getID()
7669 : << " foeET=" << foeET << " isLeader=" << (egoET > foeET) << "\n";
7670 : }
7671 : #endif
7672 1206002 : return egoET > foeET;
7673 : }
7674 : } else {
7675 : // vehicle can only be partially on the junction. Must be a leader
7676 : return true;
7677 : }
7678 : } else {
7679 : // vehicle can only be partially on the junction. Must be a leader
7680 : return true;
7681 : }
7682 : }
7683 :
7684 : void
7685 2479 : MSVehicle::saveState(OutputDevice& out) {
7686 2479 : MSBaseVehicle::saveState(out);
7687 : // here starts the vehicle internal part (see loading)
7688 : std::vector<std::string> internals;
7689 2479 : internals.push_back(toString(myParameter->parametersSet));
7690 2479 : internals.push_back(toString(myDeparture));
7691 2479 : internals.push_back(toString(distance(myRoute->begin(), myCurrEdge)));
7692 2479 : internals.push_back(toString(myDepartPos));
7693 2479 : internals.push_back(toString(myWaitingTime));
7694 2479 : internals.push_back(toString(myTimeLoss));
7695 2479 : internals.push_back(toString(myLastActionTime));
7696 2479 : internals.push_back(toString(isStopped()));
7697 2479 : internals.push_back(toString(myPastStops.size()));
7698 2479 : out.writeAttr(SUMO_ATTR_STATE, internals);
7699 2479 : out.writeAttr(SUMO_ATTR_POSITION, std::vector<double> { myState.myPos, myState.myBackPos, myState.myLastCoveredDist });
7700 2479 : out.writeAttr(SUMO_ATTR_SPEED, std::vector<double> { myState.mySpeed, myState.myPreviousSpeed });
7701 2479 : out.writeAttr(SUMO_ATTR_ANGLE, GeomHelper::naviDegree(myAngle));
7702 2479 : out.writeAttr(SUMO_ATTR_POSITION_LAT, myState.myPosLat);
7703 2479 : out.writeAttr(SUMO_ATTR_WAITINGTIME, myWaitingTimeCollector.getState());
7704 2479 : myLaneChangeModel->saveState(out);
7705 : // save past stops
7706 5445 : for (SUMOVehicleParameter::Stop stop : myPastStops) {
7707 2966 : stop.write(out, false);
7708 : // do not write started and ended twice
7709 2966 : if ((stop.parametersSet & STOP_STARTED_SET) == 0) {
7710 5922 : out.writeAttr(SUMO_ATTR_STARTED, time2string(stop.started));
7711 : }
7712 2966 : if ((stop.parametersSet & STOP_ENDED_SET) == 0) {
7713 5922 : out.writeAttr(SUMO_ATTR_ENDED, time2string(stop.ended));
7714 : }
7715 2966 : stop.writeParams(out);
7716 2966 : out.closeTag();
7717 2966 : }
7718 : // save upcoming stops
7719 2947 : for (MSStop& stop : myStops) {
7720 468 : stop.write(out);
7721 : }
7722 : // save parameters and device states
7723 2479 : myParameter->writeParams(out);
7724 6257 : for (MSVehicleDevice* const dev : myDevices) {
7725 3778 : dev->saveState(out);
7726 : }
7727 2479 : out.closeTag();
7728 2479 : }
7729 :
7730 : void
7731 4160 : MSVehicle::loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) {
7732 4160 : if (!attrs.hasAttribute(SUMO_ATTR_POSITION)) {
7733 0 : throw ProcessError(TL("Error: Invalid vehicles in state (may be a meso state)!"));
7734 : }
7735 : int routeOffset;
7736 : bool stopped;
7737 : int pastStops;
7738 :
7739 4160 : std::istringstream bis(attrs.getString(SUMO_ATTR_STATE));
7740 4160 : bis >> myParameter->parametersSet;
7741 4160 : bis >> myDeparture;
7742 4160 : bis >> routeOffset;
7743 4160 : bis >> myDepartPos;
7744 4160 : bis >> myWaitingTime;
7745 4160 : bis >> myTimeLoss;
7746 4160 : bis >> myLastActionTime;
7747 : bis >> stopped;
7748 4160 : bis >> pastStops;
7749 :
7750 4160 : if (attrs.hasAttribute(SUMO_ATTR_ARRIVALPOS_RANDOMIZED)) {
