Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2026 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSVehicle.cpp
15 : /// @author Christian Roessel
16 : /// @author Jakob Erdmann
17 : /// @author Bjoern Hendriks
18 : /// @author Daniel Krajzewicz
19 : /// @author Thimor Bohn
20 : /// @author Friedemann Wesner
21 : /// @author Laura Bieker
22 : /// @author Clemens Honomichl
23 : /// @author Michael Behrisch
24 : /// @author Axel Wegener
25 : /// @author Christoph Sommer
26 : /// @author Leonhard Luecken
27 : /// @author Lara Codeca
28 : /// @author Mirko Barthauer
29 : /// @date Mon, 05 Mar 2001
30 : ///
31 : // Representation of a vehicle in the micro simulation
32 : /****************************************************************************/
33 : #include <config.h>
34 :
35 : #include <iostream>
36 : #include <cassert>
37 : #include <cmath>
38 : #include <cstdlib>
39 : #include <algorithm>
40 : #include <map>
41 : #include <memory>
42 : #include <utils/common/ToString.h>
43 : #include <utils/common/FileHelpers.h>
44 : #include <utils/router/DijkstraRouter.h>
45 : #include <utils/common/MsgHandler.h>
46 : #include <utils/common/RandHelper.h>
47 : #include <utils/common/StringUtils.h>
48 : #include <utils/common/StdDefs.h>
49 : #include <utils/geom/GeomHelper.h>
50 : #include <utils/iodevices/OutputDevice.h>
51 : #include <utils/xml/SUMOSAXAttributes.h>
52 : #include <utils/vehicle/SUMOVehicleParserHelper.h>
53 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
54 : #include <microsim/transportables/MSPerson.h>
55 : #include <microsim/transportables/MSPModel.h>
56 : #include <microsim/devices/MSDevice_Transportable.h>
57 : #include <microsim/devices/MSDevice_DriverState.h>
58 : #include <microsim/devices/MSDevice_Friction.h>
59 : #include <microsim/devices/MSDevice_Taxi.h>
60 : #include <microsim/devices/MSDevice_Vehroutes.h>
61 : #include <microsim/devices/MSDevice_ElecHybrid.h>
62 : #include <microsim/devices/MSDevice_GLOSA.h>
63 : #include <microsim/output/MSStopOut.h>
64 : #include <microsim/trigger/MSChargingStation.h>
65 : #include <microsim/trigger/MSOverheadWire.h>
66 : #include <microsim/traffic_lights/MSTrafficLightLogic.h>
67 : #include <microsim/traffic_lights/MSRailSignalControl.h>
68 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
69 : #include <microsim/transportables/MSTransportableControl.h>
70 : #include <microsim/devices/MSDevice_Transportable.h>
71 : #include "MSEdgeControl.h"
72 : #include "MSVehicleControl.h"
73 : #include "MSInsertionControl.h"
74 : #include "MSVehicleTransfer.h"
75 : #include "MSGlobals.h"
76 : #include "MSJunctionLogic.h"
77 : #include "MSStop.h"
78 : #include "MSStoppingPlace.h"
79 : #include "MSParkingArea.h"
80 : #include "MSMoveReminder.h"
81 : #include "MSLane.h"
82 : #include "MSJunction.h"
83 : #include "MSEdge.h"
84 : #include "MSVehicleType.h"
85 : #include "MSNet.h"
86 : #include "MSRoute.h"
87 : #include "MSLeaderInfo.h"
88 : #include "MSDriverState.h"
89 : #include "MSVehicle.h"
90 :
91 :
92 : //#define DEBUG_PLAN_MOVE
93 : //#define DEBUG_PLAN_MOVE_LEADERINFO
94 : //#define DEBUG_CHECKREWINDLINKLANES
95 : //#define DEBUG_EXEC_MOVE
96 : //#define DEBUG_FURTHER
97 : //#define DEBUG_SETFURTHER
98 : //#define DEBUG_TARGET_LANE
99 : //#define DEBUG_STOPS
100 : //#define DEBUG_BESTLANES
101 : //#define DEBUG_IGNORE_RED
102 : //#define DEBUG_ACTIONSTEPS
103 : //#define DEBUG_NEXT_TURN
104 : //#define DEBUG_TRACI
105 : //#define DEBUG_REVERSE_BIDI
106 : //#define DEBUG_EXTRAPOLATE_DEPARTPOS
107 : //#define DEBUG_REMOTECONTROL
108 : //#define DEBUG_MOVEREMINDERS
109 : //#define DEBUG_COND (getID() == "ego")
110 : //#define DEBUG_COND (true)
111 : #define DEBUG_COND (isSelected())
112 : //#define DEBUG_COND2(obj) (obj->getID() == "ego")
113 : #define DEBUG_COND2(obj) (obj->isSelected())
114 :
115 : //#define PARALLEL_STOPWATCH
116 :
117 :
118 : #define STOPPING_PLACE_OFFSET 0.5
119 :
120 : #define CRLL_LOOK_AHEAD 5
121 :
122 : #define JUNCTION_BLOCKAGE_TIME 5 // s
123 :
124 : // @todo Calibrate with real-world values / make configurable
125 : #define DIST_TO_STOPLINE_EXPECT_PRIORITY 1.0
126 :
127 : #define NUMERICAL_EPS_SPEED (0.1 * NUMERICAL_EPS * TS)
128 :
129 : // ===========================================================================
130 : // static value definitions
131 : // ===========================================================================
132 : std::vector<MSLane*> MSVehicle::myEmptyLaneVector;
133 :
134 :
135 : // ===========================================================================
136 : // method definitions
137 : // ===========================================================================
138 : /* -------------------------------------------------------------------------
139 : * methods of MSVehicle::State
140 : * ----------------------------------------------------------------------- */
141 0 : MSVehicle::State::State(const State& state) {
142 0 : myPos = state.myPos;
143 0 : mySpeed = state.mySpeed;
144 0 : myPosLat = state.myPosLat;
145 0 : myBackPos = state.myBackPos;
146 0 : myPreviousSpeed = state.myPreviousSpeed;
147 0 : myLastCoveredDist = state.myLastCoveredDist;
148 0 : }
149 :
150 :
151 : MSVehicle::State&
152 3539838 : MSVehicle::State::operator=(const State& state) {
153 3539838 : myPos = state.myPos;
154 3539838 : mySpeed = state.mySpeed;
155 3539838 : myPosLat = state.myPosLat;
156 3539838 : myBackPos = state.myBackPos;
157 3539838 : myPreviousSpeed = state.myPreviousSpeed;
158 3539838 : myLastCoveredDist = state.myLastCoveredDist;
159 3539838 : 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 8044460 : MSVehicle::State::State(double pos, double speed, double posLat, double backPos, double previousSpeed) :
175 8044460 : myPos(pos), mySpeed(speed), myPosLat(posLat), myBackPos(backPos), myPreviousSpeed(previousSpeed), myLastCoveredDist(SPEED2DIST(speed)) {}
176 :
177 :
178 :
179 : /* -------------------------------------------------------------------------
180 : * methods of MSVehicle::WaitingTimeCollector
181 : * ----------------------------------------------------------------------- */
182 4504622 : MSVehicle::WaitingTimeCollector::WaitingTimeCollector(SUMOTime memory) : myMemorySize(memory) {}
183 :
184 :
185 : SUMOTime
186 1428748 : MSVehicle::WaitingTimeCollector::cumulatedWaitingTime(SUMOTime memorySpan) const {
187 : assert(memorySpan <= myMemorySize);
188 1428748 : if (memorySpan == -1) {
189 0 : memorySpan = myMemorySize;
190 : }
191 : SUMOTime totalWaitingTime = 0;
192 5944790 : for (const auto& interval : myWaitingIntervals) {
193 4516042 : if (interval.second >= memorySpan) {
194 655960 : if (interval.first >= memorySpan) {
195 : break;
196 : } else {
197 655960 : totalWaitingTime += memorySpan - interval.first;
198 : }
199 : } else {
200 3860082 : totalWaitingTime += interval.second - interval.first;
201 : }
202 : }
203 1428748 : return totalWaitingTime;
204 : }
205 :
206 :
207 : void
208 700505992 : MSVehicle::WaitingTimeCollector::passTime(SUMOTime dt, bool waiting) {
209 : auto i = myWaitingIntervals.begin();
210 : const auto end = myWaitingIntervals.end();
211 700505992 : const bool startNewInterval = i == end || (i->first != 0);
212 1143825970 : while (i != end) {
213 445595769 : i->first += dt;
214 445595769 : if (i->first >= myMemorySize) {
215 : break;
216 : }
217 443319978 : i->second += dt;
218 : i++;
219 : }
220 :
221 : // remove intervals beyond memorySize
222 : auto d = std::distance(i, end);
223 702781783 : while (d > 0) {
224 2275791 : myWaitingIntervals.pop_back();
225 2275791 : d--;
226 : }
227 :
228 700505992 : if (!waiting) {
229 : return;
230 91831487 : } else if (!startNewInterval) {
231 88188055 : myWaitingIntervals.begin()->first = 0;
232 : } else {
233 7286864 : myWaitingIntervals.push_front(std::make_pair(0, dt));
234 : }
235 : return;
236 : }
237 :
238 :
239 : const std::string
240 2615 : MSVehicle::WaitingTimeCollector::getState() const {
241 2615 : std::ostringstream state;
242 2615 : state << myMemorySize << " " << myWaitingIntervals.size();
243 3545 : for (const auto& interval : myWaitingIntervals) {
244 1860 : state << " " << interval.first << " " << interval.second;
245 : }
246 2615 : return state.str();
247 2615 : }
248 :
249 :
250 : void
251 3472 : MSVehicle::WaitingTimeCollector::setState(const std::string& state) {
252 3472 : std::istringstream is(state);
253 : int numIntervals;
254 : SUMOTime begin, end;
255 3472 : is >> myMemorySize >> numIntervals;
256 5182 : while (numIntervals-- > 0) {
257 : is >> begin >> end;
258 1710 : myWaitingIntervals.emplace_back(begin, end);
259 : }
260 3472 : }
261 :
262 :
263 : /* -------------------------------------------------------------------------
264 : * methods of MSVehicle::Influencer::GapControlState
265 : * ----------------------------------------------------------------------- */
266 : void
267 30 : MSVehicle::Influencer::GapControlVehStateListener::vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& /*info*/) {
268 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << ", to=" << to << std::endl;
269 30 : switch (to) {
270 4 : case MSNet::VehicleState::STARTING_TELEPORT:
271 : case MSNet::VehicleState::ARRIVED:
272 : case MSNet::VehicleState::STARTING_PARKING: {
273 : // Vehicle left road
274 : // Look up reference vehicle in refVehMap and in case deactivate corresponding gap control
275 4 : const MSVehicle* msVeh = static_cast<const MSVehicle*>(vehicle);
276 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << " left the road." << std::endl;
277 4 : if (GapControlState::refVehMap.find(msVeh) != end(GapControlState::refVehMap)) {
278 : // std::cout << "GapControlVehStateListener::deactivating ref vehicle=" << vehicle->getID() << std::endl;
279 4 : GapControlState::refVehMap[msVeh]->deactivate();
280 : }
281 : }
282 4 : break;
283 30 : default:
284 : {};
285 : // do nothing, vehicle still on road
286 : }
287 30 : }
288 :
289 : std::map<const MSVehicle*, MSVehicle::Influencer::GapControlState*>
290 : MSVehicle::Influencer::GapControlState::refVehMap;
291 :
292 : MSVehicle::Influencer::GapControlVehStateListener* MSVehicle::Influencer::GapControlState::myVehStateListener(nullptr);
293 :
294 58 : MSVehicle::Influencer::GapControlState::GapControlState() :
295 58 : tauOriginal(-1), tauCurrent(-1), tauTarget(-1), addGapCurrent(-1), addGapTarget(-1),
296 58 : remainingDuration(-1), changeRate(-1), maxDecel(-1), referenceVeh(nullptr), active(false), gapAttained(false), prevLeader(nullptr),
297 58 : lastUpdate(-1), timeHeadwayIncrement(0.0), spaceHeadwayIncrement(0.0) {}
298 :
299 :
300 58 : MSVehicle::Influencer::GapControlState::~GapControlState() {
301 58 : deactivate();
302 58 : }
303 :
304 : void
305 58 : MSVehicle::Influencer::GapControlState::init() {
306 58 : if (MSNet::hasInstance()) {
307 58 : if (myVehStateListener == nullptr) {
308 : //std::cout << "GapControlState::init()" << std::endl;
309 58 : myVehStateListener = new GapControlVehStateListener();
310 58 : MSNet::getInstance()->addVehicleStateListener(myVehStateListener);
311 : }
312 : } else {
313 0 : WRITE_ERROR("MSVehicle::Influencer::GapControlState::init(): No MSNet instance found!")
314 : }
315 58 : }
316 :
317 : void
318 35182 : MSVehicle::Influencer::GapControlState::cleanup() {
319 35182 : if (myVehStateListener != nullptr) {
320 58 : MSNet::getInstance()->removeVehicleStateListener(myVehStateListener);
321 58 : delete myVehStateListener;
322 58 : myVehStateListener = nullptr;
323 : }
324 35182 : }
325 :
326 : void
327 58 : MSVehicle::Influencer::GapControlState::activate(double tauOrig, double tauNew, double additionalGap, double dur, double rate, double decel, const MSVehicle* refVeh) {
328 58 : if (MSGlobals::gUseMesoSim) {
329 0 : WRITE_ERROR(TL("No gap control available for meso."))
330 : } else {
331 : // always deactivate control before activating (triggers clean-up of refVehMap)
332 : // std::cout << "activate gap control with refVeh=" << (refVeh==nullptr? "NULL" : refVeh->getID()) << std::endl;
333 58 : tauOriginal = tauOrig;
334 58 : tauCurrent = tauOrig;
335 58 : tauTarget = tauNew;
336 58 : addGapCurrent = 0.0;
337 58 : addGapTarget = additionalGap;
338 58 : remainingDuration = dur;
339 58 : changeRate = rate;
340 58 : maxDecel = decel;
341 58 : referenceVeh = refVeh;
342 58 : active = true;
343 58 : gapAttained = false;
344 58 : prevLeader = nullptr;
345 58 : lastUpdate = SIMSTEP - DELTA_T;
346 58 : timeHeadwayIncrement = changeRate * TS * (tauTarget - tauOriginal);
347 58 : spaceHeadwayIncrement = changeRate * TS * addGapTarget;
348 :
349 58 : if (referenceVeh != nullptr) {
350 : // Add refVeh to refVehMap
351 12 : GapControlState::refVehMap[referenceVeh] = this;
352 : }
353 : }
354 58 : }
355 :
356 : void
357 116 : MSVehicle::Influencer::GapControlState::deactivate() {
358 116 : active = false;
359 116 : if (referenceVeh != nullptr) {
360 : // Remove corresponding refVehMapEntry if appropriate
361 12 : GapControlState::refVehMap.erase(referenceVeh);
362 12 : referenceVeh = nullptr;
363 : }
364 116 : }
365 :
366 :
367 : /* -------------------------------------------------------------------------
368 : * methods of MSVehicle::Influencer
369 : * ----------------------------------------------------------------------- */
370 3437 : MSVehicle::Influencer::Influencer() :
371 : myGapControlState(nullptr),
372 3437 : myOriginalSpeed(-1),
373 3437 : myLatDist(0),
374 3437 : mySpeedAdaptationStarted(true),
375 3437 : myConsiderSafeVelocity(true),
376 3437 : myConsiderSpeedLimit(true),
377 3437 : myConsiderMaxAcceleration(true),
378 3437 : myConsiderMaxDeceleration(true),
379 3437 : myRespectJunctionPriority(true),
380 3437 : myEmergencyBrakeRedLight(true),
381 3437 : myRespectJunctionLeaderPriority(true),
382 3437 : myLastRemoteAccess(-TIME2STEPS(20)),
383 3437 : myStrategicLC(LC_NOCONFLICT),
384 3437 : myCooperativeLC(LC_NOCONFLICT),
385 3437 : mySpeedGainLC(LC_NOCONFLICT),
386 3437 : myRightDriveLC(LC_NOCONFLICT),
387 3437 : mySublaneLC(LC_NOCONFLICT),
388 3437 : myTraciLaneChangePriority(LCP_URGENT),
389 3437 : myTraCISignals(-1)
390 3437 : {}
391 :
392 :
393 10311 : MSVehicle::Influencer::~Influencer() {}
394 :
395 : void
396 58 : MSVehicle::Influencer::init() {
397 58 : GapControlState::init();
398 58 : }
399 :
400 : void
401 35182 : MSVehicle::Influencer::cleanup() {
402 35182 : GapControlState::cleanup();
403 35182 : }
404 :
405 : void
406 43300 : MSVehicle::Influencer::setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine) {
407 43300 : mySpeedAdaptationStarted = true;
408 43300 : mySpeedTimeLine = speedTimeLine;
409 43300 : }
410 :
411 : void
412 58 : MSVehicle::Influencer::activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle* refVeh) {
413 58 : if (myGapControlState == nullptr) {
414 58 : myGapControlState = std::make_shared<GapControlState>();
415 58 : init(); // only does things on first call
416 : }
417 58 : myGapControlState->activate(originalTau, newTimeHeadway, newSpaceHeadway, duration, changeRate, maxDecel, refVeh);
418 58 : }
419 :
420 : void
421 10 : MSVehicle::Influencer::deactivateGapController() {
422 10 : if (myGapControlState != nullptr && myGapControlState->active) {
423 10 : myGapControlState->deactivate();
424 : }
425 10 : }
426 :
427 : void
428 7604 : MSVehicle::Influencer::setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine) {
429 7604 : myLaneTimeLine = laneTimeLine;
430 7604 : }
431 :
432 :
433 : void
434 8976 : MSVehicle::Influencer::adaptLaneTimeLine(int indexShift) {
435 19134 : for (auto& item : myLaneTimeLine) {
436 10158 : item.second += indexShift;
437 : }
438 8976 : }
439 :
440 :
441 : void
442 1268 : MSVehicle::Influencer::setSublaneChange(double latDist) {
443 1268 : myLatDist = latDist;
444 1268 : }
445 :
446 : int
447 68 : MSVehicle::Influencer::getSpeedMode() const {
448 68 : return (1 * myConsiderSafeVelocity +
449 68 : 2 * myConsiderMaxAcceleration +
450 68 : 4 * myConsiderMaxDeceleration +
451 68 : 8 * myRespectJunctionPriority +
452 68 : 16 * myEmergencyBrakeRedLight +
453 68 : 32 * !myRespectJunctionLeaderPriority + // inverted!
454 68 : 64 * !myConsiderSpeedLimit // inverted!
455 68 : );
456 : }
457 :
458 :
459 : int
460 1469 : MSVehicle::Influencer::getLaneChangeMode() const {
461 1469 : return (1 * myStrategicLC +
462 1469 : 4 * myCooperativeLC +
463 1469 : 16 * mySpeedGainLC +
464 1469 : 64 * myRightDriveLC +
465 1469 : 256 * myTraciLaneChangePriority +
466 1469 : 1024 * mySublaneLC);
467 : }
468 :
469 : SUMOTime
470 60 : MSVehicle::Influencer::getLaneTimeLineDuration() {
471 : SUMOTime duration = -1;
472 180 : for (std::vector<std::pair<SUMOTime, int>>::iterator i = myLaneTimeLine.begin(); i != myLaneTimeLine.end(); ++i) {
473 120 : if (duration < 0) {
474 60 : duration = i->first;
475 : } else {
476 60 : duration -= i->first;
477 : }
478 : }
479 60 : return -duration;
480 : }
481 :
482 : SUMOTime
483 0 : MSVehicle::Influencer::getLaneTimeLineEnd() {
484 0 : if (!myLaneTimeLine.empty()) {
485 0 : return myLaneTimeLine.back().first;
486 : } else {
487 : return -1;
488 : }
489 : }
490 :
491 :
492 : double
493 982880 : MSVehicle::Influencer::influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax) {
494 : // remove leading commands which are no longer valid
495 984208 : while (mySpeedTimeLine.size() == 1 || (mySpeedTimeLine.size() > 1 && currentTime > mySpeedTimeLine[1].first)) {
496 : mySpeedTimeLine.erase(mySpeedTimeLine.begin());
497 : }
498 :
499 982880 : if (!(mySpeedTimeLine.size() < 2 || currentTime < mySpeedTimeLine[0].first)) {
500 : // Speed advice is active -> compute new speed according to speedTimeLine
501 53513 : if (!mySpeedAdaptationStarted) {
502 0 : mySpeedTimeLine[0].second = speed;
503 0 : mySpeedAdaptationStarted = true;
504 : }
505 53513 : 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 106688 : const double td = MIN2(1.0, STEPS2TIME(currentTime - mySpeedTimeLine[0].first) / MAX2(TS, STEPS2TIME(mySpeedTimeLine[1].first - mySpeedTimeLine[0].first)));
507 :
508 53513 : speed = mySpeedTimeLine[0].second - (mySpeedTimeLine[0].second - mySpeedTimeLine[1].second) * td;
509 53513 : if (myConsiderSafeVelocity) {
510 : speed = MIN2(speed, vSafe);
511 : }
512 53513 : if (myConsiderMaxAcceleration) {
513 : speed = MIN2(speed, vMax);
514 : }
515 53513 : if (myConsiderMaxDeceleration) {
516 : speed = MAX2(speed, vMin);
517 : }
518 : }
519 982880 : return speed;
520 : }
521 :
522 : double
523 488774 : 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 488774 : if (myGapControlState != nullptr && myGapControlState->active) {
535 : // Determine leader and the speed that would be chosen by the gap controller
536 7772 : const double currentSpeed = veh->getSpeed();
537 7772 : const MSVehicle* msVeh = dynamic_cast<const MSVehicle*>(veh);
538 : assert(msVeh != nullptr);
539 7772 : const double desiredTargetTimeSpacing = myGapControlState->tauTarget * currentSpeed;
540 : std::pair<const MSVehicle*, double> leaderInfo;
541 7772 : if (myGapControlState->referenceVeh == nullptr) {
542 : // No reference vehicle specified -> use current leader as reference
543 7340 : const double brakeGap = msVeh->getBrakeGap(true);
544 14680 : leaderInfo = msVeh->getLeader(MAX2(desiredTargetTimeSpacing, myGapControlState->addGapCurrent) + MAX2(brakeGap, 20.0));
545 : #ifdef DEBUG_TRACI
546 : if DEBUG_COND2(veh) {
547 : std::cout << " --- no refVeh; myGapControlState->addGapCurrent: " << myGapControlState->addGapCurrent << ", brakeGap: " << brakeGap << " in simstep: " << SIMSTEP << std::endl;
548 : }
549 : #endif
550 : } else {
551 : // Control gap wrt reference vehicle
552 : const MSVehicle* leader = myGapControlState->referenceVeh;
553 432 : double dist = msVeh->getDistanceToPosition(leader->getPositionOnLane(), leader->getLane()) - leader->getLength();
554 432 : if (dist > 100000) {
555 : // Reference vehicle was not found downstream the ego's route
556 : // Maybe, it is behind the ego vehicle
557 40 : dist = - leader->getDistanceToPosition(msVeh->getPositionOnLane(), msVeh->getLane()) - leader->getLength();
558 : #ifdef DEBUG_TRACI
559 : if DEBUG_COND2(veh) {
560 : if (dist < -100000) {
561 : // also the ego vehicle is not ahead of the reference vehicle -> no CF-relation
562 : std::cout << " Ego and reference vehicle are not in CF relation..." << std::endl;
563 : } else {
564 : std::cout << " Reference vehicle is behind ego..." << std::endl;
565 : }
566 : }
567 : #endif
568 : }
569 432 : leaderInfo = std::make_pair(leader, dist - msVeh->getVehicleType().getMinGap());
570 : }
571 7772 : const double fakeDist = MAX2(0.0, leaderInfo.second - myGapControlState->addGapCurrent);
572 : #ifdef DEBUG_TRACI
573 : if DEBUG_COND2(veh) {
574 : const double desiredCurrentSpacing = myGapControlState->tauCurrent * currentSpeed;
575 : std::cout << " Gap control active:"
576 : << " currentSpeed=" << currentSpeed
577 : << ", desiredTargetTimeSpacing=" << desiredTargetTimeSpacing
578 : << ", desiredCurrentSpacing=" << desiredCurrentSpacing
579 : << ", leader=" << (leaderInfo.first == nullptr ? "NULL" : leaderInfo.first->getID())
580 : << ", dist=" << leaderInfo.second
581 : << ", fakeDist=" << fakeDist
582 : << ",\n tauOriginal=" << myGapControlState->tauOriginal
583 : << ", tauTarget=" << myGapControlState->tauTarget
584 : << ", tauCurrent=" << myGapControlState->tauCurrent
585 : << std::endl;
586 : }
587 : #endif
588 7772 : if (leaderInfo.first != nullptr) {
589 : if (myGapControlState->prevLeader != nullptr && myGapControlState->prevLeader != leaderInfo.first) {
590 : // TODO: The leader changed. What to do?
591 : }
592 : // Remember leader
593 7772 : myGapControlState->prevLeader = leaderInfo.first;
594 :
595 : // Calculate desired following speed assuming the alternative headway time
596 7772 : MSCFModel* cfm = (MSCFModel*) & (msVeh->getVehicleType().getCarFollowModel());
597 7772 : const double origTau = cfm->getHeadwayTime();
598 7772 : cfm->setHeadwayTime(myGapControlState->tauCurrent);
599 7772 : gapControlSpeed = MIN2(gapControlSpeed,
600 7772 : cfm->followSpeed(msVeh, currentSpeed, fakeDist, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first));
601 7772 : cfm->setHeadwayTime(origTau);
602 : #ifdef DEBUG_TRACI
603 : if DEBUG_COND2(veh) {
604 : std::cout << " -> gapControlSpeed=" << gapControlSpeed;
605 : if (myGapControlState->maxDecel > 0) {
606 : std::cout << ", with maxDecel bound: " << MAX2(gapControlSpeed, currentSpeed - TS * myGapControlState->maxDecel);
607 : }
608 : std::cout << std::endl;
609 : }
610 : #endif
611 7772 : if (myGapControlState->maxDecel > 0) {
612 2568 : gapControlSpeed = MAX2(gapControlSpeed, currentSpeed - TS * myGapControlState->maxDecel);
613 : }
614 : }
615 :
616 : // Update gap controller
617 : // Check (1) if the gap control has established the desired gap,
618 : // and (2) if it has maintained active for the given duration afterwards
619 7772 : if (myGapControlState->lastUpdate < currentTime) {
620 : #ifdef DEBUG_TRACI
621 : if DEBUG_COND2(veh) {
622 : std::cout << " Updating GapControlState." << std::endl;
623 : }
624 : #endif
625 7772 : if (myGapControlState->tauCurrent == myGapControlState->tauTarget && myGapControlState->addGapCurrent == myGapControlState->addGapTarget) {
626 2990 : if (!myGapControlState->gapAttained) {
627 : // Check if the desired gap was established (add the POSITION_EPS to avoid infinite asymptotic behavior without having established the gap)
628 4176 : myGapControlState->gapAttained = leaderInfo.first == nullptr || leaderInfo.second > MAX2(desiredTargetTimeSpacing, myGapControlState->addGapTarget) - POSITION_EPS;
629 : #ifdef DEBUG_TRACI
630 : if DEBUG_COND2(veh) {
631 : if (myGapControlState->gapAttained) {
632 : std::cout << " Target gap was established." << std::endl;
633 : }
634 : }
635 : #endif
636 : } else {
637 : // Count down remaining time if desired gap was established
638 924 : myGapControlState->remainingDuration -= TS;
639 : #ifdef DEBUG_TRACI
640 : if DEBUG_COND2(veh) {
641 : std::cout << " Gap control remaining duration: " << myGapControlState->remainingDuration << std::endl;
642 : }
643 : #endif
644 924 : if (myGapControlState->remainingDuration <= 0) {
645 : #ifdef DEBUG_TRACI
646 : if DEBUG_COND2(veh) {
647 : std::cout << " Gap control duration expired, deactivating control." << std::endl;
648 : }
649 : #endif
650 : // switch off gap control
651 44 : myGapControlState->deactivate();
652 : }
653 : }
654 : } else {
655 : // Adjust current headway values
656 4782 : myGapControlState->tauCurrent = MIN2(myGapControlState->tauCurrent + myGapControlState->timeHeadwayIncrement, myGapControlState->tauTarget);
657 5160 : myGapControlState->addGapCurrent = MIN2(myGapControlState->addGapCurrent + myGapControlState->spaceHeadwayIncrement, myGapControlState->addGapTarget);
658 : }
659 : }
660 7772 : if (myConsiderSafeVelocity) {
661 : gapControlSpeed = MIN2(gapControlSpeed, vSafe);
662 : }
663 7772 : if (myConsiderMaxAcceleration) {
664 : gapControlSpeed = MIN2(gapControlSpeed, vMax);
665 : }
666 7772 : if (myConsiderMaxDeceleration) {
667 : gapControlSpeed = MAX2(gapControlSpeed, vMin);
668 : }
669 : return MIN2(speed, gapControlSpeed);
670 : } else {
671 : return speed;
672 : }
673 : }
674 :
675 : double
676 7135 : MSVehicle::Influencer::getOriginalSpeed() const {
677 7135 : return myOriginalSpeed;
678 : }
679 :
680 : void
681 494106 : MSVehicle::Influencer::setOriginalSpeed(double speed) {
682 494106 : myOriginalSpeed = speed;
683 494106 : }
684 :
685 :
686 : int
687 2800329 : MSVehicle::Influencer::influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state) {
688 : // remove leading commands which are no longer valid
689 2800581 : 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 2800329 : if (myLaneTimeLine.size() >= 2 && currentTime >= myLaneTimeLine[0].first) {
695 173425 : const int destinationLaneIndex = myLaneTimeLine[1].second;
696 173425 : if (destinationLaneIndex < (int)currentEdge.getLanes().size()) {
697 173133 : if (currentLaneIndex > destinationLaneIndex) {
698 : changeRequest = REQUEST_RIGHT;
699 172258 : } else if (currentLaneIndex < destinationLaneIndex) {
700 : changeRequest = REQUEST_LEFT;
701 : } else {
702 : changeRequest = REQUEST_HOLD;
703 : }
704 292 : } else if (currentEdge.getLanes().back()->getOpposite() != nullptr) { // change to opposite direction driving
705 : changeRequest = REQUEST_LEFT;
706 292 : state = state | LCA_TRACI;
707 : }
708 : }
709 : // check whether the current reason shall be canceled / overridden
710 2800329 : if ((state & LCA_WANTS_LANECHANGE_OR_STAY) != 0) {
711 : // flags for the current reason
712 : LaneChangeMode mode = LC_NEVER;
713 1586204 : if ((state & LCA_TRACI) != 0 && myLatDist != 0) {
714 : // security checks
715 2380 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
716 552 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
717 2252 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
718 : }
719 : // continue sublane change manoeuvre
720 2380 : return state;
721 1583824 : } else if ((state & LCA_STRATEGIC) != 0) {
722 484991 : mode = myStrategicLC;
723 1098833 : } else if ((state & LCA_COOPERATIVE) != 0) {
724 94 : mode = myCooperativeLC;
725 1098739 : } else if ((state & LCA_SPEEDGAIN) != 0) {
726 41384 : mode = mySpeedGainLC;
727 1057355 : } else if ((state & LCA_KEEPRIGHT) != 0) {
728 6122 : mode = myRightDriveLC;
729 1051233 : } else if ((state & LCA_SUBLANE) != 0) {
730 1051231 : 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 1583822 : if (mode == LC_NEVER) {
737 : // cancel all lcModel requests
738 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
739 41909 : state &= ~LCA_URGENT;
740 41909 : if (changeRequest == REQUEST_NONE) {
741 : // also remove all reasons except TRACI
742 41442 : state &= ~LCA_CHANGE_REASONS | LCA_TRACI;
743 : }
744 1541915 : } else if (mode == LC_NOCONFLICT && changeRequest != REQUEST_NONE) {
745 5623 : if (
746 5623 : ((state & LCA_LEFT) != 0 && changeRequest != REQUEST_LEFT) ||
747 5391 : ((state & LCA_RIGHT) != 0 && changeRequest != REQUEST_RIGHT) ||
748 4943 : ((state & LCA_STAY) != 0 && changeRequest != REQUEST_HOLD)) {
749 : // cancel conflicting lcModel request
750 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
751 827 : state &= ~LCA_URGENT;
752 : }
753 1536292 : } else if (mode == LC_ALWAYS) {
754 : // ignore any TraCI requests
755 : return state;
756 : }
757 : }
758 : // apply traci requests
759 2792748 : if (changeRequest == REQUEST_NONE) {
760 2624904 : return state;
761 : } else {
762 173035 : state |= LCA_TRACI;
763 : // security checks
764 173035 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
765 171179 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
766 2250 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
767 : }
768 173035 : if (changeRequest != REQUEST_HOLD && myTraciLaneChangePriority != LCP_OPPORTUNISTIC) {
769 2094 : state |= LCA_URGENT;
770 : }
771 2123 : switch (changeRequest) {
772 : case REQUEST_HOLD:
773 170912 : return state | LCA_STAY;
774 1328 : case REQUEST_LEFT:
775 1328 : return state | LCA_LEFT;
776 795 : case REQUEST_RIGHT:
777 795 : return state | LCA_RIGHT;
778 : default:
779 : throw ProcessError(TL("should not happen"));
780 : }
781 : }
782 : }
783 :
784 :
785 : double
786 364 : MSVehicle::Influencer::changeRequestRemainingSeconds(const SUMOTime currentTime) const {
787 : assert(myLaneTimeLine.size() >= 2);
788 : assert(currentTime >= myLaneTimeLine[0].first);
789 364 : return STEPS2TIME(myLaneTimeLine[1].first - currentTime);
790 : }
791 :
792 :
793 : void
794 5618 : MSVehicle::Influencer::setSpeedMode(int speedMode) {
795 5618 : myConsiderSafeVelocity = ((speedMode & 1) != 0);
796 5618 : myConsiderMaxAcceleration = ((speedMode & 2) != 0);
797 5618 : myConsiderMaxDeceleration = ((speedMode & 4) != 0);
798 5618 : myRespectJunctionPriority = ((speedMode & 8) != 0);
799 5618 : myEmergencyBrakeRedLight = ((speedMode & 16) != 0);
800 5618 : myRespectJunctionLeaderPriority = ((speedMode & 32) == 0); // inverted!
801 5618 : myConsiderSpeedLimit = ((speedMode & 64) == 0); // inverted!
802 5618 : }
803 :
804 :
805 : void
806 18369 : MSVehicle::Influencer::setLaneChangeMode(int value) {
807 18369 : myStrategicLC = (LaneChangeMode)(value & (1 + 2));
808 18369 : myCooperativeLC = (LaneChangeMode)((value & (4 + 8)) >> 2);
809 18369 : mySpeedGainLC = (LaneChangeMode)((value & (16 + 32)) >> 4);
810 18369 : myRightDriveLC = (LaneChangeMode)((value & (64 + 128)) >> 6);
811 18369 : myTraciLaneChangePriority = (TraciLaneChangePriority)((value & (256 + 512)) >> 8);
812 18369 : mySublaneLC = (LaneChangeMode)((value & (1024 + 2048)) >> 10);
813 18369 : }
814 :
815 :
816 : void
817 7347 : MSVehicle::Influencer::setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t) {
818 7347 : myRemoteXYPos = xyPos;
819 7347 : myRemoteLane = l;
820 7347 : myRemotePos = pos;
821 7347 : myRemotePosLat = posLat;
822 7347 : myRemoteAngle = angle;
823 7347 : myRemoteEdgeOffset = edgeOffset;
824 7347 : myRemoteRoute = route;
825 7347 : myLastRemoteAccess = t;
826 7347 : }
827 :
828 :
829 : bool
830 1011468 : MSVehicle::Influencer::isRemoteControlled() const {
831 1011468 : return myLastRemoteAccess == MSNet::getInstance()->getCurrentTimeStep();
832 : }
833 :
834 :
835 : bool
836 465620 : MSVehicle::Influencer::isRemoteAffected(SUMOTime t) const {
837 465620 : return myLastRemoteAccess >= t - TIME2STEPS(10);
838 : }
839 :
840 :
841 : void
842 488774 : MSVehicle::Influencer::updateRemoteControlRoute(MSVehicle* v) {
843 488774 : if (myRemoteRoute.size() != 0 && myRemoteRoute != v->getRoute().getEdges()) {
844 : // only replace route at this time if the vehicle is moving with the flow
845 79 : 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 12 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
851 12 : v->updateBestLanes();
852 : }
853 : }
854 488774 : }
855 :
856 :
857 : void
858 7327 : MSVehicle::Influencer::postProcessRemoteControl(MSVehicle* v) {
859 7327 : const bool wasOnRoad = v->isOnRoad();
860 7327 : const bool withinLane = myRemoteLane != nullptr && fabs(myRemotePosLat) < 0.5 * (myRemoteLane->getWidth() + v->getVehicleType().getWidth());
861 7327 : const bool keepLane = wasOnRoad && v->getLane() == myRemoteLane;
862 7327 : 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 60 : 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 7327 : 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 79 : const_cast<SUMOVehicleParameter&>(v->getParameter()).stops.clear();
883 158 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
884 : myRemoteRoute.clear();
885 : }
886 7327 : v->myCurrEdge = v->getRoute().begin() + myRemoteEdgeOffset;
887 7327 : if (myRemoteLane != nullptr && myRemotePos > myRemoteLane->getLength()) {
888 0 : myRemotePos = myRemoteLane->getLength();
889 : }
890 7327 : if (myRemoteLane != nullptr && withinLane) {
891 7185 : if (keepLane) {
892 : // TODO this handles only the case when the new vehicle is completely on the edge
893 7012 : const bool needFurtherUpdate = v->myState.myPos < v->getVehicleType().getLength() && myRemotePos >= v->getVehicleType().getLength();
894 7012 : v->myState.myPos = myRemotePos;
895 7012 : v->myState.myPosLat = myRemotePosLat;
896 7012 : if (needFurtherUpdate) {
897 4 : v->myState.myBackPos = v->updateFurtherLanes(v->myFurtherLanes, v->myFurtherLanesPosLat, std::vector<MSLane*>());
898 : }
899 : } else {
900 173 : MSMoveReminder::Notification notify = v->getDeparture() == NOT_YET_DEPARTED
901 173 : ? MSMoveReminder::NOTIFICATION_DEPARTED
902 : : MSMoveReminder::NOTIFICATION_TELEPORT_ARRIVED;
903 173 : if (!v->isOnRoad()) {
904 173 : MSVehicleTransfer::getInstance()->remove(v); // TODO may need optimization, this is linear in the number of vehicles in transfer
905 : }
906 173 : myRemoteLane->forceVehicleInsertion(v, myRemotePos, notify, myRemotePosLat);
907 173 : v->updateBestLanes();
908 : }
909 7185 : if (!wasOnRoad) {
910 49 : v->drawOutsideNetwork(false);
911 : }
912 : //std::cout << "on road network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << " pos=" << myRemotePos << " posLat=" << myRemotePosLat << "\n";
913 7185 : myRemoteLane->requireCollisionCheck();
914 : } else {
915 142 : if (v->getDeparture() == NOT_YET_DEPARTED) {
916 4 : v->onDepart();
917 : }
918 142 : v->drawOutsideNetwork(true);
919 : // see updateState
920 142 : double vNext = v->processTraCISpeedControl(
921 142 : v->getMaxSpeed(), v->getSpeed());
922 142 : v->setBrakingSignals(vNext);
923 142 : v->myState.myPreviousSpeed = v->getSpeed();
924 142 : v->myAcceleration = SPEED2ACCEL(vNext - v->getSpeed());
925 142 : v->myState.mySpeed = vNext;
926 142 : 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 7327 : v->setRemoteState(myRemoteXYPos);
931 7327 : v->setAngle(GeomHelper::fromNaviDegree(myRemoteAngle));
932 7327 : }
933 :
934 :
935 : double
936 7308 : MSVehicle::Influencer::implicitSpeedRemote(const MSVehicle* veh, double oldSpeed) {
937 7308 : if (veh->getPosition() == Position::INVALID) {
938 8 : return oldSpeed;
939 : }
940 7300 : double dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
941 7300 : 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 7186 : const double distAlongRoute = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
947 7186 : 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 7300 : const double minSpeed = myConsiderMaxDeceleration ?
953 4032 : veh->getCarFollowModel().minNextSpeedEmergency(oldSpeed, veh) : 0;
954 7300 : const double maxSpeed = (myRemoteLane != nullptr
955 7300 : ? myRemoteLane->getVehicleMaxSpeed(veh)
956 114 : : (veh->getLane() != nullptr
957 114 : ? veh->getLane()->getVehicleMaxSpeed(veh)
958 4 : : veh->getMaxSpeed()));
959 7300 : return MIN2(maxSpeed, MAX2(minSpeed, DIST2SPEED(dist)));
960 : }
961 :
962 :
963 : double
964 7174 : MSVehicle::Influencer::implicitDeltaPosRemote(const MSVehicle* veh) {
965 : double dist = 0;
966 7174 : if (myRemoteLane == nullptr) {
967 5 : dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
968 : } else {
969 : // if the vehicles is frequently placed on a new edge, the route may
970 : // consist only of a single edge. In this case the new edge may not be
971 : // on the route so getDistanceToPosition will return double::max.
972 : // In this case we would rather not move the vehicle in executeMove
973 : // (updateState) as it would result in emergency braking
974 7169 : dist = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
975 : }
976 7174 : if (dist == std::numeric_limits<double>::max()) {
977 : return 0;
978 : } else {
979 6953 : if (DIST2SPEED(dist) > veh->getMaxSpeed() * 1.1) {
980 42 : WRITE_WARNINGF(TL("Vehicle '%' moved by TraCI from % to % (dist %) with implied speed of % (exceeding maximum speed %). time=%."),
981 : veh->getID(), veh->getPosition(), myRemoteXYPos, dist, DIST2SPEED(dist), veh->getMaxSpeed(), time2string(SIMSTEP));
982 : // some sanity check here
983 14 : dist = MIN2(dist, SPEED2DIST(veh->getMaxSpeed() * 2));
984 : }
985 6953 : return dist;
986 : }
987 : }
988 :
989 :
990 : /* -------------------------------------------------------------------------
991 : * MSVehicle-methods
992 : * ----------------------------------------------------------------------- */
993 4504622 : MSVehicle::MSVehicle(SUMOVehicleParameter* pars, ConstMSRoutePtr route,
994 4504622 : MSVehicleType* type, const double speedFactor) :
995 : MSBaseVehicle(pars, route, type, speedFactor),
996 4504622 : myWaitingTime(0),
997 4504622 : myWaitingTimeCollector(),
998 4504622 : myTimeLoss(0),
999 4504622 : myState(0, 0, 0, 0, 0),
1000 4504622 : myDriverState(nullptr),
1001 4504622 : myActionStep(true),
1002 4504622 : myLastActionTime(0),
1003 4504622 : myLane(nullptr),
1004 4504622 : myLaneChangeModel(nullptr),
1005 4504622 : myLastBestLanesEdge(nullptr),
1006 4504622 : myLastBestLanesInternalLane(nullptr),
1007 4504622 : myAcceleration(0),
1008 : myNextTurn(0., nullptr),
1009 4504622 : mySignals(0),
1010 4504622 : myAmOnNet(false),
1011 4504622 : myAmIdling(false),
1012 4504622 : myHaveToWaitOnNextLink(false),
1013 4504622 : myAngle(0),
1014 4504622 : myRawAngle(0),
1015 4504622 : myLastAngle(INVALID_DOUBLE),
1016 4504622 : myStopDist(std::numeric_limits<double>::max()),
1017 4504622 : myStopSpeed(std::numeric_limits<double>::max()),
1018 4504622 : myCollisionImmunity(-1),
1019 4504622 : myCachedPosition(Position::INVALID),
1020 4504622 : myJunctionEntryTime(SUMOTime_MAX),
1021 4504622 : myJunctionEntryTimeNeverYield(SUMOTime_MAX),
1022 4504622 : myJunctionConflictEntryTime(SUMOTime_MAX),
1023 4504622 : myTimeSinceStartup(TIME2STEPS(3600 * 24)),
1024 4504622 : myHaveStoppedFor(nullptr),
1025 13513866 : myInfluencer(nullptr) {
1026 4504622 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
1027 4504622 : myNextDriveItem = myLFLinkLanes.begin();
1028 4504622 : }
1029 :
1030 :
1031 8366610 : MSVehicle::~MSVehicle() {
1032 4504546 : cleanupParkingReservation();
1033 4504546 : cleanupFurtherLanes();
1034 4504546 : delete myLaneChangeModel;
1035 4504546 : if (myType->isVehicleSpecific()) {
1036 303 : MSNet::getInstance()->getVehicleControl().removeVType(myType);
1037 : }
1038 4504546 : delete myInfluencer;
1039 4504546 : delete myCFVariables;
1040 12871156 : }
1041 :
1042 :
1043 : void
1044 4505108 : MSVehicle::cleanupFurtherLanes() {
1045 4507595 : for (MSLane* further : myFurtherLanes) {
1046 2487 : further->resetPartialOccupation(this);
1047 2487 : if (further->getBidiLane() != nullptr
1048 2487 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
1049 0 : further->getBidiLane()->resetPartialOccupation(this);
1050 : }
1051 : }
1052 4505108 : if (myLaneChangeModel != nullptr) {
1053 4505074 : removeApproachingInformation(myLFLinkLanes);
1054 4505074 : myLaneChangeModel->cleanupShadowLane();
1055 4505074 : myLaneChangeModel->cleanupTargetLane();
1056 : // still needed when calling resetPartialOccupation (getShadowLane) and when removing
1057 : // approach information from parallel links
1058 : }
1059 : myFurtherLanes.clear();
1060 : myFurtherLanesPosLat.clear();
1061 4505108 : }
1062 :
1063 :
1064 : void
1065 3367049 : MSVehicle::onRemovalFromNet(const MSMoveReminder::Notification reason) {
1066 : #ifdef DEBUG_ACTIONSTEPS
1067 : if (DEBUG_COND) {
1068 : std::cout << SIMTIME << " Removing vehicle '" << getID() << "' (reason: " << toString(reason) << ")" << std::endl;
1069 : }
1070 : #endif
1071 3367049 : MSVehicleTransfer::getInstance()->remove(this);
1072 3367049 : removeApproachingInformation(myLFLinkLanes);
1073 3367049 : leaveLane(reason);
1074 3367049 : if (reason == MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION) {
1075 562 : cleanupFurtherLanes();
1076 : }
1077 3367049 : }
1078 :
1079 :
1080 : void
1081 4504622 : MSVehicle::initDevices() {
1082 4504622 : MSBaseVehicle::initDevices();
1083 4504610 : myLaneChangeModel = MSAbstractLaneChangeModel::build(myType->getLaneChangeModel(), *this);
1084 4504588 : myDriverState = static_cast<MSDevice_DriverState*>(getDevice(typeid(MSDevice_DriverState)));
1085 4504588 : myFrictionDevice = static_cast<MSDevice_Friction*>(getDevice(typeid(MSDevice_Friction)));
1086 4504588 : }
1087 :
1088 :
1089 : // ------------ interaction with the route
1090 : bool
1091 2239624260 : MSVehicle::hasValidRouteStart(std::string& msg) {
1092 : // note: not a const method because getDepartLane may call updateBestLanes
1093 2239624260 : if (!(*myCurrEdge)->isTazConnector()) {
1094 2239295902 : if (myParameter->departLaneProcedure == DepartLaneDefinition::GIVEN
1095 2239295902 : || (myParameter->departLaneProcedure == DepartLaneDefinition::DEFAULT && MSEdge::getDefaultDepartLaneDefinition() == DepartLaneDefinition::GIVEN)) {
1096 62537152 : if ((*myCurrEdge)->getDepartLane(*this) == nullptr) {
1097 132 : msg = "Invalid departlane definition for vehicle '" + getID() + "'.";
1098 66 : if (myParameter->departLane >= (int)(*myCurrEdge)->getLanes().size()) {
1099 11 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1100 : } else {
1101 55 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1102 : }
1103 66 : return false;
1104 : }
1105 : } else {
1106 2176758750 : if ((*myCurrEdge)->allowedLanes(getVClass(), ignoreTransientPermissions()) == nullptr) {
1107 144 : msg = "Vehicle '" + getID() + "' is not allowed to depart on any lane of edge '" + (*myCurrEdge)->getID() + "'.";
1108 72 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1109 72 : return false;
1110 : }
1111 : }
1112 2239295764 : if (myParameter->departSpeedProcedure == DepartSpeedDefinition::GIVEN && myParameter->departSpeed > myType->getMaxSpeed() + SPEED_EPS) {
1113 38 : msg = "Departure speed for vehicle '" + getID() + "' is too high for the vehicle type '" + myType->getID() + "'.";
1114 19 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1115 19 : return false;
1116 : }
1117 : }
1118 2239624103 : myRouteValidity &= ~(ROUTE_START_INVALID_LANE | ROUTE_START_INVALID_PERMISSIONS);
1119 2239624103 : return true;
1120 : }
1121 :
1122 :
1123 : bool
1124 713659826 : MSVehicle::hasArrived() const {
1125 713659826 : return hasArrivedInternal(false);
1126 : }
1127 :
1128 :
1129 : bool
1130 1436706773 : MSVehicle::hasArrivedInternal(bool oppositeTransformed) const {
1131 2334126752 : return ((myCurrEdge == myRoute->end() - 1 || (myParameter->arrivalEdge >= 0 && getRoutePosition() >= myParameter->arrivalEdge))
1132 539336067 : && (myStops.empty() || myStops.front().edge != myCurrEdge || myStops.front().getSpeed() > 0)
1133 1009325648 : && ((myLaneChangeModel->isOpposite() && !oppositeTransformed) ? myLane->getLength() - myState.myPos : myState.myPos) > MIN2(myLane->getLength(), myArrivalPos) - POSITION_EPS
1134 1448101071 : && !isRemoteControlled());
1135 : }
1136 :
1137 :
1138 : bool
1139 1557117 : MSVehicle::replaceRoute(ConstMSRoutePtr newRoute, const std::string& info, bool onInit, int offset, bool addRouteStops, bool removeStops, std::string* msgReturn) {
1140 3114234 : if (MSBaseVehicle::replaceRoute(newRoute, info, onInit, offset, addRouteStops, removeStops, msgReturn)) {
1141 : // update best lanes (after stops were added)
1142 1557099 : myLastBestLanesEdge = nullptr;
1143 1557099 : myLastBestLanesInternalLane = nullptr;
1144 1557099 : updateBestLanes(true, onInit ? (*myCurrEdge)->getLanes().front() : 0);
1145 : assert(!removeStops || haveValidStopEdges());
1146 1557099 : if (myStops.size() == 0) {
1147 1512627 : myStopDist = std::numeric_limits<double>::max();
1148 : }
1149 1557099 : return true;
1150 : }
1151 : return false;
1152 : }
1153 :
1154 :
1155 : // ------------ Interaction with move reminders
1156 : void
1157 700645699 : MSVehicle::workOnMoveReminders(double oldPos, double newPos, double newSpeed) {
1158 : // This erasure-idiom works for all stl-sequence-containers
1159 : // See Meyers: Effective STL, Item 9
1160 1854719463 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
1161 : // XXX: calling notifyMove with newSpeed seems not the best choice. For the ballistic update, the average speed is calculated and used
1162 : // although a higher order quadrature-formula might be more adequate.