7751 : bool ok;
7752 4 : myArrivalPos = attrs.get<double>(SUMO_ATTR_ARRIVALPOS_RANDOMIZED, getID().c_str(), ok);
7753 : }
7754 : // load stops
7755 : myStops.clear();
7756 4160 : addStops(!MSGlobals::gCheckRoutes, &myCurrEdge, false);
7757 :
7758 4160 : if (hasDeparted()) {
7759 1784 : myCurrEdge = myRoute->begin() + routeOffset;
7760 1784 : myDeparture -= offset;
7761 : // fix stops
7762 4724 : while (pastStops > 0) {
7763 2940 : myPastStops.push_back(myStops.front().pars);
7764 2940 : myPastStops.back().routeIndex = (int)(myStops.front().edge - myRoute->begin());
7765 2940 : myStops.pop_front();
7766 2940 : pastStops--;
7767 : }
7768 : // see MSBaseVehicle constructor
7769 1784 : if (myParameter->wasSet(VEHPARS_FORCE_REROUTE)) {
7770 1385 : calculateArrivalParams(true);
7771 : }
7772 : // a (tentative lane is needed for calling hasArrivedInternal
7773 1784 : myLane = (*myCurrEdge)->getLanes()[0];
7774 : }
7775 4160 : if (getActionStepLength() == DELTA_T && !isActionStep(SIMSTEP)) {
7776 1 : myLastActionTime -= (myLastActionTime - SIMSTEP) % DELTA_T;
7777 3 : WRITE_WARNINGF(TL("Action steps are out of sync for loaded vehicle '%'."), getID());
7778 : }
7779 4160 : std::istringstream pis(attrs.getString(SUMO_ATTR_POSITION));
7780 4160 : pis >> myState.myPos >> myState.myBackPos >> myState.myLastCoveredDist;
7781 4160 : std::istringstream sis(attrs.getString(SUMO_ATTR_SPEED));
7782 4160 : sis >> myState.mySpeed >> myState.myPreviousSpeed;
7783 4160 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7784 4160 : myAngle = GeomHelper::fromNaviDegree(attrs.getFloat(SUMO_ATTR_ANGLE));
7785 4160 : myState.myPosLat = attrs.getFloat(SUMO_ATTR_POSITION_LAT);
7786 4160 : std::istringstream dis(attrs.getString(SUMO_ATTR_DISTANCE));
7787 4160 : dis >> myOdometer >> myNumberReroutes;
7788 4160 : myWaitingTimeCollector.setState(attrs.getString(SUMO_ATTR_WAITINGTIME));
7789 4160 : if (stopped) {
7790 211 : myStops.front().startedFromState = true;
7791 211 : myStopDist = 0;
7792 : }
7793 4160 : myLaneChangeModel->loadState(attrs);
7794 : // no need to reset myCachedPosition here since state loading happens directly after creation
7795 4160 : }
7796 :
7797 : void
7798 32 : MSVehicle::loadPreviousApproaching(MSLink* link, bool setRequest,
7799 : SUMOTime arrivalTime, double arrivalSpeed,
7800 : double arrivalSpeedBraking,
7801 : double dist, double leaveSpeed) {
7802 : // ensure that approach information is reset on the next call to setApproachingForAllLinks
7803 32 : myLFLinkLanes.push_back(DriveProcessItem(link, 0, 0, setRequest,
7804 : arrivalTime, arrivalSpeed, arrivalSpeedBraking, dist, leaveSpeed));
7805 :
7806 32 : }
7807 :
7808 :
7809 : std::shared_ptr<MSSimpleDriverState>
7810 2437146 : MSVehicle::getDriverState() const {
7811 2437146 : return myDriverState->getDriverState();
7812 : }
7813 :
7814 :
7815 : double
7816 598551164 : MSVehicle::getFriction() const {
7817 598551164 : return myFrictionDevice == nullptr ? 1. : myFrictionDevice->getMeasuredFriction();
7818 : }
7819 :
7820 :
7821 : void
7822 241 : MSVehicle::setPreviousSpeed(double prevSpeed, double prevAcceleration) {
7823 241 : myState.mySpeed = MAX2(0., prevSpeed);
7824 : // also retcon acceleration
7825 241 : if (prevAcceleration != std::numeric_limits<double>::min()) {
7826 8 : myAcceleration = prevAcceleration;
7827 : } else {
7828 233 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7829 : }