1163 : // For the euler case (where the speed is considered constant for each time step) it is conceivable that
1164 : // the current calculations may lead to systematic errors for large time steps (compared to reality). Refs. #2579
1165 2308147528 : if (!rem->first->notifyMove(*this, oldPos + rem->second, newPos + rem->second, MAX2(0., newSpeed))) {
1166 : #ifdef _DEBUG
1167 : if (myTraceMoveReminders) {
1168 : traceMoveReminder("notifyMove", rem->first, rem->second, false);
1169 : }
1170 : #endif
1171 : rem = myMoveReminders.erase(rem);
1172 : } else {
1173 : #ifdef _DEBUG
1174 : if (myTraceMoveReminders) {
1175 : traceMoveReminder("notifyMove", rem->first, rem->second, true);
1176 : }
1177 : #endif
1178 : ++rem;
1179 : }
1180 : }
1181 700645699 : if (myEnergyParams != nullptr) {
1182 : // TODO make the vehicle energy params a derived class which is a move reminder
1183 140021040 : myEnergyParams->setDynamicValues(isStopped() ? getNextStop().duration : -1, isParking(), getWaitingTime(), getAngleDiff());
1184 : }
1185 700645699 : }
1186 :
1187 :
1188 : void
1189 75012 : MSVehicle::workOnIdleReminders() {
1190 75012 : updateWaitingTime(0.); // cf issue 2233
1191 :
1192 : // vehicle move reminders
1193 88380 : for (const auto& rem : myMoveReminders) {
1194 13368 : rem.first->notifyIdle(*this);
1195 : }
1196 :
1197 : // lane move reminders - for aggregated values
1198 191369 : for (MSMoveReminder* rem : getLane()->getMoveReminders()) {
1199 116357 : rem->notifyIdle(*this);
1200 : }
1201 75012 : }
1202 :
1203 : // XXX: consider renaming...
1204 : void
1205 19512384 : MSVehicle::adaptLaneEntering2MoveReminder(const MSLane& enteredLane) {
1206 : // save the old work reminders, patching the position information
1207 : // add the information about the new offset to the old lane reminders
1208 19512384 : const double oldLaneLength = myLane->getLength();
1209 55255349 : for (auto& rem : myMoveReminders) {
1210 35742965 : rem.second += oldLaneLength;
1211 : #ifdef _DEBUG
1212 : // if (rem->first==0) std::cout << "Null reminder (?!)" << std::endl;
1213 : // std::cout << "Adapted MoveReminder on lane " << ((rem->first->getLane()==0) ? "NULL" : rem->first->getLane()->getID()) <<" position to " << rem->second << std::endl;
1214 : if (myTraceMoveReminders) {
1215 : traceMoveReminder("adaptedPos", rem.first, rem.second, true);
1216 : }
1217 : #endif
1218 : }
1219 32756895 : for (MSMoveReminder* const rem : enteredLane.getMoveReminders()) {
1220 13244511 : addReminder(rem);
1221 : }
1222 19512384 : }
1223 :
1224 :
1225 : // ------------ Other getter methods
1226 : double
1227 164907969 : MSVehicle::getSlope() const {
1228 164907969 : if (isParking() && getStops().begin()->parkingarea != nullptr) {
1229 3881 : return getStops().begin()->parkingarea->getVehicleSlope(*this);
1230 : }
1231 164904088 : if (myLane == nullptr) {
1232 : return 0;
1233 : }
1234 164904088 : const double posLat = myState.myPosLat; // @todo get rid of the '-'
1235 164904088 : Position p1 = getPosition();
1236 164904088 : Position p2 = getBackPosition();
1237 : if (p2 == Position::INVALID) {
1238 : // Handle special case of vehicle's back reaching out of the network
1239 6 : if (myFurtherLanes.size() > 0) {
1240 6 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1241 : if (p2 == Position::INVALID) {
1242 : // unsuitable lane geometry
1243 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1244 : }
1245 : } else {
1246 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1247 : }
1248 : }
1249 164904088 : return (p1 != p2 ? RAD2DEG(p2.slopeTo2D(p1)) : myLane->getShape().slopeDegreeAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1250 : }
1251 :
1252 :
1253 : Position
1254 938142984 : MSVehicle::getPosition(const double offset) const {
1255 938142984 : if (myLane == nullptr) {
1256 : // when called in the context of GUI-Drawing, the simulation step is already incremented
1257 145 : if (myInfluencer != nullptr && myInfluencer->isRemoteAffected(MSNet::getInstance()->getCurrentTimeStep())) {
1258 40 : return myCachedPosition;
1259 : } else {
1260 105 : return Position::INVALID;
1261 : }
1262 : }
1263 938142839 : if (isParking()) {
1264 3855346 : if (myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() > getNextStopParameter()->started) {
1265 122 : return myCachedPosition;
1266 : }
1267 3855224 : if (myStops.begin()->parkingarea != nullptr) {
1268 22494 : return myStops.begin()->parkingarea->getVehiclePosition(*this);
1269 : } else {
1270 : // position beside the road
1271 3832730 : PositionVector shp = myLane->getEdge().getLanes()[0]->getShape();
1272 7665340 : shp.move2side(SUMO_const_laneWidth * (MSGlobals::gLefthand ? -1 : 1));
1273 3832730 : return shp.positionAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane() + offset));
1274 3832730 : }
1275 : }
1276 934287493 : const bool changingLanes = myLaneChangeModel->isChangingLanes();
1277 1858427014 : const double posLat = (MSGlobals::gLefthand ? 1 : -1) * getLateralPositionOnLane();
1278 934287493 : if (offset == 0. && !changingLanes) {
1279 : if (myCachedPosition == Position::INVALID) {
1280 705216035 : myCachedPosition = validatePosition(myLane->geometryPositionAtOffset(myState.myPos, posLat));
1281 705216035 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1282 61093 : interpolateLateralZ(myCachedPosition, myState.myPos, posLat);
1283 : }
1284 : }
1285 927521179 : return myCachedPosition;
1286 : }
1287 6766314 : Position result = validatePosition(myLane->geometryPositionAtOffset(getPositionOnLane() + offset, posLat), offset);
1288 6766314 : interpolateLateralZ(result, getPositionOnLane() + offset, posLat);
1289 6766314 : return result;
1290 : }
1291 :
1292 :
1293 : void
1294 7112629 : MSVehicle::interpolateLateralZ(Position& pos, double offset, double posLat) const {
1295 7112629 : const MSLane* shadow = myLaneChangeModel->getShadowLane();
1296 7112629 : if (shadow != nullptr && pos != Position::INVALID) {
1297 : // ignore negative offset
1298 : const Position shadowPos = shadow->geometryPositionAtOffset(MAX2(0.0, offset));
1299 61437 : if (shadowPos != Position::INVALID && pos.z() != shadowPos.z()) {
1300 325 : const double centerDist = (myLane->getWidth() + shadow->getWidth()) * 0.5;
1301 325 : double relOffset = fabs(posLat) / centerDist;
1302 325 : double newZ = (1 - relOffset) * pos.z() + relOffset * shadowPos.z();
1303 : pos.setz(newZ);
1304 : }
1305 : }
1306 7112629 : }
1307 :
1308 :
1309 : double
1310 1110832 : MSVehicle::getDistanceToLeaveJunction() const {
1311 1110832 : double result = getLength() - getPositionOnLane();
1312 1110832 : if (myLane->isNormal()) {
1313 : return MAX2(0.0, result);
1314 : }
1315 5013 : const MSLane* lane = myLane;
1316 10026 : while (lane->isInternal()) {
1317 5013 : result += lane->getLength();
1318 5013 : lane = lane->getCanonicalSuccessorLane();
1319 : }
1320 : return result;
1321 : }
1322 :
1323 :
1324 : Position
1325 103413 : MSVehicle::getPositionAlongBestLanes(double offset) const {
1326 : assert(MSGlobals::gUsingInternalLanes);
1327 103413 : if (!isOnRoad()) {
1328 0 : return Position::INVALID;
1329 : }
1330 103413 : const std::vector<MSLane*>& bestLanes = getBestLanesContinuation();
1331 : auto nextBestLane = bestLanes.begin();
1332 103413 : const bool opposite = myLaneChangeModel->isOpposite();
1333 103413 : double pos = opposite ? myLane->getLength() - myState.myPos : myState.myPos;
1334 103413 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : getLane();
1335 : assert(lane != 0);
1336 : bool success = true;
1337 :
1338 305336 : while (offset > 0) {
1339 : // take into account lengths along internal lanes
1340 308706 : while (lane->isInternal() && offset > 0) {
1341 106783 : if (offset > lane->getLength() - pos) {
1342 3561 : offset -= lane->getLength() - pos;
1343 3561 : lane = lane->getLinkCont()[0]->getViaLaneOrLane();
1344 : pos = 0.;
1345 3561 : if (lane == nullptr) {
1346 : success = false;
1347 : offset = 0.;
1348 : }
1349 : } else {
1350 103222 : pos += offset;
1351 : offset = 0;
1352 : }
1353 : }
1354 : // set nextBestLane to next non-internal lane
1355 207050 : while (nextBestLane != bestLanes.end() && *nextBestLane == nullptr) {
1356 : ++nextBestLane;
1357 : }
1358 201923 : if (offset > 0) {
1359 : assert(!lane->isInternal());
1360 : assert(lane == *nextBestLane);
1361 98701 : if (offset > lane->getLength() - pos) {
1362 98518 : offset -= lane->getLength() - pos;
1363 : ++nextBestLane;
1364 : assert(nextBestLane == bestLanes.end() || *nextBestLane != 0);
1365 98518 : if (nextBestLane == bestLanes.end()) {
1366 : success = false;
1367 : offset = 0.;
1368 : } else {
1369 98518 : const MSLink* link = lane->getLinkTo(*nextBestLane);
1370 : assert(link != nullptr);
1371 : lane = link->getViaLaneOrLane();
1372 : pos = 0.;
1373 : }
1374 : } else {
1375 183 : pos += offset;
1376 : offset = 0;
1377 : }
1378 : }
1379 :
1380 : }
1381 :
1382 103413 : if (success) {
1383 103413 : return lane->geometryPositionAtOffset(pos, -getLateralPositionOnLane());
1384 : } else {
1385 0 : return Position::INVALID;
1386 : }
1387 : }
1388 :
1389 :
1390 : double
1391 711190 : MSVehicle::getMaxSpeedOnLane() const {
1392 711190 : if (myLane != nullptr) {
1393 711190 : return myLane->getVehicleMaxSpeed(this);
1394 : }
1395 0 : return myType->getMaxSpeed();
1396 : }
1397 :
1398 :
1399 : Position
1400 711982349 : MSVehicle::validatePosition(Position result, double offset) const {
1401 : int furtherIndex = 0;
1402 711982349 : double lastLength = getPositionOnLane();
1403 711982349 : while (result == Position::INVALID) {
1404 209643 : if (furtherIndex >= (int)myFurtherLanes.size()) {
1405 : //WRITE_WARNINGF(TL("Could not compute position for vehicle '%', time=%."), getID(), time2string(MSNet::getInstance()->getCurrentTimeStep()));
1406 : break;
1407 : }
1408 : //std::cout << SIMTIME << " veh=" << getID() << " lane=" << myLane->getID() << " pos=" << getPositionOnLane() << " posLat=" << getLateralPositionOnLane() << " offset=" << offset << " result=" << result << " i=" << furtherIndex << " further=" << myFurtherLanes.size() << "\n";
1409 191620 : MSLane* further = myFurtherLanes[furtherIndex];
1410 191620 : offset += lastLength;
1411 191620 : result = further->geometryPositionAtOffset(further->getLength() + offset, -getLateralPositionOnLane());
1412 : lastLength = further->getLength();
1413 191620 : furtherIndex++;
1414 : //std::cout << SIMTIME << " newResult=" << result << "\n";
1415 : }
1416 711982349 : return result;
1417 : }
1418 :
1419 :
1420 : ConstMSEdgeVector::const_iterator
1421 280383 : MSVehicle::getRerouteOrigin() const {
1422 : // too close to the next junction, so avoid an emergency brake here
1423 280383 : if (myLane != nullptr && (myCurrEdge + 1) != myRoute->end() && !isRailway(getVClass())) {
1424 218325 : if (myLane->isInternal()) {
1425 : return myCurrEdge + 1;
1426 : }
1427 211588 : if (myState.myPos > myLane->getLength() - getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)) {
1428 : return myCurrEdge + 1;
1429 : }
1430 209247 : if (myLane->getEdge().hasChangeProhibitions(getVClass(), myLane->getIndex())) {
1431 : return myCurrEdge + 1;
1432 : }
1433 : }
1434 271193 : return myCurrEdge;
1435 : }
1436 :
1437 :
1438 : double
1439 140051320 : MSVehicle::getAngleDiff() const {
1440 140051320 : return myLastAngle == INVALID_DOUBLE ? 0. : GeomHelper::angleDiff(myLastAngle, myAngle);
1441 : }
1442 :
1443 : double
1444 30280 : MSVehicle::getCurveRadius() const {
1445 30280 : const double angleDiff = getAngleDiff();
1446 : return angleDiff == 0
1447 30280 : ? std::numeric_limits<double>::max()
1448 23124 : : SPEED2DIST(getSpeed()) / fabs(angleDiff);
1449 : }
1450 :
1451 :
1452 : void
1453 5326008 : MSVehicle::setAngle(double angle, bool straightenFurther) {
1454 : #ifdef DEBUG_FURTHER
1455 : if (DEBUG_COND) {
1456 : std::cout << SIMTIME << " veh '" << getID() << " setAngle(" << angle << ") straightenFurther=" << straightenFurther << std::endl;
1457 : }
1458 : #endif
1459 5326008 : myAngle = angle;
1460 5326008 : MSLane* next = myLane;
1461 5326008 : if (straightenFurther && myFurtherLanesPosLat.size() > 0) {
1462 202324 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
1463 104005 : MSLane* further = myFurtherLanes[i];
1464 104005 : const MSLink* link = further->getLinkTo(next);
1465 104005 : if (link != nullptr) {
1466 103557 : myFurtherLanesPosLat[i] = getLateralPositionOnLane() - link->getLateralShift();
1467 : next = further;
1468 : } else {
1469 : break;
1470 : }
1471 : }
1472 : }
1473 5326008 : }
1474 :
1475 :
1476 : void
1477 451431 : MSVehicle::setActionStepLength(double actionStepLength, bool resetOffset) {
1478 451431 : SUMOTime actionStepLengthMillisecs = SUMOVehicleParserHelper::processActionStepLength(actionStepLength);
1479 : SUMOTime previousActionStepLength = getActionStepLength();
1480 : const bool newActionStepLength = actionStepLengthMillisecs != previousActionStepLength;
1481 451431 : if (newActionStepLength) {
1482 7 : getSingularType().setActionStepLength(actionStepLengthMillisecs, resetOffset);
1483 7 : if (!resetOffset) {
1484 1 : updateActionOffset(previousActionStepLength, actionStepLengthMillisecs);
1485 : }
1486 : }
1487 451425 : if (resetOffset) {
1488 6 : resetActionOffset();
1489 : }
1490 451431 : }
1491 :
1492 :
1493 : bool
1494 301259861 : MSVehicle::congested() const {
1495 301259861 : return myState.mySpeed < (60.0 / 3.6) || myLane->getSpeedLimit() < (60.1 / 3.6);
1496 : }
1497 :
1498 :
1499 : double
1500 707943711 : MSVehicle::computeAngle() const {
1501 : Position p1;
1502 707943711 : const double posLat = -myState.myPosLat; // @todo get rid of the '-'
1503 707943711 : const double lefthandSign = (MSGlobals::gLefthand ? -1 : 1);
1504 :
1505 : // if parking manoeuvre is happening then rotate vehicle on each step
1506 707943711 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
1507 450 : return getAngle() + myManoeuvre.getGUIIncrement();
1508 : }
1509 :
1510 707943261 : if (isParking()) {
1511 28995 : if (myStops.begin()->parkingarea != nullptr) {
1512 15743 : return myStops.begin()->parkingarea->getVehicleAngle(*this);
1513 : } else {
1514 13252 : return myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane()));
1515 : }
1516 : }
1517 707914266 : if (myLaneChangeModel->isChangingLanes()) {
1518 : // cannot use getPosition() because it already includes the offset to the side and thus messes up the angle
1519 1147030 : p1 = myLane->geometryPositionAtOffset(myState.myPos, lefthandSign * posLat);
1520 9 : if (p1 == Position::INVALID && myLane->getShape().length2D() == 0. && myLane->isInternal()) {
1521 : // workaround: extrapolate the preceding lane shape
1522 9 : MSLane* predecessorLane = myLane->getCanonicalPredecessorLane();
1523 9 : p1 = predecessorLane->geometryPositionAtOffset(predecessorLane->getLength() + myState.myPos, lefthandSign * posLat);
1524 : }
1525 : } else {
1526 706767236 : p1 = getPosition();
1527 : }
1528 :
1529 : Position p2;
1530 707914266 : if (getVehicleType().getParameter().locomotiveLength > 0) {
1531 : // articulated vehicle should use the heading of the first part
1532 1874222 : const double locoLength = MIN2(getVehicleType().getParameter().locomotiveLength, getLength());
1533 1874222 : p2 = getPosition(-locoLength);
1534 : } else {
1535 706040044 : p2 = getBackPosition();
1536 : }
1537 : if (p2 == Position::INVALID) {
1538 : // Handle special case of vehicle's back reaching out of the network
1539 2144 : if (myFurtherLanes.size() > 0) {
1540 130 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1541 : if (p2 == Position::INVALID) {
1542 : // unsuitable lane geometry
1543 85 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1544 : }
1545 : } else {
1546 2014 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1547 : }
1548 : }
1549 : double result = (p1 != p2 ? p2.angleTo2D(p1) :
1550 104660 : myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1551 :
1552 707914266 : result += lefthandSign * myLaneChangeModel->calcAngleOffset();
1553 :
1554 : #ifdef DEBUG_FURTHER
1555 : if (DEBUG_COND) {
1556 : std::cout << SIMTIME << " computeAngle veh=" << getID() << " p1=" << p1 << " p2=" << p2 << " angle=" << RAD2DEG(result) << " naviDegree=" << GeomHelper::naviDegree(result) << "\n";
1557 : }
1558 : #endif
1559 707914266 : return result;
1560 : }
1561 :
1562 :
1563 : const Position
1564 878111591 : MSVehicle::getBackPosition() const {
1565 878111591 : const double posLat = MSGlobals::gLefthand ? myState.myPosLat : -myState.myPosLat;
1566 : Position result;
1567 878111591 : if (myState.myPos >= myType->getLength()) {
1568 : // vehicle is fully on the new lane
1569 860525097 : result = myLane->geometryPositionAtOffset(myState.myPos - myType->getLength(), posLat);
1570 : } else {
1571 17586494 : if (myLaneChangeModel->isChangingLanes() && myFurtherLanes.size() > 0 && myLaneChangeModel->getShadowLane(myFurtherLanes.back()) == nullptr) {
1572 : // special case where the target lane has no predecessor
1573 : #ifdef DEBUG_FURTHER
1574 : if (DEBUG_COND) {
1575 : std::cout << " getBackPosition veh=" << getID() << " specialCase using myLane=" << myLane->getID() << " pos=0 posLat=" << myState.myPosLat << " result=" << myLane->geometryPositionAtOffset(0, posLat) << "\n";
1576 : }
1577 : #endif
1578 1906 : result = myLane->geometryPositionAtOffset(0, posLat);
1579 : } else {
1580 : #ifdef DEBUG_FURTHER
1581 : if (DEBUG_COND) {
1582 : std::cout << " getBackPosition veh=" << getID() << " myLane=" << myLane->getID() << " further=" << toString(myFurtherLanes) << " myFurtherLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
1583 : }
1584 : #endif
1585 17584588 : if (myFurtherLanes.size() > 0 && !myLaneChangeModel->isChangingLanes()) {
1586 : // truncate to 0 if vehicle starts on an edge that is shorter than its length
1587 17198959 : const double backPos = MAX2(0.0, getBackPositionOnLane(myFurtherLanes.back()));
1588 34098833 : result = myFurtherLanes.back()->geometryPositionAtOffset(backPos, -myFurtherLanesPosLat.back() * (MSGlobals::gLefthand ? -1 : 1));
1589 : } else {
1590 385629 : result = myLane->geometryPositionAtOffset(0, posLat);
1591 : }
1592 : }
1593 : }
1594 878111591 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1595 285222 : interpolateLateralZ(result, myState.myPos - myType->getLength(), posLat);
1596 : }
1597 878111591 : return result;
1598 : }
1599 :
1600 :
1601 : bool
1602 481107 : MSVehicle::willStop() const {
1603 481107 : return !isStopped() && !myStops.empty() && myLane != nullptr && &myStops.front().lane->getEdge() == &myLane->getEdge();
1604 : }
1605 :
1606 : bool
1607 371136836 : MSVehicle::isStoppedOnLane() const {
1608 371136836 : return isStopped() && myStops.front().lane == myLane;
1609 : }
1610 :
1611 : bool
1612 30733037 : MSVehicle::keepStopping(bool afterProcessing) const {
1613 30733037 : if (isStopped()) {
1614 : // when coming out of vehicleTransfer we must shift the time forward
1615 36781445 : return (myStops.front().duration - (afterProcessing ? DELTA_T : 0) > 0 || isStoppedTriggered() || myStops.front().pars.collision
1616 30481029 : || myStops.front().pars.breakDown || (myStops.front().getSpeed() > 0
1617 35713 : && (myState.myPos < MIN2(myStops.front().pars.endPos, myStops.front().lane->getLength() - POSITION_EPS))
1618 29894 : && (myStops.front().pars.parking == ParkingType::ONROAD || getSpeed() >= SUMO_const_haltingSpeed)));
1619 : } else {
1620 : return false;
1621 : }
1622 : }
1623 :
1624 :
1625 : SUMOTime
1626 15327 : MSVehicle::remainingStopDuration() const {
1627 15327 : if (isStopped()) {
1628 15327 : return myStops.front().duration;
1629 : }
1630 : return 0;
1631 : }
1632 :
1633 :
1634 : SUMOTime
1635 680425583 : MSVehicle::collisionStopTime() const {
1636 680425583 : return (myStops.empty() || !myStops.front().pars.collision) ? myCollisionImmunity : MAX2((SUMOTime)0, myStops.front().duration);
1637 : }
1638 :
1639 :
1640 : bool
1641 680286666 : MSVehicle::brokeDown() const {
1642 680286666 : return isStopped() && !myStops.empty() && myStops.front().pars.breakDown;
1643 : }
1644 :
1645 :
1646 : bool
1647 171344 : MSVehicle::ignoreCollision() const {
1648 171344 : return myCollisionImmunity > 0;
1649 : }
1650 :
1651 :
1652 : double
1653 643945793 : MSVehicle::processNextStop(double currentVelocity) {
1654 643945793 : if (myStops.empty()) {
1655 : // no stops; pass
1656 : return currentVelocity;
1657 : }
1658 :
1659 : #ifdef DEBUG_STOPS
1660 : if (DEBUG_COND) {
1661 : std::cout << "\nPROCESS_NEXT_STOP\n" << SIMTIME << " vehicle '" << getID() << "'" << std::endl;
1662 : }
1663 : #endif
1664 :
1665 : MSStop& stop = myStops.front();
1666 41464379 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1667 41464379 : if (stop.reached) {
1668 25851659 : stop.duration -= getActionStepLength();
1669 25851659 : if (getSpeed() > 0) {
1670 : // re-enter stopping places to correct waiting position (except for parkingArea since it's place-based)
1671 3859860 : if (stop.busstop != nullptr) {
1672 : // let the bus stop know the vehicle
1673 12967 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1674 : }
1675 3859860 : if (stop.containerstop != nullptr) {
1676 : // let the container stop know the vehicle
1677 3814603 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1678 : }
1679 3859860 : if (stop.chargingStation != nullptr) {
1680 : // let the container stop know the vehicle
1681 3045 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1682 : }
1683 3859860 : if (stop.getSpeed() <= 0) {
1684 3842705 : stop.entryPos = getPositionOnLane();
1685 : }
1686 : }
1687 :
1688 : #ifdef DEBUG_STOPS
1689 : if (DEBUG_COND) {
1690 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached stop.\n"
1691 : << "Remaining duration: " << STEPS2TIME(stop.duration) << std::endl;
1692 : if (stop.getSpeed() > 0) {
1693 : std::cout << " waypointSpeed=" << stop.getSpeed() << " vehPos=" << myState.myPos << " endPos=" << stop.pars.endPos << "\n";
1694 : }
1695 : }
1696 : #endif
1697 25851659 : if (stop.duration <= 0 && stop.pars.join != "") {
1698 : // join this train (part) to another one
1699 37466 : MSVehicle* joinVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.join));
1700 969 : if (joinVeh && joinVeh->hasDeparted() && (joinVeh->joinTrainPart(this) || joinVeh->joinTrainPartFront(this))) {
1701 36 : stop.joinTriggered = false;
1702 36 : if (myAmRegisteredAsWaiting) {
1703 21 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1704 21 : myAmRegisteredAsWaiting = false;
1705 : }
1706 : // avoid collision warning before this vehicle is removed (joinVeh was already made longer)
1707 36 : myCollisionImmunity = TIME2STEPS(100);
1708 : // mark this vehicle as arrived
1709 36 : myArrivalPos = getPositionOnLane();
1710 36 : const_cast<SUMOVehicleParameter*>(myParameter)->arrivalEdge = getRoutePosition();
1711 : // handle transportables that want to continue in the other vehicle
1712 36 : if (myPersonDevice != nullptr) {
1713 3 : myPersonDevice->transferAtSplitOrJoin(joinVeh);
1714 : }
1715 36 : if (myContainerDevice != nullptr) {
1716 3 : myContainerDevice->transferAtSplitOrJoin(joinVeh);
1717 : }
1718 : }
1719 : }
1720 25851659 : boardTransportables(stop);
1721 22037462 : if (time > stop.endBoarding) {
1722 : // for taxi: cancel customers
1723 198307 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1724 : if (taxiDevice != nullptr) {
1725 : // may invalidate stops including the current reference
1726 64 : taxiDevice->cancelCurrentCustomers();
1727 64 : resumeFromStopping();
1728 64 : return currentVelocity;
1729 : }
1730 : }
1731 22037398 : if (!keepStopping() && isOnRoad()) {
1732 : #ifdef DEBUG_STOPS
1733 : if (DEBUG_COND) {
1734 : std::cout << SIMTIME << " vehicle '" << getID() << "' resumes from stopping." << std::endl;
1735 : }
1736 : #endif
1737 44636 : resumeFromStopping();
1738 44636 : if (isRail() && hasStops()) {
1739 : // stay on the current lane in case of a double stop
1740 3132 : const MSStop& nextStop = getNextStop();
1741 3132 : if (nextStop.edge == myCurrEdge) {
1742 1079 : const double stopSpeed = getCarFollowModel().stopSpeed(this, getSpeed(), nextStop.pars.endPos - myState.myPos);
1743 : //std::cout << SIMTIME << " veh=" << getID() << " resumedFromStopping currentVelocity=" << currentVelocity << " stopSpeed=" << stopSpeed << "\n";
1744 1079 : return stopSpeed;
1745 : }
1746 : }
1747 : } else {
1748 21992762 : if (stop.triggered) {
1749 3226679 : if (getVehicleType().getPersonCapacity() == getPersonNumber()) {
1750 30 : WRITE_WARNINGF(TL("Vehicle '%' ignores triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1751 10 : stop.triggered = false;
1752 3226669 : } else if (!myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1753 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1754 4331 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1755 4331 : myAmRegisteredAsWaiting = true;
1756 : #ifdef DEBUG_STOPS
1757 : if (DEBUG_COND) {
1758 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for person." << std::endl;
1759 : }
1760 : #endif
1761 : }
1762 : }
1763 21992762 : if (stop.containerTriggered) {
1764 39500 : if (getVehicleType().getContainerCapacity() == getContainerNumber()) {
1765 1332 : WRITE_WARNINGF(TL("Vehicle '%' ignores container triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1766 444 : stop.containerTriggered = false;
1767 39056 : } else if (stop.containerTriggered && !myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1768 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1769 92 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1770 92 : myAmRegisteredAsWaiting = true;
1771 : #ifdef DEBUG_STOPS
1772 : if (DEBUG_COND) {
1773 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for container." << std::endl;
1774 : }
1775 : #endif
1776 : }
1777 : }
1778 : // joining only takes place after stop duration is over
1779 21992762 : if (stop.joinTriggered && !myAmRegisteredAsWaiting
1780 7103 : && stop.duration <= (stop.pars.extension >= 0 ? -stop.pars.extension : 0)) {
1781 98 : if (stop.pars.extension >= 0) {
1782 105 : WRITE_WARNINGF(TL("Vehicle '%' aborts joining after extension of %s at time %."), getID(), STEPS2TIME(stop.pars.extension), time2string(SIMSTEP));
1783 35 : stop.joinTriggered = false;
1784 : } else {
1785 : // keep stopping indefinitely but ensure that simulation terminates
1786 63 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1787 63 : myAmRegisteredAsWaiting = true;
1788 : }
1789 : }
1790 21992762 : if (stop.getSpeed() > 0) {
1791 : //waypoint mode
1792 219653 : if (stop.duration == 0) {
1793 243 : return stop.getSpeed();
1794 : } else {
1795 : // stop for 'until' (computed in planMove)
1796 : return currentVelocity;
1797 : }
1798 : } else {
1799 : // brake
1800 21773109 : if (MSGlobals::gSemiImplicitEulerUpdate || stop.getSpeed() > 0) {
1801 21504012 : return 0;
1802 : } else {
1803 : // ballistic:
1804 269097 : return getSpeed() - getCarFollowModel().getMaxDecel();
1805 : }
1806 : }
1807 : }
1808 : } else {
1809 :
1810 : #ifdef DEBUG_STOPS
1811 : if (DEBUG_COND) {
1812 : std::cout << SIMTIME << " vehicle '" << getID() << "' hasn't reached next stop." << std::endl;
1813 : }
1814 : #endif
1815 : //std::cout << SIMTIME << " myStopDist=" << myStopDist << " bGap=" << getBrakeGap(myLane->getVehicleMaxSpeed(this)) << "\n";
1816 15675239 : if (stop.pars.onDemand && !stop.skipOnDemand && myStopDist <= getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this))) {
1817 576 : MSNet* const net = MSNet::getInstance();
1818 44 : const bool noExits = ((myPersonDevice == nullptr || !myPersonDevice->anyLeavingAtStop(stop))
1819 586 : && (myContainerDevice == nullptr || !myContainerDevice->anyLeavingAtStop(stop)));
1820 83 : const bool noEntries = ((!net->hasPersons() || !net->getPersonControl().hasAnyWaiting(stop.getEdge(), this))
1821 625 : && (!net->hasContainers() || !net->getContainerControl().hasAnyWaiting(stop.getEdge(), this)));
1822 576 : if (noExits && noEntries) {
1823 : //std::cout << " skipOnDemand\n";
1824 508 : stop.skipOnDemand = true;
1825 : // bestLanes must be extended past this stop
1826 508 : updateBestLanes(true);
1827 : }
1828 : }
1829 : // is the next stop on the current lane?
1830 15612720 : if (stop.edge == myCurrEdge) {
1831 : // get the stopping position
1832 5673431 : bool useStoppingPlace = stop.busstop != nullptr || stop.containerstop != nullptr || stop.parkingarea != nullptr;
1833 : bool fitsOnStoppingPlace = true;
1834 5673431 : if (!stop.skipOnDemand) { // no need to check available space if we skip it anyway
1835 5667642 : if (stop.busstop != nullptr) {
1836 1710980 : fitsOnStoppingPlace &= stop.busstop->fits(myState.myPos, *this);
1837 : }
1838 5667642 : if (stop.containerstop != nullptr) {
1839 21791 : fitsOnStoppingPlace &= stop.containerstop->fits(myState.myPos, *this);
1840 : }
1841 : // if the stop is a parking area we check if there is a free position on the area
1842 5667642 : if (stop.parkingarea != nullptr) {
1843 689617 : fitsOnStoppingPlace &= myState.myPos > stop.parkingarea->getBeginLanePosition();
1844 689617 : if (stop.parkingarea->getOccupancy() >= stop.parkingarea->getCapacity()) {
1845 : fitsOnStoppingPlace = false;
1846 : // trigger potential parkingZoneReroute
1847 434932 : MSParkingArea* oldParkingArea = stop.parkingarea;
1848 475978 : for (MSMoveReminder* rem : myLane->getMoveReminders()) {
1849 41046 : if (rem->isParkingRerouter()) {
1850 19818 : rem->notifyEnter(*this, MSMoveReminder::NOTIFICATION_PARKING_REROUTE, myLane);
1851 : }
1852 : }
1853 434932 : if (myStops.empty() || myStops.front().parkingarea != oldParkingArea) {
1854 : // rerouted, keep driving
1855 : return currentVelocity;
1856 : }
1857 254685 : } else if (stop.parkingarea->getOccupancyIncludingReservations(this) >= stop.parkingarea->getCapacity()) {
1858 : fitsOnStoppingPlace = false;
1859 126337 : } else if (stop.parkingarea->parkOnRoad() && stop.parkingarea->getLotIndex(this) < 0) {
1860 : fitsOnStoppingPlace = false;
1861 : }
1862 : }
1863 : }
1864 5671679 : const double targetPos = myState.myPos + myStopDist + (stop.getSpeed() > 0 ? (stop.pars.startPos - stop.pars.endPos) : 0);
1865 5671679 : double reachedThreshold = (useStoppingPlace ? targetPos - STOPPING_PLACE_OFFSET : stop.getReachedThreshold()) - NUMERICAL_EPS;
1866 5671679 : if (stop.busstop != nullptr && stop.getSpeed() <= 0 && getWaitingTime() > DELTA_T && myLane == stop.lane) {
1867 : // count (long) busStop as reached when fully within and jammed before the designated spot
1868 818396 : reachedThreshold = MIN2(reachedThreshold, stop.pars.startPos + getLength());
1869 : }
1870 5671679 : const bool posReached = myState.pos() >= reachedThreshold && currentVelocity <= stop.getSpeed() + SUMO_const_haltingSpeed && myLane == stop.lane;
1871 : #ifdef DEBUG_STOPS
1872 : if (DEBUG_COND) {
1873 : std::cout << " pos=" << myState.pos() << " speed=" << currentVelocity << " targetPos=" << targetPos << " fits=" << fitsOnStoppingPlace
1874 : << " reachedThresh=" << reachedThreshold
1875 : << " posReached=" << posReached
1876 : << " myLane=" << Named::getIDSecure(myLane)
1877 : << " stopLane=" << Named::getIDSecure(stop.lane)
1878 : << "\n";
1879 : }
1880 : #endif
1881 5671679 : if (posReached && !fitsOnStoppingPlace && MSStopOut::active()) {
1882 5736 : MSStopOut::getInstance()->stopBlocked(this, time);
1883 : }
1884 5671679 : if (fitsOnStoppingPlace && posReached && (!MSGlobals::gModelParkingManoeuver || myManoeuvre.entryManoeuvreIsComplete(this))) {
1885 : // ok, we may stop (have reached the stop) and either we are not modelling maneuvering or have completed entry
1886 56714 : stop.reached = true;
1887 56714 : if (!stop.startedFromState) {
1888 56493 : stop.pars.started = time;
1889 : }
1890 : #ifdef DEBUG_STOPS
1891 : if (DEBUG_COND) {
1892 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached next stop." << std::endl;
1893 : }
1894 : #endif
1895 56714 : if (MSStopOut::active()) {
1896 5569 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), time);
1897 : }
1898 56714 : myLane->getEdge().addWaiting(this);
1899 56714 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::STARTING_STOP);
1900 56714 : MSNet::getInstance()->getVehicleControl().registerStopStarted();
1901 : // compute stopping time
1902 56714 : stop.duration = stop.getMinDuration(time);
1903 56714 : stop.endBoarding = stop.pars.extension >= 0 ? time + stop.duration + stop.pars.extension : SUMOTime_MAX;
1904 56714 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1905 4122 : if (taxiDevice != nullptr && stop.pars.extension >= 0) {
1906 : // earliestPickupTime is set with waitUntil
1907 84 : stop.endBoarding = MAX2(time, stop.pars.waitUntil) + stop.pars.extension;
1908 : }
1909 56714 : if (stop.getSpeed() > 0) {
1910 : // ignore duration parameter in waypoint mode unless 'until' or 'ended' are set
1911 3426 : if (stop.getUntil() > time) {
1912 348 : stop.duration = stop.getUntil() - time;
1913 : } else {
1914 3078 : stop.duration = 0;
1915 : }
1916 : } else {
1917 53288 : stop.entryPos = getPositionOnLane();
1918 : }
1919 56714 : if (stop.busstop != nullptr) {
1920 : // let the bus stop know the vehicle
1921 18756 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1922 : }
1923 56714 : if (stop.containerstop != nullptr) {
1924 : // let the container stop know the vehicle
1925 571 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1926 : }
1927 56714 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
1928 : // let the parking area know the vehicle
1929 9825 : stop.parkingarea->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1930 : }
1931 56714 : if (stop.chargingStation != nullptr) {
1932 : // let the container stop know the vehicle
1933 3555 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1934 : }
1935 :
1936 56714 : if (stop.pars.tripId != "") {
1937 2920 : ((SUMOVehicleParameter&)getParameter()).setParameter("tripId", stop.pars.tripId);
1938 : }
1939 56714 : if (stop.pars.line != "") {
1940 1463 : ((SUMOVehicleParameter&)getParameter()).line = stop.pars.line;
1941 : }
1942 56714 : if (stop.pars.split != "") {
1943 : // split the train
1944 1239 : MSVehicle* splitVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.split));
1945 24 : if (splitVeh == nullptr) {
1946 3645 : WRITE_WARNINGF(TL("Vehicle '%' to split from vehicle '%' is not known. time=%."), stop.pars.split, getID(), SIMTIME)
1947 : } else {
1948 24 : MSNet::getInstance()->getInsertionControl().add(splitVeh);
1949 24 : splitVeh->getRoute().getEdges()[0]->removeWaiting(splitVeh);
1950 24 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1951 24 : const double newLength = MAX2(myType->getLength() - splitVeh->getVehicleType().getLength(),
1952 24 : myType->getParameter().locomotiveLength);
1953 24 : getSingularType().setLength(newLength);
1954 : // handle transportables that want to continue in the split part
1955 24 : if (myPersonDevice != nullptr) {
1956 0 : myPersonDevice->transferAtSplitOrJoin(splitVeh);
1957 : }
1958 24 : if (myContainerDevice != nullptr) {
1959 6 : myContainerDevice->transferAtSplitOrJoin(splitVeh);
1960 : }
1961 24 : if (splitVeh->getParameter().departPosProcedure == DepartPosDefinition::SPLIT_FRONT) {
1962 3 : const double backShift = splitVeh->getLength() + getVehicleType().getMinGap();
1963 3 : myState.myPos -= backShift;
1964 3 : myState.myBackPos -= backShift;
1965 : }
1966 : }
1967 : }
1968 :
1969 56714 : boardTransportables(stop);
1970 56710 : if (stop.pars.posLat != INVALID_DOUBLE) {
1971 230 : myState.myPosLat = stop.pars.posLat;
1972 : }
1973 : }
1974 : }
1975 : }
1976 : return currentVelocity;
1977 : }
1978 :
1979 :
1980 : void
1981 25908373 : MSVehicle::boardTransportables(MSStop& stop) {
1982 25908373 : if (stop.skipOnDemand) {
1983 : return;
1984 : }
1985 : // we have reached the stop
1986 : // any waiting persons may board now
1987 25705167 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1988 25705167 : MSNet* const net = MSNet::getInstance();
1989 25705167 : const bool boarded = (time <= stop.endBoarding
1990 25703583 : && net->hasPersons()
1991 1530203 : && net->getPersonControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToBoardNextPerson, stop.duration)
1992 25712831 : && stop.numExpectedPerson == 0);
1993 : // load containers
1994 25705167 : const bool loaded = (time <= stop.endBoarding
1995 25703583 : && net->hasContainers()
1996 3916635 : && net->getContainerControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToLoadNextContainer, stop.duration)
1997 25705742 : && stop.numExpectedContainer == 0);
1998 :
1999 : bool unregister = false;
2000 21890966 : if (time > stop.endBoarding) {
2001 1584 : stop.triggered = false;
2002 1584 : stop.containerTriggered = false;
2003 1584 : if (myAmRegisteredAsWaiting) {
2004 : unregister = true;
2005 328 : myAmRegisteredAsWaiting = false;
2006 : }
2007 : }
2008 21890966 : if (boarded) {
2009 : // the triggering condition has been fulfilled. Maybe we want to wait a bit longer for additional riders (car pooling)
2010 7525 : if (myAmRegisteredAsWaiting) {
2011 : unregister = true;
2012 : }
2013 7525 : stop.triggered = false;
2014 7525 : myAmRegisteredAsWaiting = false;
2015 : }
2016 21890966 : if (loaded) {
2017 : // the triggering condition has been fulfilled
2018 555 : if (myAmRegisteredAsWaiting) {
2019 : unregister = true;
2020 : }
2021 555 : stop.containerTriggered = false;
2022 555 : myAmRegisteredAsWaiting = false;
2023 : }
2024 :
2025 21890966 : if (unregister) {
2026 412 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2027 : #ifdef DEBUG_STOPS
2028 : if (DEBUG_COND) {
2029 : std::cout << SIMTIME << " vehicle '" << getID() << "' unregisters as waiting for transportable." << std::endl;
2030 : }
2031 : #endif
2032 : }
2033 : }
2034 :
2035 : bool
2036 921 : MSVehicle::joinTrainPart(MSVehicle* veh) {
2037 : // check if veh is close enough to be joined to the rear of this vehicle
2038 921 : MSLane* backLane = myFurtherLanes.size() == 0 ? myLane : myFurtherLanes.back();
2039 921 : double gap = getBackPositionOnLane() - veh->getPositionOnLane();
2040 1143 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == veh->getLane()
2041 951 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2042 15 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2043 15 : getSingularType().setLength(newLength);
2044 15 : myStops.begin()->joinTriggered = false;
2045 15 : if (myAmRegisteredAsWaiting) {
2046 0 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2047 0 : myAmRegisteredAsWaiting = false;
2048 : }
2049 : return true;
2050 : } else {
2051 906 : return false;
2052 : }
2053 : }
2054 :
2055 :
2056 : bool
2057 906 : MSVehicle::joinTrainPartFront(MSVehicle* veh) {
2058 : // check if veh is close enough to be joined to the front of this vehicle
2059 906 : MSLane* backLane = veh->myFurtherLanes.size() == 0 ? veh->myLane : veh->myFurtherLanes.back();
2060 906 : double gap = veh->getBackPositionOnLane(backLane) - getPositionOnLane();
2061 1113 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == getLane()
2062 930 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2063 : double skippedLaneLengths = 0;
2064 24 : if (veh->myFurtherLanes.size() > 0) {
2065 9 : skippedLaneLengths += getLane()->getLength();
2066 : // this vehicle must be moved to the lane of veh
2067 : // ensure that lane and furtherLanes of veh match our route
2068 9 : int routeIndex = getRoutePosition();
2069 9 : if (myLane->isInternal()) {
2070 0 : routeIndex++;
2071 : }
2072 27 : for (int i = (int)veh->myFurtherLanes.size() - 1; i >= 0; i--) {
2073 18 : MSEdge* edge = &veh->myFurtherLanes[i]->getEdge();
2074 18 : if (edge->isInternal()) {
2075 9 : continue;
2076 : }
2077 9 : if (!edge->isInternal() && edge != myRoute->getEdges()[routeIndex]) {
2078 0 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2079 0 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2080 : return false;
2081 : }
2082 9 : routeIndex++;
2083 : }
2084 9 : if (veh->getCurrentEdge()->getNormalSuccessor() != myRoute->getEdges()[routeIndex]) {
2085 3 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2086 9 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2087 : return false;
2088 : }
2089 12 : for (int i = (int)veh->myFurtherLanes.size() - 2; i >= 0; i--) {
2090 6 : skippedLaneLengths += veh->myFurtherLanes[i]->getLength();
2091 : }
2092 : }
2093 :
2094 21 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2095 21 : getSingularType().setLength(newLength);
2096 : // lane will be advanced just as for regular movement
2097 21 : myState.myPos = skippedLaneLengths + veh->getPositionOnLane();
2098 21 : myStops.begin()->joinTriggered = false;
2099 21 : if (myAmRegisteredAsWaiting) {
2100 6 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2101 6 : myAmRegisteredAsWaiting = false;
2102 : }
2103 21 : return true;
2104 : } else {
2105 882 : return false;
2106 : }
2107 : }
2108 :
2109 : double
2110 9101442 : MSVehicle::getBrakeGap(bool delayed) const {
2111 9101442 : return getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), delayed ? getCarFollowModel().getHeadwayTime() : 0);
2112 : }
2113 :
2114 :
2115 : bool
2116 704245042 : MSVehicle::checkActionStep(const SUMOTime t) {
2117 704245042 : myActionStep = isActionStep(t);
2118 704245042 : if (myActionStep) {
2119 632683106 : myLastActionTime = t;
2120 : }
2121 704245042 : return myActionStep;
2122 : }
2123 :
2124 :
2125 : void
2126 1479 : MSVehicle::resetActionOffset(const SUMOTime timeUntilNextAction) {
2127 1479 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + timeUntilNextAction;
2128 1479 : }
2129 :
2130 :
2131 : void
2132 1 : MSVehicle::updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength) {
2133 1 : SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2134 1 : SUMOTime timeSinceLastAction = now - myLastActionTime;
2135 1 : if (timeSinceLastAction == 0) {
2136 : // Action was scheduled now, may be delayed be new action step length
2137 : timeSinceLastAction = oldActionStepLength;
2138 : }
2139 1 : if (timeSinceLastAction >= newActionStepLength) {
2140 : // Action point required in this step
2141 0 : myLastActionTime = now;
2142 : } else {
2143 1 : SUMOTime timeUntilNextAction = newActionStepLength - timeSinceLastAction;
2144 1 : resetActionOffset(timeUntilNextAction);
2145 : }
2146 1 : }
2147 :
2148 :
2149 :
2150 : void
2151 704245042 : MSVehicle::planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront) {
2152 : #ifdef DEBUG_PLAN_MOVE
2153 : if (DEBUG_COND) {
2154 : std::cout
2155 : << "\nPLAN_MOVE\n"
2156 : << SIMTIME
2157 : << std::setprecision(gPrecision)
2158 : << " veh=" << getID()
2159 : << " lane=" << myLane->getID()
2160 : << " pos=" << getPositionOnLane()
2161 : << " posLat=" << getLateralPositionOnLane()
2162 : << " speed=" << getSpeed()
2163 : << "\n";
2164 : }
2165 : #endif
2166 : // Update the driver state
2167 704245042 : if (hasDriverState()) {
2168 451417 : myDriverState->update();
2169 902834 : setActionStepLength(myDriverState->getDriverState()->getActionStepLength(), false);
2170 : }
2171 :
2172 704245042 : myStopSpeed = getCarFollowModel().maxNextSpeed(myStopSpeed, this);
2173 704245042 : if (!checkActionStep(t)) {
2174 : #ifdef DEBUG_ACTIONSTEPS
2175 : if (DEBUG_COND) {
2176 : std::cout << STEPS2TIME(t) << " vehicle '" << getID() << "' skips action." << std::endl;
2177 : }
2178 : #endif
2179 : // During non-action passed drive items still need to be removed
2180 : // @todo rather work with updating myCurrentDriveItem (refs #3714)
2181 71561936 : removePassedDriveItems();
2182 71561936 : return;
2183 : } else {
2184 : #ifdef DEBUG_ACTIONSTEPS
2185 : if (DEBUG_COND) {
2186 : std::cout << STEPS2TIME(t) << " vehicle = '" << getID() << "' takes action." << std::endl;
2187 : }
2188 : #endif
2189 : myLFLinkLanesPrev.swap(myLFLinkLanes);
2190 632683106 : if (myInfluencer != nullptr) {
2191 488774 : myInfluencer->updateRemoteControlRoute(this);
2192 : }
2193 632683106 : planMoveInternal(t, ahead, myLFLinkLanes, myStopDist, myStopSpeed, myNextTurn);
2194 : #ifdef DEBUG_PLAN_MOVE
2195 : if (DEBUG_COND) {
2196 : DriveItemVector::iterator i;
2197 : for (i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
2198 : std::cout
2199 : << " vPass=" << (*i).myVLinkPass
2200 : << " vWait=" << (*i).myVLinkWait
2201 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
2202 : << " request=" << (*i).mySetRequest
2203 : << "\n";
2204 : }
2205 : }
2206 : #endif
2207 632683106 : checkRewindLinkLanes(lengthsInFront, myLFLinkLanes);
2208 632683106 : myNextDriveItem = myLFLinkLanes.begin();
2209 : // ideally would only do this with the call inside planMoveInternal - but that needs a const method
2210 : // so this is a kludge here - nuisance as it adds an extra check in a busy loop
2211 632683106 : if (MSGlobals::gModelParkingManoeuver) {
2212 2971 : if (getManoeuvreType() == MSVehicle::MANOEUVRE_EXIT && manoeuvreIsComplete()) {
2213 30 : setManoeuvreType(MSVehicle::MANOEUVRE_NONE);
2214 : }
2215 : }
2216 : }
2217 632683106 : myLaneChangeModel->resetChanged();
2218 : }
2219 :
2220 :
2221 : bool
2222 174568335 : MSVehicle::brakeForOverlap(const MSLink* link, const MSLane* lane) const {
2223 : // @review needed
2224 : //const double futurePosLat = getLateralPositionOnLane() + link->getLateralShift();
2225 : //const double overlap = getLateralOverlap(futurePosLat, link->getViaLaneOrLane());
2226 : //const double edgeWidth = link->getViaLaneOrLane()->getEdge().getWidth();
2227 174568335 : const double futurePosLat = getLateralPositionOnLane() + (
2228 174568335 : lane != myLane && lane->isInternal() ? lane->getIncomingLanes()[0].viaLink->getLateralShift() : 0);
2229 174568335 : const double overlap = getLateralOverlap(futurePosLat, lane);
2230 : const double edgeWidth = lane->getEdge().getWidth();
2231 : const bool result = (overlap > POSITION_EPS
2232 : // do not get stuck on narrow edges
2233 3101070 : && getVehicleType().getWidth() <= edgeWidth
2234 3095465 : && link->getViaLane() == nullptr
2235 : // this is the exit link of a junction. The normal edge should support the shadow
2236 1507402 : && ((myLaneChangeModel->getShadowLane(link->getLane()) == nullptr)
2237 : // the shadow lane must be permitted
2238 1121041 : || !myLaneChangeModel->getShadowLane(link->getLane())->allowsVehicleClass(getVClass())
2239 : // the internal lane after an internal junction has no parallel lane. make sure there is no shadow before continuing
2240 1059737 : || (lane->getEdge().isInternal() && lane->getIncomingLanes()[0].lane->getEdge().isInternal()))
2241 : // ignore situations where the shadow lane is part of a double-connection with the current lane
2242 468177 : && (myLaneChangeModel->getShadowLane() == nullptr
2243 257418 : || myLaneChangeModel->getShadowLane()->getLinkCont().size() == 0
2244 240126 : || myLaneChangeModel->getShadowLane()->getLinkCont().front()->getLane() != link->getLane())
2245 : // emergency vehicles may do some crazy stuff
2246 174974695 : && !myLaneChangeModel->hasBlueLight());
2247 :
2248 : #ifdef DEBUG_PLAN_MOVE
2249 : if (DEBUG_COND) {
2250 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getDescription() << " lane=" << lane->getID()
2251 : << " linkLane=" << link->getLane()->getID()
2252 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
2253 : << " shift=" << link->getLateralShift()
2254 : << " fpLat=" << futurePosLat << " overlap=" << overlap << " w=" << getVehicleType().getWidth()
2255 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane(link->getLane()))
2256 : << " result=" << result << "\n";
2257 : }
2258 : #endif
2259 174568335 : return result;
2260 : }
2261 :
2262 :
2263 :
2264 : void
2265 632683106 : MSVehicle::planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& newStopDist, double& newStopSpeed, std::pair<double, const MSLink*>& nextTurn) const {
2266 : lfLinks.clear();
2267 632683106 : newStopDist = std::numeric_limits<double>::max();
2268 : //
2269 : const MSCFModel& cfModel = getCarFollowModel();
2270 632683106 : const double vehicleLength = getVehicleType().getLength();
2271 632683106 : const double maxV = cfModel.maxNextSpeed(myState.mySpeed, this);
2272 632683106 : const double maxVD = MAX2(getMaxSpeed(), MIN2(maxV, getDesiredMaxSpeed()));
2273 632683106 : const bool opposite = myLaneChangeModel->isOpposite();
2274 : // maxVD is possibly higher than vType-maxSpeed and in this case laneMaxV may be higher as well
2275 632683106 : double laneMaxV = myLane->getVehicleMaxSpeed(this, maxVD);
2276 632683106 : const double vMinComfortable = cfModel.minNextSpeed(getSpeed(), this);
2277 : double lateralShift = 0;
2278 632683106 : if (isRail()) {
2279 : // speed limits must hold for the whole length of the train
2280 1781241 : for (MSLane* l : myFurtherLanes) {
2281 398450 : laneMaxV = MIN2(laneMaxV, l->getVehicleMaxSpeed(this, maxVD));
2282 : #ifdef DEBUG_PLAN_MOVE
2283 : if (DEBUG_COND) {
2284 : std::cout << " laneMaxV=" << laneMaxV << " lane=" << l->getID() << "\n";
2285 : }
2286 : #endif
2287 : }
2288 : }
2289 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
2290 : laneMaxV = MAX2(laneMaxV, vMinComfortable);
2291 633171848 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
2292 : laneMaxV = std::numeric_limits<double>::max();
2293 : }
2294 : // v is the initial maximum velocity of this vehicle in this step
2295 632683106 : double v = cfModel.maximumLaneSpeedCF(this, maxV, laneMaxV);
2296 : // if we are modelling parking then we dawdle until the manoeuvre is complete - by setting a very low max speed
2297 : // in practice this only applies to exit manoeuvre because entry manoeuvre just delays setting stop.reached - when the vehicle is virtually stopped
2298 632683106 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
2299 420 : v = NUMERICAL_EPS_SPEED;
2300 : }