7830 241 : }
7831 :
7832 :
7833 : double
7834 1783171208 : MSVehicle::getCurrentApparentDecel() const {
7835 : //return MAX2(-myAcceleration, getCarFollowModel().getApparentDecel());
7836 1783171208 : return getCarFollowModel().getApparentDecel();
7837 : }
7838 :
7839 : /****************************************************************************/
7840 : bool
7841 32 : MSVehicle::setExitManoeuvre() {
7842 32 : return (myManoeuvre.configureExitManoeuvre(this));
7843 : }
7844 :
7845 : /* -------------------------------------------------------------------------
7846 : * methods of MSVehicle::manoeuvre
7847 : * ----------------------------------------------------------------------- */
7848 :
7849 4638859 : MSVehicle::Manoeuvre::Manoeuvre() : myManoeuvreStop(""), myManoeuvreStartTime(0), myManoeuvreCompleteTime(0), myManoeuvreType(MSVehicle::MANOEUVRE_NONE), myGUIIncrement(0) {}
7850 :
7851 :
7852 0 : MSVehicle::Manoeuvre::Manoeuvre(const Manoeuvre& manoeuvre) {
7853 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
7854 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
7855 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
7856 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
7857 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
7858 0 : }
7859 :
7860 :
7861 : MSVehicle::Manoeuvre&
7862 0 : MSVehicle::Manoeuvre::operator=(const Manoeuvre& manoeuvre) {
7863 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
7864 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
7865 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
7866 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
7867 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
7868 0 : return *this;
7869 : }
7870 :
7871 :
7872 : bool
7873 0 : MSVehicle::Manoeuvre::operator!=(const Manoeuvre& manoeuvre) {
7874 0 : return (myManoeuvreStop != manoeuvre.myManoeuvreStop ||
7875 0 : myManoeuvreStartTime != manoeuvre.myManoeuvreStartTime ||
7876 0 : myManoeuvreCompleteTime != manoeuvre.myManoeuvreCompleteTime ||
7877 0 : myManoeuvreType != manoeuvre.myManoeuvreType ||
7878 0 : myGUIIncrement != manoeuvre.myGUIIncrement
7879 0 : );
7880 : }
7881 :
7882 :
7883 : double
7884 450 : MSVehicle::Manoeuvre::getGUIIncrement() const {
7885 450 : return (myGUIIncrement);
7886 : }
7887 :
7888 :
7889 : MSVehicle::ManoeuvreType
7890 2971 : MSVehicle::Manoeuvre::getManoeuvreType() const {
7891 2971 : return (myManoeuvreType);
7892 : }
7893 :
7894 :
7895 : MSVehicle::ManoeuvreType
7896 2971 : MSVehicle::getManoeuvreType() const {
7897 2971 : return (myManoeuvre.getManoeuvreType());
7898 : }
7899 :
7900 :
7901 : void
7902 30 : MSVehicle::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
7903 30 : myManoeuvre.setManoeuvreType(mType);
7904 30 : }
7905 :
7906 :
7907 : void
7908 30 : MSVehicle::Manoeuvre::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
7909 30 : myManoeuvreType = mType;
7910 30 : }
7911 :
7912 :
7913 : bool
7914 30 : MSVehicle::Manoeuvre::configureEntryManoeuvre(MSVehicle* veh) {
7915 30 : if (!veh->hasStops()) {
7916 : return false; // should never happen - checked before call
7917 : }
7918 :
7919 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
7920 30 : const MSStop& stop = veh->getNextStop();
7921 :
7922 30 : int manoeuverAngle = stop.parkingarea->getLastFreeLotAngle();
7923 30 : double GUIAngle = stop.parkingarea->getLastFreeLotGUIAngle();
7924 30 : if (abs(GUIAngle) < 0.1) {