2301 :
2302 632683106 : if (myInfluencer != nullptr) {
2303 488774 : const double vMin = MAX2(0., cfModel.minNextSpeed(myState.mySpeed, this));
2304 : #ifdef DEBUG_TRACI
2305 : if (DEBUG_COND) {
2306 : std::cout << SIMTIME << " veh=" << getID() << " speedBeforeTraci=" << v;
2307 : }
2308 : #endif
2309 488774 : v = myInfluencer->influenceSpeed(t, v, v, vMin, maxV);
2310 : #ifdef DEBUG_TRACI
2311 : if (DEBUG_COND) {
2312 : std::cout << " influencedSpeed=" << v;
2313 : }
2314 : #endif
2315 488774 : v = myInfluencer->gapControlSpeed(t, this, v, v, vMin, maxV);
2316 : #ifdef DEBUG_TRACI
2317 : if (DEBUG_COND) {
2318 : std::cout << " gapControlSpeed=" << v << "\n";
2319 : }
2320 : #endif
2321 : }
2322 : // all links within dist are taken into account (potentially)
2323 632683106 : const double dist = SPEED2DIST(maxV) + cfModel.brakeGap(maxV);
2324 :
2325 632683106 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation();
2326 : #ifdef DEBUG_PLAN_MOVE
2327 : if (DEBUG_COND) {
2328 : std::cout << " dist=" << dist << " bestLaneConts=" << toString(bestLaneConts)
2329 : << "\n maxV=" << maxV << " laneMaxV=" << laneMaxV << " v=" << v << "\n";
2330 : }
2331 : #endif
2332 : assert(bestLaneConts.size() > 0);
2333 : bool hadNonInternal = false;
2334 : // the distance already "seen"; in the following always up to the end of the current "lane"
2335 632683106 : double seen = opposite ? myState.myPos : myLane->getLength() - myState.myPos;
2336 632683106 : nextTurn.first = seen;
2337 632683106 : nextTurn.second = nullptr;
2338 632683106 : bool encounteredTurn = (MSGlobals::gLateralResolution <= 0); // next turn is only needed for sublane
2339 : double seenNonInternal = 0;
2340 632683106 : double seenInternal = myLane->isInternal() ? seen : 0;
2341 632683106 : double vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(seen, v, cfModel.getMaxAccel()), laneMaxV); // upper bound
2342 : int view = 0;
2343 : DriveProcessItem* lastLink = nullptr;
2344 : bool slowedDownForMinor = false; // whether the vehicle already had to slow down on approach to a minor link
2345 : double mustSeeBeforeReversal = 0;
2346 : // iterator over subsequent lanes and fill lfLinks until stopping distance or stopped
2347 632683106 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : myLane;
2348 : assert(lane != 0);
2349 632683106 : const MSLane* leaderLane = myLane;
2350 632683106 : bool foundRailSignal = !isRail();
2351 : bool planningToStop = false;
2352 : #ifdef PARALLEL_STOPWATCH
2353 : myLane->getStopWatch()[0].start();
2354 : #endif
2355 :
2356 : // optionally slow down to match arrival time
2357 632683106 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
2358 632672730 : if (v > vMinComfortable && hasStops() && myStops.front().pars.arrival >= 0 && sfp > 0
2359 4279 : && v > myLane->getSpeedLimit() * sfp
2360 632686142 : && !myStops.front().reached) {
2361 2786 : const double vSlowDown = slowDownForSchedule(vMinComfortable);
2362 5403 : v = MIN2(v, vSlowDown);
2363 : }
2364 : auto stopIt = myStops.begin();
2365 : while (true) {
2366 : // check leader on lane
2367 : // leader is given for the first edge only
2368 1217103304 : if (opposite &&
2369 : (leaderLane->getVehicleNumberWithPartials() > 1
2370 103588 : || (leaderLane != myLane && leaderLane->getVehicleNumber() > 0))) {
2371 397306 : ahead.clear();
2372 : // find opposite-driving leader that must be respected on the currently looked at lane
2373 : // (only looking at one lane at a time)
2374 397306 : const double backOffset = leaderLane == myLane ? getPositionOnLane() : leaderLane->getLength();
2375 397306 : const double gapOffset = leaderLane == myLane ? 0 : seen - leaderLane->getLength();
2376 397306 : const MSLeaderDistanceInfo cands = leaderLane->getFollowersOnConsecutive(this, backOffset, true, backOffset, MSLane::MinorLinkMode::FOLLOW_NEVER);
2377 397306 : MSLeaderDistanceInfo oppositeLeaders(leaderLane->getWidth(), this, 0.);
2378 397306 : const double minTimeToLeaveLane = MSGlobals::gSublane ? MAX2(TS, (0.5 * myLane->getWidth() - getLateralPositionOnLane()) / getVehicleType().getMaxSpeedLat()) : TS;
2379 1055302 : for (int i = 0; i < cands.numSublanes(); i++) {
2380 657996 : CLeaderDist cand = cands[i];
2381 657996 : if (cand.first != 0) {
2382 540957 : if ((cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() != leaderLane)
2383 541428 : || (!cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() == leaderLane)) {
2384 : // respect leaders that also drive in the opposite direction (fully or with some overlap)
2385 351227 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - getVehicleType().getMinGap() + cand.first->getVehicleType().getMinGap() - cand.first->getVehicleType().getLength());
2386 : } else {
2387 : // avoid frontal collision
2388 346626 : const bool assumeStopped = cand.first->isStopped() || cand.first->getWaitingSeconds() > 1;
2389 189730 : const double predMaxDist = cand.first->getSpeed() + (assumeStopped ? 0 : cand.first->getCarFollowModel().getMaxAccel()) * minTimeToLeaveLane;
2390 189730 : if (cand.second >= 0 && (cand.second - v * minTimeToLeaveLane - predMaxDist < 0 || assumeStopped)) {
2391 44652 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - predMaxDist - getVehicleType().getMinGap());
2392 : }
2393 : }
2394 : }
2395 : }
2396 : #ifdef DEBUG_PLAN_MOVE
2397 : if (DEBUG_COND) {
2398 : std::cout << " leaderLane=" << leaderLane->getID() << " gapOffset=" << gapOffset << " minTimeToLeaveLane=" << minTimeToLeaveLane
2399 : << " cands=" << cands.toString() << " oppositeLeaders=" << oppositeLeaders.toString() << "\n";
2400 : }
2401 : #endif
2402 397306 : adaptToLeaderDistance(oppositeLeaders, 0, seen, lastLink, v, vLinkPass);
2403 397306 : } else {
2404 1216705998 : if (MSGlobals::gLateralResolution > 0 && myLaneChangeModel->getShadowLane() == nullptr) {
2405 197224104 : const double rightOL = getRightSideOnLane(lane) + lateralShift;
2406 197224104 : const double leftOL = getLeftSideOnLane(lane) + lateralShift;
2407 : const bool outsideLeft = leftOL > lane->getWidth();
2408 : #ifdef DEBUG_PLAN_MOVE
2409 : if (DEBUG_COND) {
2410 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " rightOL=" << rightOL << " leftOL=" << leftOL << "\n";
2411 : }
2412 : #endif
2413 197224104 : if (rightOL < 0 || outsideLeft) {
2414 1311321 : MSLeaderInfo outsideLeaders(lane->getWidth());
2415 : // if ego is driving outside lane bounds we must consider
2416 : // potential leaders that are also outside bounds
2417 : int sublaneOffset = 0;
2418 1311321 : if (outsideLeft) {
2419 540729 : sublaneOffset = MIN2(-1, -(int)ceil((leftOL - lane->getWidth()) / MSGlobals::gLateralResolution));
2420 : } else {
2421 770592 : sublaneOffset = MAX2(1, (int)ceil(-rightOL / MSGlobals::gLateralResolution));
2422 : }
2423 1311321 : outsideLeaders.setSublaneOffset(sublaneOffset);
2424 : #ifdef DEBUG_PLAN_MOVE
2425 : if (DEBUG_COND) {
2426 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " sublaneOffset=" << sublaneOffset << " outsideLeft=" << outsideLeft << "\n";
2427 : }
2428 : #endif
2429 5432898 : for (const MSVehicle* cand : lane->getVehiclesSecure()) {
2430 1484947 : if ((lane != myLane || cand->getPositionOnLane() > getPositionOnLane())
2431 4752650 : && ((!outsideLeft && cand->getLeftSideOnEdge() < 0)
2432 3267615 : || (outsideLeft && cand->getLeftSideOnEdge() > lane->getEdge().getWidth()))) {
2433 97443 : outsideLeaders.addLeader(cand, true);
2434 : #ifdef DEBUG_PLAN_MOVE
2435 : if (DEBUG_COND) {
2436 : std::cout << " outsideLeader=" << cand->getID() << " ahead=" << outsideLeaders.toString() << "\n";
2437 : }
2438 : #endif
2439 : }
2440 : }
2441 1311321 : lane->releaseVehicles();
2442 1311321 : if (outsideLeaders.hasVehicles()) {
2443 26263 : adaptToLeaders(outsideLeaders, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2444 : }
2445 1311321 : }
2446 : }
2447 1216705998 : adaptToLeaders(ahead, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2448 : }
2449 1217103304 : if (lastLink != nullptr) {
2450 1099256838 : lastLink->myVLinkWait = MIN2(lastLink->myVLinkWait, v);
2451 : }
2452 : #ifdef DEBUG_PLAN_MOVE
2453 : if (DEBUG_COND) {
2454 : std::cout << "\nv = " << v << "\n";
2455 :
2456 : }
2457 : #endif
2458 : // XXX efficiently adapt to shadow leaders using neighAhead by iteration over the whole edge in parallel (lanechanger-style)
2459 1217103304 : if (myLaneChangeModel->getShadowLane() != nullptr) {
2460 : // also slow down for leaders on the shadowLane relative to the current lane
2461 5038487 : const MSLane* shadowLane = myLaneChangeModel->getShadowLane(leaderLane);
2462 : if (shadowLane != nullptr
2463 5038487 : && (MSGlobals::gLateralResolution > 0 || getLateralOverlap() > POSITION_EPS
2464 : // continous lane change cannot be stopped so we must adapt to the leader on the target lane
2465 191108 : || myLaneChangeModel->getLaneChangeCompletion() < 0.5)) {
2466 4484490 : if ((&shadowLane->getEdge() == &leaderLane->getEdge() || myLaneChangeModel->isOpposite())) {
2467 4441881 : double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
2468 4441881 : if (myLaneChangeModel->isOpposite()) {
2469 : // ego posLat is added when retrieving sublanes but it
2470 : // should be negated (subtract twice to compensate)
2471 138425 : latOffset = ((myLane->getWidth() + shadowLane->getWidth()) * 0.5
2472 138425 : - 2 * getLateralPositionOnLane());
2473 :
2474 : }
2475 4441881 : MSLeaderInfo shadowLeaders = shadowLane->getLastVehicleInformation(this, latOffset, lane->getLength() - seen);
2476 : #ifdef DEBUG_PLAN_MOVE
2477 : if (DEBUG_COND && myLaneChangeModel->isOpposite()) {
2478 : std::cout << SIMTIME << " opposite veh=" << getID() << " shadowLane=" << shadowLane->getID() << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2479 : }
2480 : #endif
2481 4441881 : if (myLaneChangeModel->isOpposite()) {
2482 : // ignore oncoming vehicles on the shadow lane
2483 138425 : shadowLeaders.removeOpposite(shadowLane);
2484 : }
2485 4441881 : const double turningDifference = MAX2(0.0, leaderLane->getLength() - shadowLane->getLength());
2486 4441881 : adaptToLeaders(shadowLeaders, latOffset, seen - turningDifference, lastLink, shadowLane, v, vLinkPass);
2487 4484490 : } else if (shadowLane == myLaneChangeModel->getShadowLane() && leaderLane == myLane) {
2488 : // check for leader vehicles driving in the opposite direction on the opposite-direction shadow lane
2489 : // (and thus in the same direction as ego)
2490 30567 : MSLeaderDistanceInfo shadowLeaders = shadowLane->getFollowersOnConsecutive(this, myLane->getOppositePos(getPositionOnLane()), true);
2491 : const double latOffset = 0;
2492 : #ifdef DEBUG_PLAN_MOVE
2493 : if (DEBUG_COND) {
2494 : std::cout << SIMTIME << " opposite shadows veh=" << getID() << " shadowLane=" << shadowLane->getID()
2495 : << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2496 : }
2497 : #endif
2498 30567 : shadowLeaders.fixOppositeGaps(true);
2499 : #ifdef DEBUG_PLAN_MOVE
2500 : if (DEBUG_COND) {
2501 : std::cout << " shadowLeadersFixed=" << shadowLeaders.toString() << "\n";
2502 : }
2503 : #endif
2504 30567 : adaptToLeaderDistance(shadowLeaders, latOffset, seen, lastLink, v, vLinkPass);
2505 30567 : }
2506 : }
2507 : }
2508 : // adapt to pedestrians on the same lane
2509 1217103304 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2510 193932 : const double relativePos = lane->getLength() - seen;
2511 : #ifdef DEBUG_PLAN_MOVE
2512 : if (DEBUG_COND) {
2513 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2514 : }
2515 : #endif
2516 193932 : const double stopTime = MAX2(1.0, ceil(getSpeed() / cfModel.getMaxDecel()));
2517 193932 : PersonDist leader = lane->nextBlocking(relativePos,
2518 193932 : getRightSideOnLane(lane), getRightSideOnLane(lane) + getVehicleType().getWidth(), stopTime);
2519 193932 : if (leader.first != 0) {
2520 20843 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2521 29576 : v = MIN2(v, stopSpeed);
2522 : #ifdef DEBUG_PLAN_MOVE
2523 : if (DEBUG_COND) {
2524 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2525 : }
2526 : #endif
2527 : }
2528 : }
2529 1217103304 : if (lane->getBidiLane() != nullptr) {
2530 : // adapt to pedestrians on the bidi lane
2531 5519305 : const MSLane* bidiLane = lane->getBidiLane();
2532 5519305 : if (bidiLane->getEdge().getPersons().size() > 0 && bidiLane->hasPedestrians()) {
2533 1028 : const double relativePos = seen;
2534 : #ifdef DEBUG_PLAN_MOVE
2535 : if (DEBUG_COND) {
2536 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2537 : }
2538 : #endif
2539 1028 : const double stopTime = ceil(getSpeed() / cfModel.getMaxDecel());
2540 1028 : const double leftSideOnLane = bidiLane->getWidth() - getRightSideOnLane(lane);
2541 1028 : PersonDist leader = bidiLane->nextBlocking(relativePos,
2542 1028 : leftSideOnLane - getVehicleType().getWidth(), leftSideOnLane, stopTime, true);
2543 1028 : if (leader.first != 0) {
2544 267 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2545 524 : v = MIN2(v, stopSpeed);
2546 : #ifdef DEBUG_PLAN_MOVE
2547 : if (DEBUG_COND) {
2548 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2549 : }
2550 : #endif
2551 : }
2552 : }
2553 : }
2554 : // adapt to vehicles blocked from (urgent) lane-changing
2555 1217103304 : if (!opposite && lane->getEdge().hasLaneChanger()) {
2556 592702737 : const double vHelp = myLaneChangeModel->getCooperativeHelpSpeed(lane, seen);
2557 : #ifdef DEBUG_PLAN_MOVE
2558 : if (DEBUG_COND && vHelp < v) {
2559 : std::cout << SIMTIME << " applying cooperativeHelpSpeed v=" << vHelp << "\n";
2560 : }
2561 : #endif
2562 592782145 : v = MIN2(v, vHelp);
2563 : }
2564 :
2565 : // process all stops and waypoints on the current edge
2566 : bool foundRealStop = false;
2567 : while (stopIt != myStops.end()
2568 66675625 : && ((&stopIt->lane->getEdge() == &lane->getEdge())
2569 33772001 : || (stopIt->isOpposite && stopIt->lane->getEdge().getOppositeEdge() == &lane->getEdge()))
2570 : // ignore stops that occur later in a looped route
2571 1272896691 : && stopIt->edge == myCurrEdge + view) {
2572 32848513 : double stopDist = std::numeric_limits<double>::max();
2573 : const MSStop& stop = *stopIt;
2574 : const bool isFirstStop = stopIt == myStops.begin();
2575 : stopIt++;
2576 32848513 : if (!stop.reached || (stop.getSpeed() > 0 && keepStopping())) {
2577 : // we are approaching a stop on the edge; must not drive further
2578 15179488 : bool isWaypoint = stop.getSpeed() > 0;
2579 15179488 : double endPos = stop.getEndPos(*this) + NUMERICAL_EPS;
2580 15179488 : if (stop.parkingarea != nullptr) {
2581 : // leave enough space so parking vehicles can exit
2582 1661389 : const double brakePos = getBrakeGap() + lane->getLength() - seen;
2583 1661389 : endPos = stop.parkingarea->getLastFreePosWithReservation(t, *this, brakePos);
2584 13518099 : } else if (isWaypoint && !stop.reached) {
2585 107827 : endPos = stop.pars.startPos;
2586 : }
2587 15179488 : stopDist = seen + endPos - lane->getLength();
2588 : #ifdef DEBUG_STOPS
2589 : if (DEBUG_COND) {
2590 : std::cout << SIMTIME << " veh=" << getID() << " stopDist=" << stopDist << " stopLane=" << stop.lane->getID() << " stopEndPos=" << endPos << "\n";
2591 : }
2592 : #endif
2593 : double stopSpeed = laneMaxV;
2594 15179488 : if (isWaypoint) {
2595 : bool waypointWithStop = false;
2596 123361 : if (stop.getUntil() > t) {
2597 : // check if we have to slow down or even stop
2598 : SUMOTime time2end = 0;
2599 3691 : if (stop.reached) {
2600 702 : time2end = TIME2STEPS((stop.pars.endPos - myState.myPos) / stop.getSpeed());
2601 : } else {
2602 3267 : time2end = TIME2STEPS(
2603 : // time to reach waypoint start
2604 : stopDist / ((getSpeed() + stop.getSpeed()) / 2)
2605 : // time to reach waypoint end
2606 : + (stop.pars.endPos - stop.pars.startPos) / stop.getSpeed());
2607 : }
2608 3691 : if (stop.getUntil() > t + time2end) {
2609 : // we need to stop
2610 : double distToEnd = stopDist;
2611 3398 : if (!stop.reached) {
2612 2783 : distToEnd += stop.pars.endPos - stop.pars.startPos;
2613 : }
2614 3398 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), distToEnd), vMinComfortable);
2615 : waypointWithStop = true;
2616 3398 : if (stopSpeed <= SUMO_const_haltingSpeed) {
2617 531 : const_cast<MSStop&>(stop).waypointWithStop = true;
2618 : }
2619 : }
2620 : }
2621 123361 : if (stop.reached) {
2622 14790 : stopSpeed = MIN2(stop.getSpeed(), stopSpeed);
2623 14790 : if (myState.myPos >= stop.pars.endPos && !waypointWithStop) {
2624 278 : stopDist = std::numeric_limits<double>::max();
2625 : }
2626 : } else {
2627 108571 : stopSpeed = MIN2(MAX2(cfModel.freeSpeed(this, getSpeed(), stopDist, stop.getSpeed()), vMinComfortable), stopSpeed);
2628 108571 : if (!stop.reached) {
2629 108571 : stopDist += stop.pars.endPos - stop.pars.startPos;
2630 : }
2631 108571 : if (lastLink != nullptr) {
2632 66550 : lastLink->adaptLeaveSpeed(cfModel.freeSpeed(this, vLinkPass, endPos, stop.getSpeed(), false, MSCFModel::CalcReason::FUTURE));
2633 : }
2634 : }
2635 : } else {
2636 15056127 : stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist);
2637 15056127 : if (!instantStopping()) {
2638 : // regular stops are not emergencies
2639 : stopSpeed = MAX2(stopSpeed, vMinComfortable);
2640 20 : } else if (myInfluencer && !myInfluencer->hasSpeedTimeLine(SIMSTEP)) {
2641 : std::vector<std::pair<SUMOTime, double> > speedTimeLine;
2642 20 : speedTimeLine.push_back(std::make_pair(SIMSTEP, getSpeed()));
2643 20 : speedTimeLine.push_back(std::make_pair(SIMSTEP + DELTA_T, stopSpeed));
2644 20 : myInfluencer->setSpeedTimeLine(speedTimeLine);
2645 20 : }
2646 15056127 : if (lastLink != nullptr) {
2647 9254304 : lastLink->adaptLeaveSpeed(cfModel.stopSpeed(this, vLinkPass, endPos, MSCFModel::CalcReason::FUTURE));
2648 : }
2649 : }
2650 15179488 : if (stopSpeed < getSpeed() && getSpeed() > SUMO_const_haltingSpeed) {
2651 : // only discount braking-for-stop timeLoss if we are actually braking
2652 613251 : newStopSpeed = MIN2(newStopSpeed, stopSpeed);
2653 14872776 : } else if (getSpeed() < SUMO_const_haltingSpeed) {
2654 : // blocked from entering a stop
2655 7920427 : newStopSpeed = std::numeric_limits<double>::max();
2656 : }
2657 15179488 : v = MIN2(v, stopSpeed);
2658 15179488 : if (lane->isInternal()) {
2659 7009 : std::vector<MSLink*>::const_iterator exitLink = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2660 : assert(!lane->isLinkEnd(exitLink));
2661 : bool dummySetRequest;
2662 : double dummyVLinkWait;
2663 7009 : checkLinkLeaderCurrentAndParallel(*exitLink, lane, seen, lastLink, v, vLinkPass, dummyVLinkWait, dummySetRequest);
2664 : }
2665 :
2666 : #ifdef DEBUG_PLAN_MOVE
2667 : if (DEBUG_COND) {
2668 : std::cout << "\n" << SIMTIME << " next stop: distance = " << stopDist << " requires stopSpeed = " << stopSpeed << "\n";
2669 :
2670 : }
2671 : #endif
2672 15179488 : if (isFirstStop) {
2673 10373585 : newStopDist = stopDist;
2674 : // if the vehicle is going to stop we don't need to look further
2675 : // (except for trains that make use of further link-approach registration for safety purposes)
2676 10373585 : if (!isWaypoint) {
2677 : planningToStop = true;
2678 10285599 : if (!isRail()) {
2679 9961911 : lfLinks.emplace_back(v, stopDist);
2680 : foundRealStop = true;
2681 : break;
2682 : }
2683 : }
2684 : }
2685 : }
2686 : }
2687 : if (foundRealStop) {
2688 : break;
2689 : }
2690 :
2691 : // move to next lane
2692 : // get the next link used
2693 1207141393 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2694 1207141393 : if (lane->isLinkEnd(link) && myLaneChangeModel->hasBlueLight() && myCurrEdge != myRoute->end() - 1) {
2695 : // emergency vehicle is on the wrong lane. Obtain the link that it would use from the correct turning lane
2696 : const int currentIndex = lane->getIndex();
2697 : const MSLane* bestJump = nullptr;
2698 193555 : for (const LaneQ& preb : getBestLanes()) {
2699 127294 : if (preb.allowsContinuation &&
2700 : (bestJump == nullptr
2701 3035 : || abs(currentIndex - preb.lane->getIndex()) < abs(currentIndex - bestJump->getIndex()))) {
2702 67272 : bestJump = preb.lane;
2703 : }
2704 : }
2705 66261 : if (bestJump != nullptr) {
2706 66261 : const MSEdge* nextEdge = *(myCurrEdge + 1);
2707 122482 : for (auto cand_it = bestJump->getLinkCont().begin(); cand_it != bestJump->getLinkCont().end(); cand_it++) {
2708 117107 : if (&(*cand_it)->getLane()->getEdge() == nextEdge) {
2709 : link = cand_it;
2710 : break;
2711 : }
2712 : }
2713 : }
2714 : }
2715 :
2716 : // Check whether this is a turn (to save info about the next upcoming turn)
2717 1207141393 : if (!encounteredTurn) {
2718 190711339 : if (!lane->isLinkEnd(link) && lane->getLinkCont().size() > 1) {
2719 19915348 : LinkDirection linkDir = (*link)->getDirection();
2720 19915348 : switch (linkDir) {
2721 : case LinkDirection::STRAIGHT:
2722 : case LinkDirection::NODIR:
2723 : break;
2724 7872859 : default:
2725 7872859 : nextTurn.first = seen;
2726 7872859 : nextTurn.second = *link;
2727 : encounteredTurn = true;
2728 : #ifdef DEBUG_NEXT_TURN
2729 : if (DEBUG_COND) {
2730 : std::cout << SIMTIME << " veh '" << getID() << "' nextTurn: " << toString(linkDir)
2731 : << " at " << nextTurn.first << "m." << std::endl;
2732 : }
2733 : #endif
2734 : }
2735 : }
2736 : }
2737 :
2738 : // check whether the vehicle is on its final edge
2739 2080475919 : if (myCurrEdge + view + 1 == myRoute->end()
2740 1207141393 : || (myParameter->arrivalEdge >= 0 && getRoutePosition() + view == myParameter->arrivalEdge)) {
2741 333806867 : const double arrivalSpeed = (myParameter->arrivalSpeedProcedure == ArrivalSpeedDefinition::GIVEN ?
2742 : myParameter->arrivalSpeed : laneMaxV);
2743 : // subtract the arrival speed from the remaining distance so we get one additional driving step with arrival speed
2744 : // XXX: This does not work for ballistic update refs #2579
2745 333806867 : const double distToArrival = seen + myArrivalPos - lane->getLength() - SPEED2DIST(arrivalSpeed);
2746 333806867 : const double va = MAX2(NUMERICAL_EPS, cfModel.freeSpeed(this, getSpeed(), distToArrival, arrivalSpeed));
2747 333806867 : v = MIN2(v, va);
2748 333806867 : if (lastLink != nullptr) {
2749 : lastLink->adaptLeaveSpeed(va);
2750 : }
2751 333806867 : lfLinks.push_back(DriveProcessItem(v, seen, lane->getEdge().isFringe() ? 1000 : 0));
2752 333806867 : break;
2753 : }
2754 : // check whether the lane or the shadowLane is a dead end (allow some leeway on intersections)
2755 : if (lane->isLinkEnd(link)
2756 864331447 : || (MSGlobals::gSublane && brakeForOverlap(*link, lane))
2757 1737312604 : || (opposite && (*link)->getViaLaneOrLane()->getParallelOpposite() == nullptr
2758 212444 : && !myLaneChangeModel->hasBlueLight())) {
2759 9608609 : double va = cfModel.stopSpeed(this, getSpeed(), seen);
2760 9608609 : if (lastLink != nullptr) {
2761 : lastLink->adaptLeaveSpeed(va);
2762 : }
2763 9608609 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
2764 373286 : v = MIN2(myLaneChangeModel->getCommittedSpeed(), v);
2765 : } else {
2766 17936424 : v = MIN2(va, v);
2767 : }
2768 : #ifdef DEBUG_PLAN_MOVE
2769 : if (DEBUG_COND) {
2770 : std::cout << " braking for link end lane=" << lane->getID() << " seen=" << seen
2771 : << " overlap=" << getLateralOverlap() << " va=" << va << " committed=" << myLaneChangeModel->getCommittedSpeed() << " v=" << v << "\n";
2772 :
2773 : }
2774 : #endif
2775 9608609 : if (lane->isLinkEnd(link)) {
2776 9003079 : lfLinks.emplace_back(v, seen);
2777 : break;
2778 : }
2779 : }
2780 864331447 : lateralShift += (*link)->getLateralShift();
2781 864331447 : const bool yellowOrRed = (*link)->haveRed() || (*link)->haveYellow();
2782 : // We distinguish 3 cases when determining the point at which a vehicle stops:
2783 : // - allway_stop: the vehicle should stop close to the stop line but may stop at larger distance
2784 : // - red/yellow light: here the vehicle 'knows' that it will have priority eventually and does not need to stop on a precise spot
2785 : // - other types of minor links: the vehicle needs to stop as close to the junction as necessary
2786 : // to minimize the time window for passing the junction. If the
2787 : // vehicle 'decides' to accelerate and cannot enter the junction in
2788 : // the next step, new foes may appear and cause a collision (see #1096)
2789 : // - major links: stopping point is irrelevant
2790 : double laneStopOffset;
2791 864331447 : const double majorStopOffset = MAX2(getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, DIST_TO_STOPLINE_EXPECT_PRIORITY), lane->getVehicleStopOffset(this));
2792 : // override low desired decel at yellow and red
2793 864331447 : const double stopDecel = yellowOrRed && !isRail() ? MAX2(MIN2(MSGlobals::gTLSYellowMinDecel, cfModel.getEmergencyDecel()), cfModel.getMaxDecel()) : cfModel.getMaxDecel();
2794 864331447 : const double brakeDist = cfModel.brakeGap(myState.mySpeed, stopDecel, 0);
2795 864331447 : const bool canBrakeBeforeLaneEnd = seen >= brakeDist;
2796 864331447 : const bool canBrakeBeforeStopLine = seen - lane->getVehicleStopOffset(this) >= brakeDist;
2797 864331447 : if (yellowOrRed) {
2798 : // Wait at red traffic light with full distance if possible
2799 : laneStopOffset = majorStopOffset;
2800 802985507 : } else if ((*link)->havePriority()) {
2801 : // On priority link, we should never stop below visibility distance
2802 758061632 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, majorStopOffset);
2803 : } else {
2804 44923875 : double minorStopOffset = MAX2(lane->getVehicleStopOffset(this),
2805 44923875 : getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP) - (*link)->getDistToFoePedCrossing());
2806 : #ifdef DEBUG_PLAN_MOVE
2807 : if (DEBUG_COND) {
2808 : std::cout << " minorStopOffset=" << minorStopOffset << " distToFoePedCrossing=" << (*link)->getDistToFoePedCrossing() << "\n";
2809 : }
2810 : #endif
2811 44923875 : if ((*link)->getState() == LINKSTATE_ALLWAY_STOP) {
2812 1425260 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, 0));
2813 : } else {
2814 43498615 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP_MINOR, 0));
2815 : }
2816 : // On minor link, we should likewise never stop below visibility distance
2817 44923875 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, minorStopOffset);
2818 : }
2819 : #ifdef DEBUG_PLAN_MOVE
2820 : if (DEBUG_COND) {
2821 : std::cout << SIMTIME << " veh=" << getID() << " desired stopOffset on lane '" << lane->getID() << "' is " << laneStopOffset << "\n";
2822 : }
2823 : #endif
2824 864331447 : if (canBrakeBeforeLaneEnd) {
2825 : // avoid emergency braking if possible
2826 836948055 : laneStopOffset = MIN2(laneStopOffset, seen - brakeDist);
2827 : }
2828 : laneStopOffset = MAX2(POSITION_EPS, laneStopOffset);
2829 864331447 : double stopDist = MAX2(0., seen - laneStopOffset);
2830 61345940 : if (yellowOrRed && getDevice(typeid(MSDevice_GLOSA)) != nullptr
2831 508 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->getOverrideSafety()
2832 864331447 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->isSpeedAdviceActive()) {
2833 : stopDist = std::numeric_limits<double>::max();
2834 : }
2835 864331447 : if (newStopDist != std::numeric_limits<double>::max()) {
2836 : stopDist = MAX2(stopDist, newStopDist);
2837 : }
2838 : #ifdef DEBUG_PLAN_MOVE
2839 : if (DEBUG_COND) {
2840 : std::cout << SIMTIME << " veh=" << getID() << " effective stopOffset on lane '" << lane->getID()
2841 : << "' is " << laneStopOffset << " (-> stopDist=" << stopDist << ")" << std::endl;
2842 : }
2843 : #endif
2844 864331447 : if (isRail()
2845 864331447 : && !lane->isInternal()) {
2846 : // check for train direction reversal
2847 3213992 : if (lane->getBidiLane() != nullptr
2848 3213992 : && (*link)->getLane()->getBidiLane() == lane) {
2849 631456 : double vMustReverse = getCarFollowModel().stopSpeed(this, getSpeed(), seen - POSITION_EPS);
2850 631456 : if (seen < 1) {
2851 2277 : mustSeeBeforeReversal = 2 * seen + getLength();
2852 : }
2853 1221824 : v = MIN2(v, vMustReverse);
2854 : }
2855 : // signal that is passed in the current step does not count
2856 6427984 : foundRailSignal |= ((*link)->getTLLogic() != nullptr
2857 793762 : && (*link)->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL
2858 3907206 : && seen > SPEED2DIST(v));
2859 : }
2860 :
2861 864331447 : bool canReverseEventually = false;
2862 864331447 : const double vReverse = checkReversal(canReverseEventually, laneMaxV, seen);
2863 864331447 : v = MIN2(v, vReverse);
2864 : #ifdef DEBUG_PLAN_MOVE
2865 : if (DEBUG_COND) {
2866 : std::cout << SIMTIME << " veh=" << getID() << " canReverseEventually=" << canReverseEventually << " v=" << v << "\n";
2867 : }
2868 : #endif
2869 :
2870 : // check whether we need to slow down in order to finish a continuous lane change
2871 864331447 : if (myLaneChangeModel->isChangingLanes()) {
2872 : if ( // slow down to finish lane change before a turn lane
2873 179825 : ((*link)->getDirection() == LinkDirection::LEFT || (*link)->getDirection() == LinkDirection::RIGHT) ||
2874 : // slow down to finish lane change before the shadow lane ends
2875 146767 : (myLaneChangeModel->getShadowLane() != nullptr &&
2876 146767 : (*link)->getViaLaneOrLane()->getParallelLane(myLaneChangeModel->getShadowDirection()) == nullptr)) {
2877 : // XXX maybe this is too harsh. Vehicles could cut some corners here
2878 54636 : const double timeRemaining = STEPS2TIME(myLaneChangeModel->remainingTime());
2879 : assert(timeRemaining != 0);
2880 : // XXX: Euler-logic (#860), but I couldn't identify problems from this yet (Leo). Refs. #2575
2881 54636 : const double va = MAX2(cfModel.stopSpeed(this, getSpeed(), seen - POSITION_EPS),
2882 54636 : (seen - POSITION_EPS) / timeRemaining);
2883 : #ifdef DEBUG_PLAN_MOVE
2884 : if (DEBUG_COND) {
2885 : std::cout << SIMTIME << " veh=" << getID() << " slowing down to finish continuous change before"
2886 : << " link=" << (*link)->getViaLaneOrLane()->getID()
2887 : << " timeRemaining=" << timeRemaining
2888 : << " v=" << v
2889 : << " va=" << va
2890 : << std::endl;
2891 : }
2892 : #endif
2893 108776 : v = MIN2(va, v);
2894 : }
2895 : }
2896 :
2897 : // - always issue a request to leave the intersection we are currently on
2898 864331447 : const bool leavingCurrentIntersection = myLane->getEdge().isInternal() && lastLink == nullptr;
2899 : // - do not issue a request to enter an intersection after we already slowed down for an earlier one
2900 864331447 : const bool abortRequestAfterMinor = slowedDownForMinor && (*link)->getInternalLaneBefore() == nullptr;
2901 : // - even if red, if we cannot break we should issue a request
2902 864331447 : bool setRequest = (v > NUMERICAL_EPS_SPEED && !abortRequestAfterMinor) || (leavingCurrentIntersection);
2903 :
2904 864331447 : double stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist, stopDecel, MSCFModel::CalcReason::CURRENT_WAIT);
2905 864331447 : double vLinkWait = MIN2(v, stopSpeed);
2906 : #ifdef DEBUG_PLAN_MOVE
2907 : if (DEBUG_COND) {
2908 : std::cout
2909 : << " stopDist=" << stopDist
2910 : << " stopDecel=" << stopDecel
2911 : << " vLinkWait=" << vLinkWait
2912 : << " brakeDist=" << brakeDist
2913 : << " seen=" << seen
2914 : << " leaveIntersection=" << leavingCurrentIntersection
2915 : << " setRequest=" << setRequest
2916 : //<< std::setprecision(16)
2917 : //<< " v=" << v
2918 : //<< " speedEps=" << NUMERICAL_EPS_SPEED
2919 : //<< std::setprecision(gPrecision)
2920 : << "\n";
2921 : }
2922 : #endif
2923 :
2924 864331447 : if (yellowOrRed && canBrakeBeforeStopLine && !ignoreRed(*link, canBrakeBeforeStopLine) && seen >= mustSeeBeforeReversal) {
2925 61284054 : if (lane->isInternal()) {
2926 42351 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2927 : }
2928 : // arrivalSpeed / arrivalTime when braking for red light is only relevent for rail signal switching
2929 61284054 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, vLinkPass);
2930 : // the vehicle is able to brake in front of a yellow/red traffic light
2931 61284054 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, false, arrivalTime, vLinkWait, 0, seen, -1));
2932 : //lfLinks.push_back(DriveProcessItem(0, vLinkWait, vLinkWait, false, 0, 0, stopDist));
2933 61284054 : break;
2934 : }
2935 :
2936 803047393 : const MSLink* entryLink = (*link)->getCorrespondingEntryLink();
2937 803047393 : if (entryLink->haveRed() && ignoreRed(*link, canBrakeBeforeStopLine) && STEPS2TIME(t - entryLink->getLastStateChange()) > 2) {
2938 : // restrict speed when ignoring a red light
2939 118114 : const double redSpeed = MIN2(v, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_RED_SPEED, v));
2940 118114 : const double va = MAX2(redSpeed, cfModel.freeSpeed(this, getSpeed(), seen, redSpeed));
2941 235780 : v = MIN2(va, v);
2942 : #ifdef DEBUG_PLAN_MOVE
2943 : if (DEBUG_COND) std::cout
2944 : << " ignoreRed spent=" << STEPS2TIME(t - (*link)->getLastStateChange())
2945 : << " redSpeed=" << redSpeed
2946 : << " va=" << va
2947 : << " v=" << v
2948 : << "\n";
2949 : #endif
2950 : }
2951 :
2952 803047393 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2953 :
2954 803047393 : if (lastLink != nullptr) {
2955 : lastLink->adaptLeaveSpeed(laneMaxV);
2956 : }
2957 803047393 : double arrivalSpeed = vLinkPass;
2958 : // vehicles should decelerate when approaching a minor link
2959 : // - unless they are close enough to have clear visibility of all relevant foe lanes and may start to accelerate again
2960 : // - and unless they are so close that stopping is impossible (i.e. when a green light turns to yellow when close to the junction)
2961 :
2962 : // whether the vehicle/driver is close enough to the link to see all possible foes #2123
2963 803047393 : const double visibilityDistance = (*link)->getFoeVisibilityDistance();
2964 803047393 : const double determinedFoePresence = seen <= visibilityDistance;
2965 : // // VARIANT: account for time needed to recognize whether relevant vehicles are on the foe lanes. (Leo)
2966 : // double foeRecognitionTime = 0.0;
2967 : // double determinedFoePresence = seen < visibilityDistance - myState.mySpeed*foeRecognitionTime;
2968 :
2969 : #ifdef DEBUG_PLAN_MOVE
2970 : if (DEBUG_COND) {
2971 : std::cout << " approaching link=" << (*link)->getViaLaneOrLane()->getID() << " prio=" << (*link)->havePriority() << " seen=" << seen << " visibilityDistance=" << visibilityDistance << " brakeDist=" << brakeDist << "\n";
2972 : }
2973 : #endif
2974 :
2975 803047393 : const bool couldBrakeForMinor = !(*link)->havePriority() && brakeDist < seen && !(*link)->lastWasContMajor();
2976 44417904 : if (couldBrakeForMinor && !determinedFoePresence) {
2977 : // vehicle decelerates just enough to be able to stop if necessary and then accelerates
2978 41622894 : double maxSpeedAtVisibilityDist = cfModel.maximumSafeStopSpeed(visibilityDistance, cfModel.getMaxDecel(), myState.mySpeed, false, 0., false);
2979 : // XXX: estimateSpeedAfterDistance does not use euler-logic (thus returns a lower value than possible here...)
2980 41622894 : double maxArrivalSpeed = cfModel.estimateSpeedAfterDistance(visibilityDistance, maxSpeedAtVisibilityDist, cfModel.getMaxAccel());
2981 41622894 : arrivalSpeed = MIN2(vLinkPass, maxArrivalSpeed);
2982 : slowedDownForMinor = true;
2983 : #ifdef DEBUG_PLAN_MOVE
2984 : if (DEBUG_COND) {
2985 : std::cout << " slowedDownForMinor maxSpeedAtVisDist=" << maxSpeedAtVisibilityDist << " maxArrivalSpeed=" << maxArrivalSpeed << " arrivalSpeed=" << arrivalSpeed << "\n";
2986 : }
2987 : #endif
2988 761424499 : } else if ((*link)->getState() == LINKSTATE_EQUAL && myWaitingTime > 0) {
2989 : // check for deadlock (circular yielding)
2990 : //std::cout << SIMTIME << " veh=" << getID() << " check rbl-deadlock\n";
2991 2810 : std::pair<const SUMOVehicle*, const MSLink*> blocker = (*link)->getFirstApproachingFoe(*link);
2992 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2993 : int n = 100;
2994 5622 : while (blocker.second != nullptr && blocker.second != *link && n > 0) {
2995 2812 : blocker = blocker.second->getFirstApproachingFoe(*link);
2996 2812 : n--;
2997 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2998 : }
2999 2810 : if (n == 0) {
3000 0 : WRITE_WARNINGF(TL("Suspicious right_before_left junction '%'."), lane->getEdge().getToJunction()->getID());
3001 : }
3002 : //std::cout << " blockerLink=" << blocker.second << " link=" << *link << "\n";
3003 2810 : if (blocker.second == *link) {
3004 489 : const double threshold = (*link)->getDirection() == LinkDirection::STRAIGHT ? 0.25 : 0.75;
3005 489 : if (RandHelper::rand(getRNG()) < threshold) {
3006 : //std::cout << " abort request, threshold=" << threshold << "\n";
3007 308 : setRequest = false;
3008 : }
3009 : }
3010 : }
3011 :
3012 803047393 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, arrivalSpeed);
3013 803047393 : if (couldBrakeForMinor && determinedFoePresence && (*link)->getLane()->getEdge().isRoundabout()) {
3014 865690 : const bool wasOpened = (*link)->opened(arrivalTime, arrivalSpeed, arrivalSpeed,
3015 865690 : getLength(), getImpatience(),
3016 : getCarFollowModel().getMaxDecel(),
3017 865690 : getWaitingTime(), getLateralPositionOnLane(),
3018 : nullptr, false, this);
3019 865690 : if (!wasOpened) {
3020 : slowedDownForMinor = true;
3021 : }
3022 : #ifdef DEBUG_PLAN_MOVE
3023 : if (DEBUG_COND) {
3024 : std::cout << " slowedDownForMinor at roundabout=" << (!wasOpened) << "\n";
3025 : }
3026 : #endif
3027 : }
3028 :
3029 : // compute arrival speed and arrival time if vehicle starts braking now
3030 : // if stopping is possible, arrivalTime can be arbitrarily large. A small value keeps fractional times (impatience) meaningful
3031 : double arrivalSpeedBraking = 0;
3032 803047393 : const double bGap = cfModel.brakeGap(v);
3033 803047393 : if (seen < bGap && !isStopped() && !planningToStop) { // XXX: should this use the current speed (at least for the ballistic case)? (Leo) Refs. #2575
3034 : // vehicle cannot come to a complete stop in time
3035 56724210 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3036 54009753 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeedEuler(seen, v);
3037 : // due to discrete/continuous mismatch (when using Euler update) we have to ensure that braking actually helps
3038 : arrivalSpeedBraking = MIN2(arrivalSpeedBraking, arrivalSpeed);
3039 : } else {
3040 2714457 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeed(seen, myState.mySpeed);
3041 : }
3042 : }
3043 :
3044 : // estimate leave speed for passing time computation
3045 : // l=linkLength, a=accel, t=continuousTime, v=vLeave
3046 : // l=v*t + 0.5*a*t^2, solve for t and multiply with a, then add v
3047 1189623749 : const double estimatedLeaveSpeed = MIN2((*link)->getViaLaneOrLane()->getVehicleMaxSpeed(this, maxVD),
3048 803047393 : getCarFollowModel().estimateSpeedAfterDistance((*link)->getLength(), arrivalSpeed, getVehicleType().getCarFollowModel().getMaxAccel()));
3049 803047393 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, setRequest,
3050 : arrivalTime, arrivalSpeed,
3051 : arrivalSpeedBraking,
3052 : seen, estimatedLeaveSpeed));
3053 803047393 : if ((*link)->getViaLane() == nullptr) {
3054 : hadNonInternal = true;
3055 : ++view;
3056 : }
3057 : #ifdef DEBUG_PLAN_MOVE
3058 : if (DEBUG_COND) {
3059 : std::cout << " checkAbort setRequest=" << setRequest << " v=" << v << " seen=" << seen << " dist=" << dist
3060 : << " seenNonInternal=" << seenNonInternal
3061 : << " seenInternal=" << seenInternal << " length=" << vehicleLength << "\n";
3062 : }
3063 : #endif
3064 : // we need to look ahead far enough to see available space for checkRewindLinkLanes
3065 829099540 : if ((!setRequest || v <= 0 || seen > dist) && hadNonInternal && seenNonInternal > MAX2(vehicleLength * CRLL_LOOK_AHEAD, vehicleLength + seenInternal) && foundRailSignal) {
3066 : break;
3067 : }
3068 : // get the following lane
3069 : lane = (*link)->getViaLaneOrLane();
3070 584630965 : laneMaxV = lane->getVehicleMaxSpeed(this, maxVD);
3071 585029787 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
3072 : laneMaxV = std::numeric_limits<double>::max();
3073 : }
3074 : // the link was passed
3075 : // compute the velocity to use when the link is not blocked by other vehicles
3076 : // the vehicle shall be not faster when reaching the next lane than allowed
3077 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
3078 584630965 : const double va = MAX2(cfModel.freeSpeed(this, getSpeed(), seen, laneMaxV), vMinComfortable - NUMERICAL_EPS);
3079 1159478289 : v = MIN2(va, v);
3080 : #ifdef DEBUG_PLAN_MOVE
3081 : if (DEBUG_COND) {
3082 : std::cout << " laneMaxV=" << laneMaxV << " freeSpeed=" << va << " v=" << v << "\n";
3083 : }
3084 : #endif
3085 584630965 : if (lane->getEdge().isInternal()) {
3086 255211668 : seenInternal += lane->getLength();
3087 : } else {
3088 329419297 : seenNonInternal += lane->getLength();
3089 : }
3090 : // do not restrict results to the current vehicle to allow caching for the current time step
3091 584630965 : leaderLane = opposite ? lane->getParallelOpposite() : lane;
3092 584630965 : if (leaderLane == nullptr) {
3093 :
3094 : break;
3095 : }
3096 1168840396 : ahead = opposite ? MSLeaderInfo(leaderLane->getWidth()) : leaderLane->getLastVehicleInformation(nullptr, 0);
3097 584420198 : seen += lane->getLength();
3098 1168840396 : vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(lane->getLength(), v, cfModel.getMaxAccel()), laneMaxV); // upper bound
3099 : lastLink = &lfLinks.back();
3100 584420198 : }
3101 :
3102 : //#ifdef DEBUG_PLAN_MOVE
3103 : // if(DEBUG_COND){
3104 : // std::cout << "planMoveInternal found safe speed v = " << v << std::endl;
3105 : // }
3106 : //#endif
3107 :
3108 : #ifdef PARALLEL_STOPWATCH
3109 : myLane->getStopWatch()[0].stop();
3110 : #endif
3111 632683106 : }
3112 :
3113 :
3114 : double
3115 2786 : MSVehicle::slowDownForSchedule(double vMinComfortable) const {
3116 2786 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
3117 : const MSStop& stop = myStops.front();
3118 2786 : std::pair<double, double> timeDist = estimateTimeToNextStop();
3119 2786 : double arrivalDelay = SIMTIME + timeDist.first - STEPS2TIME(stop.pars.arrival);
3120 2786 : double t = STEPS2TIME(stop.pars.arrival - SIMSTEP);
3121 5572 : if (stop.pars.hasParameter(toString(SUMO_ATTR_FLEX_ARRIVAL))) {
3122 150 : SUMOTime flexStart = string2time(stop.pars.getParameter(toString(SUMO_ATTR_FLEX_ARRIVAL)));
3123 75 : arrivalDelay += STEPS2TIME(stop.pars.arrival - flexStart);
3124 75 : t = STEPS2TIME(flexStart - SIMSTEP);
3125 2711 : } else if (stop.pars.started >= 0 && MSGlobals::gUseStopStarted) {
3126 200 : arrivalDelay += STEPS2TIME(stop.pars.arrival - stop.pars.started);
3127 200 : t = STEPS2TIME(stop.pars.started - SIMSTEP);
3128 : }
3129 2786 : if (arrivalDelay < 0 && sfp < getChosenSpeedFactor()) {
3130 : // we can slow down to better match the schedule (and increase energy efficiency)
3131 2721 : const double vSlowDownMin = MAX2(myLane->getSpeedLimit() * sfp, vMinComfortable);
3132 2721 : const double s = timeDist.second;
3133 : const double b = getCarFollowModel().getMaxDecel();
3134 : // x = speed for arriving in t seconds
3135 : // u = time at full speed
3136 : // u * x + (t - u) * 0.5 * x = s
3137 : // t - u = x / b
3138 : // eliminate u, solve x
3139 2721 : const double radicand = 4 * t * t * b * b - 8 * s * b;
3140 2721 : const double x = radicand >= 0 ? t * b - sqrt(radicand) * 0.5 : vSlowDownMin;
3141 2721 : double vSlowDown = x < vSlowDownMin ? vSlowDownMin : x;
3142 : #ifdef DEBUG_PLAN_MOVE
3143 : if (DEBUG_COND) {
3144 : std::cout << SIMTIME << " veh=" << getID() << " ad=" << arrivalDelay << " t=" << t << " vsm=" << vSlowDownMin
3145 : << " r=" << radicand << " vs=" << vSlowDown << "\n";
3146 : }
3147 : #endif
3148 2721 : return vSlowDown;
3149 65 : } else if (arrivalDelay > 0 && sfp > getChosenSpeedFactor()) {
3150 : // in principle we could up to catch up with the schedule
3151 : // but at this point we can only lower the speed, the
3152 : // information would have to be used when computing getVehicleMaxSpeed
3153 : }
3154 65 : return getMaxSpeed();
3155 : }
3156 :
3157 : SUMOTime
3158 864331447 : MSVehicle::getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const {
3159 : const MSCFModel& cfModel = getCarFollowModel();
3160 : SUMOTime arrivalTime;
3161 864331447 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3162 : // @note intuitively it would make sense to compare arrivalSpeed with getSpeed() instead of v
3163 : // however, due to the current position update rule (ticket #860) the vehicle moves with v in this step
3164 : // subtract DELTA_T because t is the time at the end of this step and the movement is not carried out yet
3165 807506308 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, v, arrivalSpeed);
3166 : } else {
3167 56825139 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, myState.mySpeed, arrivalSpeed);
3168 : }
3169 864331447 : if (isStopped()) {
3170 12153797 : arrivalTime += MAX2((SUMOTime)0, myStops.front().duration);
3171 : }
3172 864331447 : return arrivalTime;
3173 : }
3174 :
3175 :
3176 : void
3177 1222115247 : MSVehicle::adaptToLeaders(const MSLeaderInfo& ahead, double latOffset,
3178 : const double seen, DriveProcessItem* const lastLink,
3179 : const MSLane* const lane, double& v, double& vLinkPass) const {
3180 : int rightmost;
3181 : int leftmost;
3182 1222115247 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3183 : #ifdef DEBUG_PLAN_MOVE
3184 : if (DEBUG_COND) std::cout << SIMTIME
3185 : << "\nADAPT_TO_LEADERS\nveh=" << getID()
3186 : << " lane=" << lane->getID()