7925 : GUIAngle = -0.1; // Wiggle vehicle on parallel entry
7926 : }
7927 30 : myManoeuvreVehicleID = veh->getID();
7928 30 : myManoeuvreStop = stop.parkingarea->getID();
7929 30 : myManoeuvreType = MSVehicle::MANOEUVRE_ENTRY;
7930 30 : myManoeuvreStartTime = currentTime;
7931 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getEntryManoeuvreTime(manoeuverAngle);
7932 30 : myGUIIncrement = GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
7933 :
7934 : #ifdef DEBUG_STOPS
7935 : if (veh->isSelected()) {
7936 : 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 <<
7937 : " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
7938 : }
7939 : #endif
7940 :
7941 30 : return (true);
7942 : }
7943 :
7944 :
7945 : bool
7946 32 : MSVehicle::Manoeuvre::configureExitManoeuvre(MSVehicle* veh) {
7947 : // At the moment we only want to set for parking areas
7948 32 : if (!veh->hasStops()) {
7949 : return true;
7950 : }
7951 32 : if (veh->getNextStop().parkingarea == nullptr) {
7952 : return true;
7953 : }
7954 :
7955 30 : if (myManoeuvreType != MSVehicle::MANOEUVRE_NONE) {
7956 : return (false);
7957 : }
7958 :
7959 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
7960 :
7961 30 : int manoeuverAngle = veh->getCurrentParkingArea()->getManoeuverAngle(*veh);
7962 30 : double GUIAngle = veh->getCurrentParkingArea()->getGUIAngle(*veh);
7963 30 : if (abs(GUIAngle) < 0.1) {
7964 : GUIAngle = 0.1; // Wiggle vehicle on parallel exit
7965 : }
7966 :
7967 30 : myManoeuvreVehicleID = veh->getID();
7968 30 : myManoeuvreStop = veh->getCurrentParkingArea()->getID();
7969 30 : myManoeuvreType = MSVehicle::MANOEUVRE_EXIT;
7970 30 : myManoeuvreStartTime = currentTime;
7971 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getExitManoeuvreTime(manoeuverAngle);
7972 30 : myGUIIncrement = -GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
7973 30 : if (veh->remainingStopDuration() > 0) {
7974 20 : myManoeuvreCompleteTime += veh->remainingStopDuration();
7975 : }
7976 :
7977 : #ifdef DEBUG_STOPS
7978 : if (veh->isSelected()) {
7979 : std::cout << "EXIT manoeuvre start: vehicle=" << veh->getID() << " Manoeuvre Angle=" << manoeuverAngle << " increment=" << RAD2DEG(myGUIIncrement) << " currentTime=" << currentTime
7980 : << " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
7981 : }
7982 : #endif
7983 :
7984 : return (true);
7985 : }
7986 :
7987 :
7988 : bool
7989 222 : MSVehicle::Manoeuvre::entryManoeuvreIsComplete(MSVehicle* veh) {
7990 : // At the moment we only want to consider parking areas - need to check because we could be setting up a manoeuvre
7991 222 : if (!veh->hasStops()) {
7992 : return (true);
7993 : }
7994 : MSStop* currentStop = &veh->myStops.front();
7995 222 : if (currentStop->parkingarea == nullptr) {
7996 : return true;
7997 220 : } else if (currentStop->parkingarea->getID() != myManoeuvreStop || MSVehicle::MANOEUVRE_ENTRY != myManoeuvreType) {
7998 30 : if (configureEntryManoeuvre(veh)) {
7999 30 : MSNet::getInstance()->informVehicleStateListener(veh, MSNet::VehicleState::MANEUVERING);
8000 30 : return (false);
8001 : } else { // cannot configure entry so stop trying
8002 : return true;
8003 : }
8004 190 : } else if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8005 : return false;
8006 : } else { // manoeuvre complete
8007 30 : myManoeuvreType = MSVehicle::MANOEUVRE_NONE;
8008 30 : return true;
8009 : }
8010 : }
8011 :