3187 : << " latOffset=" << latOffset
3188 : << " rm=" << rightmost
3189 : << " lm=" << leftmost
3190 : << " shift=" << ahead.getSublaneOffset()
3191 : << " ahead=" << ahead.toString()
3192 : << "\n";
3193 : #endif
3194 : /*
3195 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
3196 : v = MIN2(v, myLaneChangeModel->getCommittedSpeed());
3197 : vLinkPass = MIN2(vLinkPass, myLaneChangeModel->getCommittedSpeed());
3198 : #ifdef DEBUG_PLAN_MOVE
3199 : if (DEBUG_COND) std::cout << " hasCommitted=" << myLaneChangeModel->getCommittedSpeed() << "\n";
3200 : #endif
3201 : return;
3202 : }
3203 : */
3204 2996799852 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3205 1774684605 : const MSVehicle* pred = ahead[sublane];
3206 1774684605 : if (pred != nullptr && pred != this) {
3207 : // @todo avoid multiple adaptations to the same leader
3208 1295357971 : const double predBack = pred->getBackPositionOnLane(lane);
3209 : double gap = (lastLink == nullptr
3210 1855995728 : ? predBack - myState.myPos - getVehicleType().getMinGap()
3211 560637757 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3212 : bool oncoming = false;
3213 1295357971 : if (myLaneChangeModel->isOpposite()) {
3214 26990 : if (pred->getLaneChangeModel().isOpposite() || lane == pred->getLaneChangeModel().getShadowLane()) {
3215 : // ego might and leader are driving against lane
3216 : gap = (lastLink == nullptr
3217 0 : ? myState.myPos - predBack - getVehicleType().getMinGap()
3218 0 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3219 : } else {
3220 : // ego and leader are driving in the same direction as lane (shadowlane for ego)
3221 : gap = (lastLink == nullptr
3222 27710 : ? predBack - (myLane->getLength() - myState.myPos) - getVehicleType().getMinGap()
3223 720 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3224 : }
3225 1295330981 : } else if (pred->getLaneChangeModel().isOpposite() && pred->getLaneChangeModel().getShadowLane() != lane) {
3226 : // must react to stopped / dangerous oncoming vehicles
3227 188434 : gap += -pred->getVehicleType().getLength() + getVehicleType().getMinGap() - MAX2(getVehicleType().getMinGap(), pred->getVehicleType().getMinGap());
3228 : // try to avoid collision in the next second
3229 188434 : const double predMaxDist = pred->getSpeed() + pred->getCarFollowModel().getMaxAccel();
3230 : #ifdef DEBUG_PLAN_MOVE
3231 : if (DEBUG_COND) {
3232 : std::cout << " fixedGap=" << gap << " predMaxDist=" << predMaxDist << "\n";
3233 : }
3234 : #endif
3235 188434 : if (gap < predMaxDist + getSpeed() || pred->getLane() == lane->getBidiLane()) {
3236 20609 : gap -= predMaxDist;
3237 : }
3238 1295142547 : } else if (pred->getLane() == lane->getBidiLane()) {
3239 618938 : gap -= pred->getVehicleType().getLengthWithGap();
3240 : oncoming = true;
3241 : }
3242 : #ifdef DEBUG_PLAN_MOVE
3243 : if (DEBUG_COND) {
3244 : 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";
3245 : }
3246 : #endif
3247 618938 : if (oncoming && gap >= 0) {
3248 555464 : adaptToOncomingLeader(std::make_pair(pred, gap), lastLink, v, vLinkPass);
3249 : } else {
3250 1294802507 : adaptToLeader(std::make_pair(pred, gap), seen, lastLink, v, vLinkPass);
3251 : }
3252 : }
3253 : }
3254 1222115247 : }
3255 :
3256 : void
3257 427873 : MSVehicle::adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
3258 : double seen,
3259 : DriveProcessItem* const lastLink,
3260 : double& v, double& vLinkPass) const {
3261 : int rightmost;
3262 : int leftmost;
3263 427873 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3264 : #ifdef DEBUG_PLAN_MOVE
3265 : if (DEBUG_COND) std::cout << SIMTIME
3266 : << "\nADAPT_TO_LEADERS_DISTANCE\nveh=" << getID()
3267 : << " latOffset=" << latOffset
3268 : << " rm=" << rightmost
3269 : << " lm=" << leftmost
3270 : << " ahead=" << ahead.toString()
3271 : << "\n";
3272 : #endif
3273 1048456 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3274 620583 : CLeaderDist predDist = ahead[sublane];
3275 620583 : const MSVehicle* pred = predDist.first;
3276 620583 : if (pred != nullptr && pred != this) {
3277 : #ifdef DEBUG_PLAN_MOVE
3278 : if (DEBUG_COND) {
3279 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << predDist.second << "\n";
3280 : }
3281 : #endif
3282 390957 : adaptToLeader(predDist, seen, lastLink, v, vLinkPass);
3283 : }
3284 : }
3285 427873 : }
3286 :
3287 :
3288 : void
3289 1295193464 : MSVehicle::adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3290 : double seen,
3291 : DriveProcessItem* const lastLink,
3292 : double& v, double& vLinkPass) const {
3293 1295193464 : if (leaderInfo.first != 0) {
3294 1295193464 : if (ignoreFoe(leaderInfo.first)) {
3295 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3296 : if (DEBUG_COND) {
3297 : std::cout << " foe ignored\n";
3298 : }
3299 : #endif
3300 : return;
3301 : }
3302 : const MSCFModel& cfModel = getCarFollowModel();
3303 : double vsafeLeader = 0;
3304 1295192658 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3305 : vsafeLeader = -std::numeric_limits<double>::max();
3306 : }
3307 : bool backOnRoute = true;
3308 1295192658 : if (leaderInfo.second < 0 && lastLink != nullptr && lastLink->myLink != nullptr) {
3309 : backOnRoute = false;
3310 : // this can either be
3311 : // a) a merging situation (leader back is is not our route) or
3312 : // b) a minGap violation / collision
3313 : MSLane* current = lastLink->myLink->getViaLaneOrLane();
3314 282980 : if (leaderInfo.first->getBackLane() == current) {
3315 : backOnRoute = true;
3316 : } else {
3317 644140 : for (MSLane* lane : getBestLanesContinuation()) {
3318 565936 : if (lane == current) {
3319 : break;
3320 : }
3321 425566 : if (leaderInfo.first->getBackLane() == lane) {
3322 : backOnRoute = true;
3323 : }
3324 : }
3325 : }
3326 : #ifdef DEBUG_PLAN_MOVE
3327 : if (DEBUG_COND) {
3328 : std::cout << SIMTIME << " current=" << current->getID() << " leaderBackLane=" << leaderInfo.first->getBackLane()->getID() << " backOnRoute=" << backOnRoute << "\n";
3329 : }
3330 : #endif
3331 218574 : if (!backOnRoute) {
3332 118334 : double stopDist = seen - current->getLength() - POSITION_EPS;
3333 118334 : if (lastLink->myLink->getInternalLaneBefore() != nullptr) {
3334 : // do not drive onto the junction conflict area
3335 101365 : stopDist -= lastLink->myLink->getInternalLaneBefore()->getLength();
3336 : }
3337 118334 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), stopDist);
3338 : }
3339 : }
3340 182740 : if (backOnRoute) {
3341 1295074324 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3342 : }
3343 1295192658 : if (lastLink != nullptr) {
3344 560590189 : const double futureVSafe = cfModel.followSpeed(this, lastLink->accelV, leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first, MSCFModel::CalcReason::FUTURE);
3345 : lastLink->adaptLeaveSpeed(futureVSafe);
3346 : #ifdef DEBUG_PLAN_MOVE
3347 : if (DEBUG_COND) {
3348 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3349 : }
3350 : #endif
3351 : }
3352 1295192658 : v = MIN2(v, vsafeLeader);
3353 2231468982 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3354 : #ifdef DEBUG_PLAN_MOVE
3355 : if (DEBUG_COND) std::cout
3356 : << SIMTIME
3357 : //std::cout << std::setprecision(10);
3358 : << " veh=" << getID()
3359 : << " lead=" << leaderInfo.first->getID()
3360 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3361 : << " gap=" << leaderInfo.second
3362 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3363 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3364 : << " myLane=" << myLane->getID()
3365 : << " v=" << v
3366 : << " vSafeLeader=" << vsafeLeader
3367 : << " vLinkPass=" << vLinkPass
3368 : << "\n";
3369 : #endif
3370 : }
3371 : }
3372 :
3373 :
3374 : void
3375 18766198 : MSVehicle::adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3376 : const double seen, DriveProcessItem* const lastLink,
3377 : const MSLane* const lane, double& v, double& vLinkPass,
3378 : double distToCrossing) const {
3379 18766198 : if (leaderInfo.first != 0) {
3380 18766198 : if (ignoreFoe(leaderInfo.first)) {
3381 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3382 : if (DEBUG_COND) {
3383 : std::cout << " junction foe ignored\n";
3384 : }
3385 : #endif
3386 : return;
3387 : }
3388 : const MSCFModel& cfModel = getCarFollowModel();
3389 : double vsafeLeader = 0;
3390 18766187 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3391 : vsafeLeader = -std::numeric_limits<double>::max();
3392 : }
3393 18766187 : if (leaderInfo.second >= 0) {
3394 15578733 : if (hasDeparted()) {
3395 15573536 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3396 : } else {
3397 : // called in the context of MSLane::isInsertionSuccess
3398 5197 : vsafeLeader = cfModel.insertionFollowSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3399 : }
3400 3187454 : } else if (leaderInfo.first != this) {
3401 : // the leading, in-lapping vehicle is occupying the complete next lane
3402 : // stop before entering this lane
3403 2765291 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), seen - lane->getLength() - POSITION_EPS);
3404 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3405 : if (DEBUG_COND) {
3406 : std::cout << SIMTIME << " veh=" << getID() << " stopping before junction: lane=" << lane->getID() << " seen=" << seen
3407 : << " laneLength=" << lane->getLength()
3408 : << " stopDist=" << seen - lane->getLength() - POSITION_EPS
3409 : << " vsafeLeader=" << vsafeLeader
3410 : << " distToCrossing=" << distToCrossing
3411 : << "\n";
3412 : }
3413 : #endif
3414 : }
3415 18766187 : if (distToCrossing >= 0) {
3416 : // can the leader still stop in the way?
3417 6048749 : const double vStop = cfModel.stopSpeed(this, getSpeed(), distToCrossing - getVehicleType().getMinGap());
3418 6048749 : if (leaderInfo.first == this) {
3419 : // braking for pedestrian
3420 410844 : const double vStopCrossing = cfModel.stopSpeed(this, getSpeed(), distToCrossing);
3421 : vsafeLeader = vStopCrossing;
3422 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3423 : if (DEBUG_COND) {
3424 : std::cout << " breaking for pedestrian distToCrossing=" << distToCrossing << " vStopCrossing=" << vStopCrossing << "\n";
3425 : }
3426 : #endif
3427 410844 : if (lastLink != nullptr) {
3428 : lastLink->adaptStopSpeed(vsafeLeader);
3429 : }
3430 5637905 : } else if (leaderInfo.second == -std::numeric_limits<double>::max()) {
3431 : // drive up to the crossing point and stop
3432 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3433 : if (DEBUG_COND) {
3434 : std::cout << " stop at crossing point for critical leader vStop=" << vStop << "\n";
3435 : };
3436 : #endif
3437 : vsafeLeader = MAX2(vsafeLeader, vStop);
3438 : } else {
3439 5587982 : const double leaderDistToCrossing = distToCrossing - leaderInfo.second;
3440 : // estimate the time at which the leader has gone past the crossing point
3441 5587982 : const double leaderPastCPTime = leaderDistToCrossing / MAX2(leaderInfo.first->getSpeed(), SUMO_const_haltingSpeed);
3442 : // reach distToCrossing after that time
3443 : // avgSpeed * leaderPastCPTime = distToCrossing
3444 : // ballistic: avgSpeed = (getSpeed + vFinal) / 2
3445 5587982 : const double vFinal = MAX2(getSpeed(), 2 * (distToCrossing - getVehicleType().getMinGap()) / leaderPastCPTime - getSpeed());
3446 5587982 : const double v2 = getSpeed() + ACCEL2SPEED((vFinal - getSpeed()) / leaderPastCPTime);
3447 : vsafeLeader = MAX2(vsafeLeader, MIN2(v2, vStop));
3448 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3449 : if (DEBUG_COND) {
3450 : std::cout << " driving up to the crossing point (distToCrossing=" << distToCrossing << ")"
3451 : << " leaderPastCPTime=" << leaderPastCPTime
3452 : << " vFinal=" << vFinal
3453 : << " v2=" << v2
3454 : << " vStop=" << vStop
3455 : << " vsafeLeader=" << vsafeLeader << "\n";
3456 : }
3457 : #endif
3458 : }
3459 : }
3460 18355343 : if (lastLink != nullptr) {
3461 : lastLink->adaptLeaveSpeed(vsafeLeader);
3462 : }
3463 18766187 : v = MIN2(v, vsafeLeader);
3464 35033594 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3465 : #ifdef DEBUG_PLAN_MOVE
3466 : if (DEBUG_COND) std::cout
3467 : << SIMTIME
3468 : //std::cout << std::setprecision(10);
3469 : << " veh=" << getID()
3470 : << " lead=" << leaderInfo.first->getID()
3471 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3472 : << " gap=" << leaderInfo.second
3473 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3474 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3475 : << " seen=" << seen
3476 : << " lane=" << lane->getID()
3477 : << " myLane=" << myLane->getID()
3478 : << " dTC=" << distToCrossing
3479 : << " v=" << v
3480 : << " vSafeLeader=" << vsafeLeader
3481 : << " vLinkPass=" << vLinkPass
3482 : << "\n";
3483 : #endif
3484 : }
3485 : }
3486 :
3487 :
3488 : void
3489 555464 : MSVehicle::adaptToOncomingLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3490 : DriveProcessItem* const lastLink,
3491 : double& v, double& vLinkPass) const {
3492 555464 : if (leaderInfo.first != 0) {
3493 555464 : if (ignoreFoe(leaderInfo.first)) {
3494 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3495 : if (DEBUG_COND) {
3496 : std::cout << " oncoming foe ignored\n";
3497 : }
3498 : #endif
3499 : return;
3500 : }
3501 : const MSCFModel& cfModel = getCarFollowModel();
3502 : const MSVehicle* lead = leaderInfo.first;
3503 : const MSCFModel& cfModelL = lead->getCarFollowModel();
3504 : // assume the leader reacts symmetrically (neither stopping instantly nor ignoring ego)
3505 555416 : const double leaderBrakeGap = cfModelL.brakeGap(lead->getSpeed(), cfModelL.getMaxDecel(), 0);
3506 555416 : const double egoBrakeGap = cfModel.brakeGap(getSpeed(), cfModel.getMaxDecel(), 0);
3507 555416 : const double gapSum = leaderBrakeGap + egoBrakeGap;
3508 : // ensure that both vehicles can leave an intersection if they are currently on it
3509 555416 : double egoExit = getDistanceToLeaveJunction();
3510 555416 : const double leaderExit = lead->getDistanceToLeaveJunction();
3511 : double gap = leaderInfo.second;
3512 555416 : if (egoExit + leaderExit < gap) {
3513 461028 : gap -= egoExit + leaderExit;
3514 : } else {
3515 : egoExit = 0;
3516 : }
3517 : // split any distance in excess of brakeGaps evenly
3518 555416 : const double freeGap = MAX2(0.0, gap - gapSum);
3519 : const double splitGap = MIN2(gap, gapSum);
3520 : // assume remaining distance is allocated in proportion to braking distance
3521 555416 : const double gapRatio = gapSum > 0 ? egoBrakeGap / gapSum : 0.5;
3522 555416 : const double vsafeLeader = cfModel.stopSpeed(this, getSpeed(), splitGap * gapRatio + egoExit + 0.5 * freeGap);
3523 555416 : if (lastLink != nullptr) {
3524 67533 : const double futureVSafe = cfModel.stopSpeed(this, lastLink->accelV, leaderInfo.second, MSCFModel::CalcReason::FUTURE);
3525 : lastLink->adaptLeaveSpeed(futureVSafe);
3526 : #ifdef DEBUG_PLAN_MOVE
3527 : if (DEBUG_COND) {
3528 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3529 : }
3530 : #endif
3531 : }
3532 555416 : v = MIN2(v, vsafeLeader);
3533 1097447 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3534 : #ifdef DEBUG_PLAN_MOVE
3535 : if (DEBUG_COND) std::cout
3536 : << SIMTIME
3537 : //std::cout << std::setprecision(10);
3538 : << " veh=" << getID()
3539 : << " oncomingLead=" << lead->getID()
3540 : << " leadSpeed=" << lead->getSpeed()
3541 : << " gap=" << leaderInfo.second
3542 : << " gap2=" << gap
3543 : << " gapRatio=" << gapRatio
3544 : << " leadLane=" << lead->getLane()->getID()
3545 : << " predPos=" << lead->getPositionOnLane()
3546 : << " myLane=" << myLane->getID()
3547 : << " v=" << v
3548 : << " vSafeLeader=" << vsafeLeader
3549 : << " vLinkPass=" << vLinkPass
3550 : << "\n";
3551 : #endif
3552 : }
3553 : }
3554 :
3555 :
3556 : void
3557 803096753 : MSVehicle::checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
3558 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const {
3559 803096753 : if (MSGlobals::gUsingInternalLanes && (myInfluencer == nullptr || myInfluencer->getRespectJunctionLeaderPriority())) {
3560 : // we want to pass the link but need to check for foes on internal lanes
3561 802987599 : checkLinkLeader(link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
3562 802987599 : if (myLaneChangeModel->getShadowLane() != nullptr) {
3563 3164855 : const MSLink* const parallelLink = link->getParallelLink(myLaneChangeModel->getShadowDirection());
3564 3164855 : if (parallelLink != nullptr) {
3565 2190771 : checkLinkLeader(parallelLink, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest, true);
3566 : }
3567 : }
3568 : }
3569 :
3570 803096753 : }
3571 :
3572 : void
3573 805423871 : MSVehicle::checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
3574 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
3575 : bool isShadowLink) const {
3576 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3577 : if (DEBUG_COND) {
3578 : gDebugFlag1 = true; // See MSLink::getLeaderInfo
3579 : }
3580 : #endif
3581 805423871 : const MSLink::LinkLeaders linkLeaders = link->getLeaderInfo(this, seen, nullptr, isShadowLink);
3582 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3583 : if (DEBUG_COND) {
3584 : gDebugFlag1 = false; // See MSLink::getLeaderInfo
3585 : }
3586 : #endif
3587 825150656 : for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3588 : // the vehicle to enter the junction first has priority
3589 19726785 : const MSVehicle* leader = (*it).vehAndGap.first;
3590 19726785 : if (leader == nullptr) {
3591 : // leader is a pedestrian. Passing 'this' as a dummy.
3592 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3593 : if (DEBUG_COND) {
3594 : std::cout << SIMTIME << " veh=" << getID() << " is blocked on link to " << link->getViaLaneOrLane()->getID() << " by pedestrian. dist=" << it->distToCrossing << "\n";
3595 : }
3596 : #endif
3597 422859 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3598 422859 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3599 : #ifdef DEBUG_PLAN_MOVE
3600 : if (DEBUG_COND) {
3601 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring pedestrian (jmIgnoreJunctionFoeProb)\n";
3602 : }
3603 : #endif
3604 696 : continue;
3605 : }
3606 422163 : adaptToJunctionLeader(std::make_pair(this, -1), seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3607 : // if blocked by a pedestrian for too long we must yield our request
3608 422163 : if (v < SUMO_const_haltingSpeed && getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME)) {
3609 75551 : setRequest = false;
3610 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3611 : if (DEBUG_COND) {
3612 : std::cout << " aborting request\n";
3613 : }
3614 : #endif
3615 : }
3616 19303926 : } else if (isLeader(link, leader, (*it).vehAndGap.second) || (*it).inTheWay()) {
3617 19256361 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3618 19256361 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3619 : #ifdef DEBUG_PLAN_MOVE
3620 : if (DEBUG_COND) {
3621 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring linkLeader=" << leader->getID() << " (jmIgnoreJunctionFoeProb)\n";
3622 : }
3623 : #endif
3624 2181 : continue;
3625 : }
3626 26443770 : if (MSGlobals::gLateralResolution > 0 &&
3627 : // sibling link (XXX: could also be partial occupator where this check fails)
3628 7189590 : &leader->getLane()->getEdge() == &lane->getEdge()) {
3629 : // check for sublane obstruction (trivial for sibling link leaders)
3630 : const MSLane* conflictLane = link->getInternalLaneBefore();
3631 941105 : MSLeaderInfo linkLeadersAhead = MSLeaderInfo(conflictLane->getWidth());
3632 941105 : linkLeadersAhead.addLeader(leader, false, 0); // assume sibling lane has the same geometry as the leader lane
3633 941105 : const double latOffset = isShadowLink ? (getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge()) : 0;
3634 : // leader is neither on lane nor conflictLane (the conflict is only established geometrically)
3635 941105 : adaptToLeaders(linkLeadersAhead, latOffset, seen, lastLink, leader->getLane(), v, vLinkPass);
3636 : #ifdef DEBUG_PLAN_MOVE
3637 : if (DEBUG_COND) {
3638 : std::cout << SIMTIME << " veh=" << getID()
3639 : << " siblingFoe link=" << link->getViaLaneOrLane()->getID()
3640 : << " isShadowLink=" << isShadowLink
3641 : << " lane=" << lane->getID()
3642 : << " foe=" << leader->getID()
3643 : << " foeLane=" << leader->getLane()->getID()
3644 : << " latOffset=" << latOffset
3645 : << " latOffsetFoe=" << leader->getLatOffset(lane)
3646 : << " linkLeadersAhead=" << linkLeadersAhead.toString()
3647 : << "\n";
3648 : }
3649 : #endif
3650 941105 : } else {
3651 : #ifdef DEBUG_PLAN_MOVE
3652 : if (DEBUG_COND) {
3653 : std::cout << SIMTIME << " veh=" << getID() << " linkLeader=" << leader->getID() << " gap=" << it->vehAndGap.second
3654 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3655 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3656 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3657 : << "\n";
3658 : }
3659 : #endif
3660 18313075 : adaptToJunctionLeader(it->vehAndGap, seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3661 : }
3662 19254180 : if (lastLink != nullptr) {
3663 : // we are not yet on the junction with this linkLeader.
3664 : // at least we can drive up to the previous link and stop there
3665 37067068 : v = MAX2(v, lastLink->myVLinkWait);
3666 : }
3667 : // if blocked by a leader from the same or next lane we must yield our request
3668 : // also, if blocked by a stopped or blocked leader
3669 19254180 : if (v < SUMO_const_haltingSpeed
3670 : //&& leader->getSpeed() < SUMO_const_haltingSpeed
3671 19254180 : && (leader->getLane()->getLogicalPredecessorLane() == myLane->getLogicalPredecessorLane()
3672 10679225 : || leader->getLane()->getLogicalPredecessorLane() == myLane
3673 8440515 : || leader->isStopped()
3674 8362026 : || leader->getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME))) {
3675 4459376 : setRequest = false;
3676 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3677 : if (DEBUG_COND) {
3678 : std::cout << " aborting request\n";
3679 : }
3680 : #endif
3681 4459376 : if (lastLink != nullptr && leader->getLane()->getLogicalPredecessorLane() == myLane) {
3682 : // we are not yet on the junction so must abort that request as well
3683 : // (or maybe we are already on the junction and the leader is a partial occupator beyond)
3684 2226326 : lastLink->mySetRequest = false;
3685 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3686 : if (DEBUG_COND) {
3687 : std::cout << " aborting previous request\n";
3688 : }
3689 : #endif
3690 : }
3691 : }
3692 : }
3693 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3694 : else {
3695 : if (DEBUG_COND) {
3696 : std::cout << SIMTIME << " veh=" << getID() << " ignoring leader " << leader->getID() << " gap=" << (*it).vehAndGap.second << " dtC=" << (*it).distToCrossing
3697 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3698 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3699 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3700 : << "\n";
3701 : }
3702 : }
3703 : #endif
3704 : }
3705 : // if this is the link between two internal lanes we may have to slow down for pedestrians
3706 805423871 : vLinkWait = MIN2(vLinkWait, v);
3707 805423871 : }
3708 :
3709 :
3710 : double
3711 99298163 : MSVehicle::getDeltaPos(const double accel) const {
3712 99298163 : double vNext = myState.mySpeed + ACCEL2SPEED(accel);
3713 99298163 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3714 : // apply implicit Euler positional update
3715 0 : return SPEED2DIST(MAX2(vNext, 0.));
3716 : } else {
3717 : // apply ballistic update
3718 99298163 : if (vNext >= 0) {
3719 : // assume constant acceleration during this time step
3720 98662328 : return SPEED2DIST(myState.mySpeed + 0.5 * ACCEL2SPEED(accel));
3721 : } else {
3722 : // negative vNext indicates a stop within the middle of time step
3723 : // The corresponding stop time is s = mySpeed/deceleration \in [0,dt], and the
3724 : // covered distance is therefore deltaPos = mySpeed*s - 0.5*deceleration*s^2.