8012 :
8013 : bool
8014 0 : MSVehicle::Manoeuvre::manoeuvreIsComplete(const ManoeuvreType checkType) const {
8015 0 : if (checkType != myManoeuvreType) {
8016 : return true; // we're not maneuvering / wrong manoeuvre
8017 : }
8018 :
8019 0 : if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8020 : return false;
8021 : } else {
8022 : return true;
8023 : }
8024 : }
8025 :
8026 :
8027 : bool
8028 6266 : MSVehicle::Manoeuvre::manoeuvreIsComplete() const {
8029 6266 : return (MSNet::getInstance()->getCurrentTimeStep() >= myManoeuvreCompleteTime);
8030 : }
8031 :
8032 :
8033 : bool
8034 6266 : MSVehicle::manoeuvreIsComplete() const {
8035 6266 : return (myManoeuvre.manoeuvreIsComplete());
8036 : }
8037 :
8038 :
8039 : std::pair<double, double>
8040 7058 : MSVehicle::estimateTimeToNextStop() const {
8041 7058 : if (hasStops()) {
8042 7058 : MSLane* lane = myLane;
8043 7058 : if (lane == nullptr) {
8044 : // not in network
8045 84 : lane = getEdge()->getLanes()[0];
8046 : }
8047 : const MSStop& stop = myStops.front();
8048 : auto it = myCurrEdge + 1;
8049 : // drive to end of current edge
8050 7058 : double dist = (lane->getLength() - getPositionOnLane());
8051 7058 : double travelTime = lane->getEdge().getMinimumTravelTime(this) * dist / lane->getLength();
8052 : // drive until stop edge
8053 8414 : while (it != myRoute->end() && it < stop.edge) {
8054 1356 : travelTime += (*it)->getMinimumTravelTime(this);
8055 1356 : dist += (*it)->getLength();
8056 : it++;
8057 : }
8058 : // drive up to the stop position
8059 7058 : const double stopEdgeDist = stop.pars.endPos - (lane == stop.lane ? lane->getLength() : 0);
8060 7058 : dist += stopEdgeDist;
8061 7058 : travelTime += stop.lane->getEdge().getMinimumTravelTime(this) * (stopEdgeDist / stop.lane->getLength());
8062 : // estimate time loss due to acceleration and deceleration
8063 : // maximum speed is limited by available distance:
8064 : const double a = getCarFollowModel().getMaxAccel();
8065 : const double b = getCarFollowModel().getMaxDecel();
8066 7058 : const double c = getSpeed();
8067 : const double d = dist;
8068 7058 : const double len = getVehicleType().getLength();
8069 7058 : const double vs = MIN2(MAX2(stop.getSpeed(), 0.0), stop.lane->getVehicleMaxSpeed(this));
8070 : // distAccel = (v - c)^2 / (2a)
8071 : // distDecel = (v + vs)*(v - vs) / 2b = (v^2 - vs^2) / (2b)
8072 : // distAccel + distDecel < d
8073 7058 : 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))))
8074 13848 : + pow((a * vs), 2))))) * 0.5) + (c * b)) / (b + a));
8075 7058 : it = myCurrEdge;
8076 : double v0 = c;
8077 7058 : bool v0Stable = getAcceleration() == 0 && v0 > 0;
8078 : double timeLossAccel = 0;
8079 : double timeLossDecel = 0;
8080 : double timeLossLength = 0;
8081 16848 : while (it != myRoute->end() && it <= stop.edge) {
8082 9790 : double v = MIN2(maxVD, (*it)->getVehicleMaxSpeed(this));
8083 9790 : double edgeLength = (it == stop.edge ? stop.pars.endPos : (*it)->getLength()) - (it == myCurrEdge ? getPositionOnLane() : 0);
8084 9790 : if (edgeLength <= len && v0Stable && v0 < v) {
8085 : const double lengthDist = MIN2(len, edgeLength);
8086 20 : const double dTL = lengthDist / v0 - lengthDist / v;
8087 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " el=" << edgeLength << " lDist=" << lengthDist << " newTLL=" << dTL<< "\n";
8088 20 : timeLossLength += dTL;
8089 : }
8090 9790 : if (edgeLength > len) {
8091 8698 : const double dv = v - v0;
8092 8698 : if (dv > 0) {
8093 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8094 6350 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8095 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8096 6350 : timeLossAccel += dTA;
8097 : // time loss from vehicle length
8098 2348 : } else if (dv < 0) {
8099 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8100 540 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8101 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8102 540 : timeLossDecel += dTD;
8103 : }
8104 : v0 = v;
8105 : v0Stable = true;
8106 : }
8107 : it++;
8108 : }
8109 : // final deceleration to stop (may also be acceleration or deceleration to waypoint speed)
8110 : double v = vs;
8111 7058 : const double dv = v - v0;
8112 7058 : if (dv > 0) {
8113 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8114 144 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8115 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8116 144 : timeLossAccel += dTA;
8117 : // time loss from vehicle length
8118 6914 : } else if (dv < 0) {
8119 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8120 6890 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8121 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8122 6890 : timeLossDecel += dTD;
8123 : }
8124 7058 : const double result = travelTime + timeLossAccel + timeLossDecel + timeLossLength;
8125 : //std::cout << SIMTIME << " v=" << c << " a=" << a << " b=" << b << " maxVD=" << maxVD << " tt=" << travelTime
8126 : // << " ta=" << timeLossAccel << " td=" << timeLossDecel << " tl=" << timeLossLength << " res=" << result << "\n";
8127 7058 : return {MAX2(0.0, result), dist};
8128 : } else {
8129 0 : return {INVALID_DOUBLE, INVALID_DOUBLE};
8130 : }
8131 : }
8132 :
8133 :
8134 : double
8135 1675 : MSVehicle::getStopDelay() const {
8136 1675 : if (hasStops() && myStops.front().pars.until >= 0) {
8137 : const MSStop& stop = myStops.front();
8138 1392 : SUMOTime estimatedDepart = MSNet::getInstance()->getCurrentTimeStep() - DELTA_T;
8139 1392 : if (stop.reached) {
8140 732 : return STEPS2TIME(estimatedDepart + stop.duration - stop.pars.until);
8141 : }
8142 660 : if (stop.pars.duration > 0) {
8143 588 : estimatedDepart += stop.pars.duration;
8144 : }
8145 660 : estimatedDepart += TIME2STEPS(estimateTimeToNextStop().first);
8146 660 : const double result = MAX2(0.0, STEPS2TIME(estimatedDepart - stop.pars.until));
8147 660 : return result;
8148 : } else {
8149 : // vehicles cannot drive before 'until' so stop delay can never be
8150 : // negative and we can use -1 to signal "undefined"
8151 : return -1;
8152 : }
8153 : }
8154 :
8155 :
8156 : double
8157 5430 : MSVehicle::getStopArrivalDelay() const {
8158 5430 : if (hasStops() && myStops.front().pars.arrival >= 0) {
8159 : const MSStop& stop = myStops.front();
8160 4252 : if (stop.reached) {
8161 1304 : return STEPS2TIME(stop.pars.started - stop.pars.arrival);
8162 : } else {
8163 2948 : return STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep()) + estimateTimeToNextStop().first - STEPS2TIME(stop.pars.arrival);
8164 : }
8165 : } else {
8166 : // vehicles can arrival earlier than planned so arrival delay can be negative
8167 : return INVALID_DOUBLE;
8168 : }
8169 : }
8170 :
8171 :
8172 : const MSEdge*
8173 2962988126 : MSVehicle::getCurrentEdge() const {
8174 2962988126 : return myLane != nullptr ? &myLane->getEdge() : getEdge();
8175 : }
8176 :
8177 :
8178 : const MSEdge*
8179 3896 : MSVehicle::getNextEdgePtr() const {
8180 3896 : if (myLane == nullptr || (myCurrEdge + 1) == myRoute->end()) {
8181 8 : return nullptr;
8182 : }
8183 3888 : if (myLane->isInternal()) {
8184 568 : return &myLane->getCanonicalSuccessorLane()->getEdge();
8185 : } else {
8186 3320 : const MSEdge* nextNormal = succEdge(1);
8187 3320 : const MSEdge* nextInternal = myLane->getEdge().getInternalFollowingEdge(nextNormal, getVClass());
8188 3320 : return nextInternal ? nextInternal : nextNormal;
8189 : }
8190 : }
8191 :
8192 :
8193 : const MSLane*
8194 1591 : MSVehicle::getPreviousLane(const MSLane* current, int& furtherIndex) const {
8195 1591 : if (furtherIndex < (int)myFurtherLanes.size()) {
8196 1214 : return myFurtherLanes[furtherIndex++];
8197 : } else {
8198 : // try to use route information
8199 377 : int routeIndex = getRoutePosition();
8200 : bool resultInternal;
8201 377 : if (MSGlobals::gUsingInternalLanes && MSNet::getInstance()->hasInternalLinks()) {
8202 0 : if (myLane->isInternal()) {
8203 0 : if (furtherIndex % 2 == 0) {
8204 0 : routeIndex -= (furtherIndex + 0) / 2;
8205 : resultInternal = false;
8206 : } else {
8207 0 : routeIndex -= (furtherIndex + 1) / 2;
8208 : resultInternal = false;
8209 : }
8210 : } else {
8211 0 : if (furtherIndex % 2 != 0) {
8212 0 : routeIndex -= (furtherIndex + 1) / 2;
8213 : resultInternal = false;
8214 : } else {
8215 0 : routeIndex -= (furtherIndex + 2) / 2;
8216 : resultInternal = true;
8217 : }
8218 : }
8219 : } else {
8220 377 : routeIndex -= furtherIndex;
8221 : resultInternal = false;
8222 : }
8223 377 : furtherIndex++;
8224 377 : if (routeIndex >= 0) {
8225 163 : if (resultInternal) {
8226 0 : const MSEdge* prevNormal = myRoute->getEdges()[routeIndex];
8227 0 : for (MSLane* cand : prevNormal->getLanes()) {
8228 0 : for (MSLink* link : cand->getLinkCont()) {
8229 0 : if (link->getLane() == current) {
8230 0 : if (link->getViaLane() != nullptr) {
8231 : return link->getViaLane();
8232 : } else {
8233 0 : return const_cast<MSLane*>(link->getLaneBefore());
8234 : }
8235 : }
8236 : }
8237 : }
8238 : } else {
8239 163 : return myRoute->getEdges()[routeIndex]->getLanes()[0];
8240 : }
8241 : }
8242 : }
8243 : return current;
8244 : }
8245 :
8246 : SUMOTime
8247 1433286680 : MSVehicle::getWaitingTimeFor(const MSLink* link) const {
8248 : // this vehicle currently has the highest priority on the allway_stop
8249 1433286680 : return link == myHaveStoppedFor ? SUMOTime_MAX : getWaitingTime();
8250 : }
8251 :
8252 :
8253 : void
8254 715 : MSVehicle::resetApproachOnReroute() {
8255 : bool diverged = false;
8256 : const ConstMSEdgeVector& route = myRoute->getEdges();
8257 715 : int ri = getRoutePosition();
8258 3122 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
8259 2407 : if (dpi.myLink != nullptr) {
8260 2404 : if (!diverged) {
8261 2161 : const MSEdge* next = route[ri + 1];
8262 2161 : if (&dpi.myLink->getLane()->getEdge() != next) {
8263 : diverged = true;
8264 : } else {
8265 2094 : if (dpi.myLink->getViaLane() == nullptr) {
8266 : ri++;
8267 : }
8268 : }
8269 : }
8270 : if (diverged) {
8271 310 : dpi.myLink->removeApproaching(this);
8272 : }
8273 : }
8274 : }
8275 715 : }
8276 :
8277 : /****************************************************************************/
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