3725 : // Here, deceleration = (myState.mySpeed - vNext)/dt is the constant deceleration
3726 : // until the vehicle stops.
3727 635835 : return -SPEED2DIST(0.5 * myState.mySpeed * myState.mySpeed / ACCEL2SPEED(accel));
3728 : }
3729 : }
3730 : }
3731 :
3732 : void
3733 632683106 : MSVehicle::processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist) {
3734 :
3735 : const MSCFModel& cfModel = getCarFollowModel();
3736 : // Speed limit due to zipper merging
3737 : double vSafeZipper = std::numeric_limits<double>::max();
3738 :
3739 632683106 : myHaveToWaitOnNextLink = false;
3740 : bool canBrakeVSafeMin = false;
3741 :
3742 : // Get safe velocities from DriveProcessItems.
3743 : assert(myLFLinkLanes.size() != 0 || isRemoteControlled());
3744 1268927292 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
3745 1095219898 : MSLink* const link = dpi.myLink;
3746 :
3747 : #ifdef DEBUG_EXEC_MOVE
3748 : if (DEBUG_COND) {
3749 : std::cout
3750 : << SIMTIME
3751 : << " veh=" << getID()
3752 : << " link=" << (link == 0 ? "NULL" : link->getViaLaneOrLane()->getID())
3753 : << " req=" << dpi.mySetRequest
3754 : << " vP=" << dpi.myVLinkPass
3755 : << " vW=" << dpi.myVLinkWait
3756 : << " d=" << dpi.myDistance
3757 : << "\n";
3758 : gDebugFlag1 = true; // See MSLink_DEBUG_OPENED
3759 : }
3760 : #endif
3761 :
3762 : // the vehicle must change the lane on one of the next lanes (XXX: refs to code further below???, Leo)
3763 1095219898 : if (link != nullptr && dpi.mySetRequest) {
3764 :
3765 : const LinkState ls = link->getState();
3766 : // vehicles should brake when running onto a yellow light if the distance allows to halt in front
3767 : const bool yellow = link->haveYellow();
3768 657467245 : const bool canBrake = (dpi.myDistance > cfModel.brakeGap(myState.mySpeed, cfModel.getMaxDecel(), 0.)
3769 657467245 : || (MSGlobals::gSemiImplicitEulerUpdate && myState.mySpeed < ACCEL2SPEED(cfModel.getMaxDecel())));
3770 : assert(link->getLaneBefore() != nullptr);
3771 657467245 : const bool beyondStopLine = dpi.myDistance < link->getLaneBefore()->getVehicleStopOffset(this);
3772 657467245 : const bool ignoreRedLink = ignoreRed(link, canBrake) || beyondStopLine;
3773 657467245 : if (yellow && canBrake && !ignoreRedLink) {
3774 10 : vSafe = dpi.myVLinkWait;
3775 10 : myHaveToWaitOnNextLink = true;
3776 : #ifdef DEBUG_CHECKREWINDLINKLANES
3777 : if (DEBUG_COND) {
3778 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (yellow)\n";
3779 : }
3780 : #endif
3781 21223059 : break;
3782 : }
3783 657467235 : const bool influencerPrio = (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority());
3784 : MSLink::BlockingFoes collectFoes;
3785 657467235 : bool opened = (yellow || influencerPrio
3786 1972076809 : || link->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3787 657304787 : getVehicleType().getLength(),
3788 629944111 : canBrake ? getImpatience() : 1,
3789 : cfModel.getMaxDecel(),
3790 657304787 : getWaitingTimeFor(link), getLateralPositionOnLane(),
3791 : ls == LINKSTATE_ZIPPER ? &collectFoes : nullptr,
3792 657304787 : ignoreRedLink, this, dpi.myDistance));
3793 651798109 : if (opened && myLaneChangeModel->getShadowLane() != nullptr) {
3794 1966049 : const MSLink* const parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
3795 1966049 : if (parallelLink != nullptr) {
3796 1221043 : const double shadowLatPos = getLateralPositionOnLane() - myLaneChangeModel->getShadowDirection() * 0.5 * (
3797 1221043 : myLane->getWidth() + myLaneChangeModel->getShadowLane()->getWidth());
3798 2441342 : opened = yellow || influencerPrio || (opened && parallelLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3799 1220299 : getVehicleType().getLength(), getImpatience(),
3800 : cfModel.getMaxDecel(),
3801 : getWaitingTimeFor(link), shadowLatPos, nullptr,
3802 1220299 : ignoreRedLink, this, dpi.myDistance));
3803 : #ifdef DEBUG_EXEC_MOVE
3804 : if (DEBUG_COND) {
3805 : std::cout << SIMTIME
3806 : << " veh=" << getID()
3807 : << " shadowLane=" << myLaneChangeModel->getShadowLane()->getID()
3808 : << " shadowDir=" << myLaneChangeModel->getShadowDirection()
3809 : << " parallelLink=" << (parallelLink == 0 ? "NULL" : parallelLink->getViaLaneOrLane()->getID())
3810 : << " opened=" << opened
3811 : << "\n";
3812 : }
3813 : #endif
3814 : }
3815 : }
3816 : // vehicles should decelerate when approaching a minor link
3817 : #ifdef DEBUG_EXEC_MOVE
3818 : if (DEBUG_COND) {
3819 : std::cout << SIMTIME
3820 : << " opened=" << opened
3821 : << " influencerPrio=" << influencerPrio
3822 : << " linkPrio=" << link->havePriority()
3823 : << " lastContMajor=" << link->lastWasContMajor()
3824 : << " isCont=" << link->isCont()
3825 : << " ignoreRed=" << ignoreRedLink
3826 : << "\n";
3827 : }
3828 : #endif
3829 : double visibilityDistance = link->getFoeVisibilityDistance();
3830 657467235 : bool determinedFoePresence = dpi.myDistance <= visibilityDistance;
3831 657467235 : if (opened && !influencerPrio && !link->havePriority() && !link->lastWasContMajor() && !link->isCont() && !ignoreRedLink) {
3832 17852359 : if (!determinedFoePresence && (canBrake || !yellow)) {
3833 16859985 : vSafe = dpi.myVLinkWait;
3834 16859985 : myHaveToWaitOnNextLink = true;
3835 : #ifdef DEBUG_CHECKREWINDLINKLANES
3836 : if (DEBUG_COND) {
3837 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (minor)\n";
3838 : }
3839 : #endif
3840 16859985 : break;
3841 : } else {
3842 : // past the point of no return. we need to drive fast enough
3843 : // to make it across the link. However, minor slowdowns
3844 : // should be permissible to follow leading traffic safely
3845 : // basically, this code prevents dawdling
3846 : // (it's harder to do this later using
3847 : // SUMO_ATTR_JM_SIGMA_MINOR because we don't know whether the
3848 : // vehicle is already too close to stop at that part of the code)
3849 : //
3850 : // XXX: There is a problem in subsecond simulation: If we cannot
3851 : // make it across the minor link in one step, new traffic
3852 : // could appear on a major foe link and cause a collision. Refs. #1845, #2123
3853 992374 : vSafeMinDist = dpi.myDistance; // distance that must be covered
3854 992374 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3855 1811856 : vSafeMin = MIN3((double)DIST2SPEED(vSafeMinDist + POSITION_EPS), dpi.myVLinkPass, cfModel.maxNextSafeMin(getSpeed(), this));
3856 : } else {
3857 172892 : vSafeMin = MIN3((double)DIST2SPEED(2 * vSafeMinDist + NUMERICAL_EPS) - getSpeed(), dpi.myVLinkPass, cfModel.maxNextSafeMin(getSpeed(), this));
3858 : }
3859 : canBrakeVSafeMin = canBrake;
3860 : #ifdef DEBUG_EXEC_MOVE
3861 : if (DEBUG_COND) {
3862 : std::cout << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << " canBrake=" << canBrake << "\n";
3863 : }
3864 : #endif
3865 : }
3866 : }
3867 : // have waited; may pass if opened...
3868 640607250 : if (opened) {
3869 634916754 : vSafe = dpi.myVLinkPass;
3870 634916754 : if (vSafe < cfModel.getMaxDecel() && vSafe <= dpi.myVLinkWait && vSafe < cfModel.maxNextSpeed(getSpeed(), this)) {
3871 : // this vehicle is probably not gonna drive across the next junction (heuristic)
3872 55169797 : myHaveToWaitOnNextLink = true;
3873 : #ifdef DEBUG_CHECKREWINDLINKLANES
3874 : if (DEBUG_COND) {
3875 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (very slow)\n";
3876 : }
3877 : #endif
3878 : }
3879 634916754 : if (link->mustStop() && determinedFoePresence && myHaveStoppedFor == nullptr) {
3880 20820 : myHaveStoppedFor = link;
3881 : }
3882 5690496 : } else if (link->getState() == LINKSTATE_ZIPPER) {
3883 1327198 : vSafeZipper = MIN2(vSafeZipper,
3884 1327198 : link->getZipperSpeed(this, dpi.myDistance, dpi.myVLinkPass, dpi.myArrivalTime, &collectFoes));
3885 : } else if (!canBrake
3886 : // always brake hard for traffic lights (since an emergency stop is necessary anyway)
3887 1854 : && link->getTLLogic() == nullptr
3888 : // cannot brake even with emergency deceleration
3889 4364185 : && dpi.myDistance < cfModel.brakeGap(myState.mySpeed, cfModel.getEmergencyDecel(), 0.)) {
3890 : #ifdef DEBUG_EXEC_MOVE
3891 : if (DEBUG_COND) {
3892 : std::cout << SIMTIME << " too fast to brake for closed link\n";
3893 : }
3894 : #endif
3895 234 : vSafe = dpi.myVLinkPass;
3896 : } else {
3897 4363064 : vSafe = dpi.myVLinkWait;
3898 4363064 : myHaveToWaitOnNextLink = true;
3899 : #ifdef DEBUG_CHECKREWINDLINKLANES
3900 : if (DEBUG_COND) {
3901 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (closed)\n";
3902 : }
3903 : #endif
3904 : #ifdef DEBUG_EXEC_MOVE
3905 : if (DEBUG_COND) {
3906 : std::cout << SIMTIME << " braking for closed link=" << link->getViaLaneOrLane()->getID() << "\n";
3907 : }
3908 : #endif
3909 4363064 : break;
3910 : }
3911 636244186 : if (myLane->isInternal() && myJunctionEntryTime == SUMOTime_MAX) {
3912 : // request was renewed, restoring entry time
3913 : // @note: using myJunctionEntryTimeNeverYield could lead to inconsistencies with other vehicles already on the junction
3914 85211 : myJunctionEntryTime = SIMSTEP;;
3915 : }
3916 657467235 : } else {
3917 437752653 : if (link != nullptr && link->getInternalLaneBefore() != nullptr && myLane->isInternal() && link->getJunction() == myLane->getEdge().getToJunction()) {
3918 : // blocked on the junction. yield request so other vehicles may
3919 : // become junction leader
3920 : #ifdef DEBUG_EXEC_MOVE
3921 : if (DEBUG_COND) {
3922 : std::cout << SIMTIME << " resetting junctionEntryTime at junction '" << link->getJunction()->getID() << "' beause of non-request exitLink\n";
3923 : }
3924 : #endif
3925 252052 : myJunctionEntryTime = SUMOTime_MAX;
3926 252052 : myJunctionConflictEntryTime = SUMOTime_MAX;
3927 : }
3928 : // we have: i->link == 0 || !i->setRequest
3929 437752653 : vSafe = dpi.myVLinkWait;
3930 437752653 : if (link != nullptr || myStopDist < (myLane->getLength() - getPositionOnLane())) {
3931 107706703 : if (vSafe < getSpeed()) {
3932 16225602 : myHaveToWaitOnNextLink = true;
3933 : #ifdef DEBUG_CHECKREWINDLINKLANES
3934 : if (DEBUG_COND) {
3935 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, braking) vSafe=" << vSafe << "\n";
3936 : }
3937 : #endif
3938 91481101 : } else if (vSafe < SUMO_const_haltingSpeed) {
3939 64070240 : myHaveToWaitOnNextLink = true;
3940 : #ifdef DEBUG_CHECKREWINDLINKLANES
3941 : if (DEBUG_COND) {
3942 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, stopping)\n";
3943 : }
3944 : #endif
3945 : }
3946 : }
3947 334580063 : if (link == nullptr && myLFLinkLanes.size() == 1
3948 265078770 : && getBestLanesContinuation().size() > 1
3949 1134437 : && getBestLanesContinuation()[1]->hadPermissionChanges()
3950 437889700 : && myLane->getFirstAnyVehicle() == this) {
3951 : // temporal lane closing without notification, visible to the
3952 : // vehicle at the front of the queue
3953 35330 : updateBestLanes(true);
3954 : //std::cout << SIMTIME << " veh=" << getID() << " updated bestLanes=" << toString(getBestLanesContinuation()) << "\n";
3955 : }
3956 : break;
3957 : }
3958 : }
3959 :
3960 : //#ifdef DEBUG_EXEC_MOVE
3961 : // if (DEBUG_COND) {
3962 : // std::cout << "\nvCurrent = " << toString(getSpeed(), 24) << "" << std::endl;
3963 : // std::cout << "vSafe = " << toString(vSafe, 24) << "" << std::endl;
3964 : // std::cout << "vSafeMin = " << toString(vSafeMin, 24) << "" << std::endl;
3965 : // std::cout << "vSafeMinDist = " << toString(vSafeMinDist, 24) << "" << std::endl;
3966 : //
3967 : // double gap = getLeader().second;
3968 : // std::cout << "gap = " << toString(gap, 24) << std::endl;
3969 : // std::cout << "vSafeStoppedLeader = " << toString(getCarFollowModel().stopSpeed(this, getSpeed(), gap, MSCFModel::CalcReason::FUTURE), 24)
3970 : // << "\n" << std::endl;
3971 : // }
3972 : //#endif
3973 :
3974 632683106 : if ((MSGlobals::gSemiImplicitEulerUpdate && vSafe + NUMERICAL_EPS < vSafeMin)
3975 632457480 : || (!MSGlobals::gSemiImplicitEulerUpdate && (vSafe + NUMERICAL_EPS < vSafeMin && vSafeMin != 0))) { // this might be good for the euler case as well
3976 : // XXX: (Leo) This often called stopSpeed with vSafeMinDist==0 (for the ballistic update), since vSafe can become negative
3977 : // 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
3978 : #ifdef DEBUG_EXEC_MOVE
3979 : if (DEBUG_COND) {
3980 : std::cout << "vSafeMin Problem? vSafe=" << vSafe << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << std::endl;
3981 : }
3982 : #endif
3983 266826 : if (canBrakeVSafeMin && vSafe < getSpeed()) {
3984 : // cannot drive across a link so we need to stop before it
3985 126922 : vSafe = MIN2(vSafe, MAX2(getCarFollowModel().minNextSpeed(getSpeed(), this),
3986 63461 : getCarFollowModel().stopSpeed(this, getSpeed(), vSafeMinDist)));
3987 63461 : vSafeMin = 0;
3988 63461 : myHaveToWaitOnNextLink = true;
3989 : #ifdef DEBUG_CHECKREWINDLINKLANES
3990 : if (DEBUG_COND) {
3991 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (vSafe=" << vSafe << " < vSafeMin=" << vSafeMin << ")\n";
3992 : }
3993 : #endif
3994 : } else {
3995 : // if the link is yellow or visibility distance is large
3996 : // then we might not make it across the link in one step anyway..
3997 : // Possibly, the lane after the intersection has a lower speed limit so
3998 : // we really need to drive slower already
3999 : // -> keep driving without dawdling
4000 203365 : vSafeMin = vSafe;
4001 : }
4002 : }
4003 :
4004 : // vehicles inside a roundabout should maintain their requests
4005 632683106 : if (myLane->getEdge().isRoundabout()) {
4006 2669296 : myHaveToWaitOnNextLink = false;
4007 : }
4008 :
4009 632683106 : vSafe = MIN2(vSafe, vSafeZipper);
4010 632683106 : }
4011 :
4012 :
4013 : double
4014 700430980 : MSVehicle::processTraCISpeedControl(double vSafe, double vNext) {
4015 700430980 : if (myInfluencer != nullptr) {
4016 494106 : myInfluencer->setOriginalSpeed(vNext);
4017 : #ifdef DEBUG_TRACI
4018 : if DEBUG_COND2(this) {
4019 : std::cout << SIMTIME << " MSVehicle::processTraCISpeedControl() for vehicle '" << getID() << "'"
4020 : << " vSafe=" << vSafe << " (init)vNext=" << vNext << " keepStopping=" << keepStopping();
4021 : }
4022 : #endif
4023 494106 : if (myInfluencer->isRemoteControlled()) {
4024 7308 : vNext = myInfluencer->implicitSpeedRemote(this, myState.mySpeed);
4025 : }
4026 494106 : const double vMax = getVehicleType().getCarFollowModel().maxNextSpeed(myState.mySpeed, this);
4027 494106 : double vMin = getVehicleType().getCarFollowModel().minNextSpeed(myState.mySpeed, this);
4028 494106 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4029 : vMin = MAX2(0., vMin);
4030 : }
4031 494106 : vNext = myInfluencer->influenceSpeed(MSNet::getInstance()->getCurrentTimeStep(), vNext, vSafe, vMin, vMax);
4032 494106 : if (keepStopping() && myStops.front().getSpeed() == 0) {
4033 : // avoid driving while stopped (unless it's actually a waypoint
4034 3818 : vNext = myInfluencer->getOriginalSpeed();
4035 : }
4036 : #ifdef DEBUG_TRACI
4037 : if DEBUG_COND2(this) {
4038 : std::cout << " (processed)vNext=" << vNext << std::endl;
4039 : }
4040 : #endif
4041 : }
4042 700430980 : return vNext;
4043 : }
4044 :
4045 :
4046 : void
4047 71561936 : MSVehicle::removePassedDriveItems() {
4048 : #ifdef DEBUG_ACTIONSTEPS
4049 : if (DEBUG_COND) {
4050 : std::cout << SIMTIME << " veh=" << getID() << " removePassedDriveItems()\n"
4051 : << " Current items: ";
4052 : for (auto& j : myLFLinkLanes) {
4053 : if (j.myLink == 0) {
4054 : std::cout << "\n Stop at distance " << j.myDistance;
4055 : } else {
4056 : const MSLane* to = j.myLink->getViaLaneOrLane();
4057 : const MSLane* from = j.myLink->getLaneBefore();
4058 : std::cout << "\n Link at distance " << j.myDistance << ": '"
4059 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4060 : }
4061 : }
4062 : std::cout << "\n myNextDriveItem: ";
4063 : if (myLFLinkLanes.size() != 0) {
4064 : if (myNextDriveItem->myLink == 0) {
4065 : std::cout << "\n Stop at distance " << myNextDriveItem->myDistance;
4066 : } else {
4067 : const MSLane* to = myNextDriveItem->myLink->getViaLaneOrLane();
4068 : const MSLane* from = myNextDriveItem->myLink->getLaneBefore();
4069 : std::cout << "\n Link at distance " << myNextDriveItem->myDistance << ": '"
4070 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4071 : }
4072 : }
4073 : std::cout << std::endl;
4074 : }
4075 : #endif
4076 71886683 : for (auto j = myLFLinkLanes.begin(); j != myNextDriveItem; ++j) {
4077 : #ifdef DEBUG_ACTIONSTEPS
4078 : if (DEBUG_COND) {
4079 : std::cout << " Removing item: ";
4080 : if (j->myLink == 0) {
4081 : std::cout << "Stop at distance " << j->myDistance;
4082 : } else {
4083 : const MSLane* to = j->myLink->getViaLaneOrLane();
4084 : const MSLane* from = j->myLink->getLaneBefore();
4085 : std::cout << "Link at distance " << j->myDistance << ": '"
4086 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4087 : }
4088 : std::cout << std::endl;
4089 : }
4090 : #endif
4091 324747 : if (j->myLink != nullptr) {
4092 324674 : j->myLink->removeApproaching(this);
4093 : }
4094 : }
4095 71561936 : myLFLinkLanes.erase(myLFLinkLanes.begin(), myNextDriveItem);
4096 71561936 : myNextDriveItem = myLFLinkLanes.begin();
4097 71561936 : }
4098 :
4099 :
4100 : void
4101 1136082 : MSVehicle::updateDriveItems() {
4102 : #ifdef DEBUG_ACTIONSTEPS
4103 : if (DEBUG_COND) {
4104 : std::cout << SIMTIME << " updateDriveItems(), veh='" << getID() << "' (lane: '" << getLane()->getID() << "')\nCurrent drive items:" << std::endl;
4105 : for (const auto& dpi : myLFLinkLanes) {
4106 : std::cout
4107 : << " vPass=" << dpi.myVLinkPass
4108 : << " vWait=" << dpi.myVLinkWait
4109 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4110 : << " request=" << dpi.mySetRequest
4111 : << "\n";
4112 : }
4113 : std::cout << " myNextDriveItem's linked lane: " << (myNextDriveItem->myLink == 0 ? "NULL" : myNextDriveItem->myLink->getViaLaneOrLane()->getID()) << std::endl;
4114 : }
4115 : #endif
4116 1136082 : if (myLFLinkLanes.size() == 0) {
4117 : // nothing to update
4118 : return;
4119 : }
4120 : const MSLink* nextPlannedLink = nullptr;
4121 : // auto i = myLFLinkLanes.begin();
4122 1136080 : auto i = myNextDriveItem;
4123 2272115 : while (i != myLFLinkLanes.end() && nextPlannedLink == nullptr) {
4124 1136035 : nextPlannedLink = i->myLink;
4125 : ++i;
4126 : }
4127 :
4128 1136080 : if (nextPlannedLink == nullptr) {
4129 : // No link for upcoming item -> no need for an update
4130 : #ifdef DEBUG_ACTIONSTEPS
4131 : if (DEBUG_COND) {
4132 : std::cout << "Found no link-related drive item." << std::endl;
4133 : }
4134 : #endif
4135 : return;
4136 : }
4137 :
4138 556993 : if (getLane() == nextPlannedLink->getLaneBefore()) {
4139 : // Current lane approaches the stored next link, i.e. no LC happend and no update is required.
4140 : #ifdef DEBUG_ACTIONSTEPS
4141 : if (DEBUG_COND) {
4142 : std::cout << "Continuing on planned lane sequence, no update required." << std::endl;
4143 : }
4144 : #endif
4145 : return;
4146 : }
4147 : // Lane must have been changed, determine the change direction
4148 546988 : const MSLink* parallelLink = nextPlannedLink->getParallelLink(1);
4149 546988 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4150 : // lcDir = 1;
4151 : } else {
4152 265090 : parallelLink = nextPlannedLink->getParallelLink(-1);
4153 265090 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4154 : // lcDir = -1;
4155 : } else {
4156 : // If the vehicle's current lane is not the approaching lane for the next
4157 : // drive process item's link, it is expected to lead to a parallel link,
4158 : // XXX: What if the lc was an overtaking maneuver and there is no upcoming link?
4159 : // Then a stop item should be scheduled! -> TODO!
4160 : //assert(false);
4161 72842 : return;
4162 : }
4163 : }
4164 : #ifdef DEBUG_ACTIONSTEPS
4165 : if (DEBUG_COND) {
4166 : std::cout << "Changed lane. Drive items will be updated along the current lane continuation." << std::endl;
4167 : }
4168 : #endif
4169 : // Trace link sequence along current best lanes and transfer drive items to the corresponding links
4170 : // DriveItemVector::iterator driveItemIt = myLFLinkLanes.begin();
4171 474146 : DriveItemVector::iterator driveItemIt = myNextDriveItem;
4172 : // In the loop below, lane holds the currently considered lane on the vehicles continuation (including internal lanes)
4173 474146 : const MSLane* lane = myLane;
4174 : assert(myLane == parallelLink->getLaneBefore());
4175 : // *lit is a pointer to the next lane in best continuations for the current lane (always non-internal)
4176 474146 : std::vector<MSLane*>::const_iterator bestLaneIt = getBestLanesContinuation().begin() + 1;
4177 : // Pointer to the new link for the current drive process item
4178 : MSLink* newLink = nullptr;
4179 1771245 : while (driveItemIt != myLFLinkLanes.end()) {
4180 1325838 : if (driveItemIt->myLink == nullptr) {
4181 : // Items not related to a specific link are not updated
4182 : // (XXX: when a stop item corresponded to a dead end, which is overcome by the LC that made
4183 : // the update necessary, this may slow down the vehicle's continuation on the new lane...)
4184 : ++driveItemIt;
4185 171458 : continue;
4186 : }
4187 : // Continuation links for current best lanes are less than for the former drive items (myLFLinkLanes)
4188 : // We just remove the leftover link-items, as they cannot be mapped to new links.
4189 1154380 : if (bestLaneIt == getBestLanesContinuation().end()) {
4190 : #ifdef DEBUG_ACTIONSTEPS
4191 : if (DEBUG_COND) {
4192 : std::cout << "Reached end of the new continuation sequence. Erasing leftover link-items." << std::endl;
4193 : }
4194 : #endif
4195 91322 : while (driveItemIt != myLFLinkLanes.end()) {
4196 62583 : if (driveItemIt->myLink == nullptr) {
4197 : ++driveItemIt;
4198 14345 : continue;
4199 : } else {
4200 48238 : driveItemIt->myLink->removeApproaching(this);
4201 : driveItemIt = myLFLinkLanes.erase(driveItemIt);
4202 : }
4203 : }
4204 : break;
4205 : }
4206 : // Do the actual link-remapping for the item. And un/register approaching information on the corresponding links
4207 1125641 : const MSLane* const target = *bestLaneIt;
4208 : assert(!target->isInternal());
4209 : newLink = nullptr;
4210 1241082 : for (MSLink* const link : lane->getLinkCont()) {
4211 1241082 : if (link->getLane() == target) {
4212 : newLink = link;
4213 : break;
4214 : }
4215 : }
4216 :
4217 1125641 : if (newLink == driveItemIt->myLink) {
4218 : // new continuation merged into previous - stop update
4219 : #ifdef DEBUG_ACTIONSTEPS
4220 : if (DEBUG_COND) {
4221 : std::cout << "Old and new continuation sequences merge at link\n"
4222 : << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'"
4223 : << "\nNo update beyond merge required." << std::endl;
4224 : }
4225 : #endif
4226 : break;
4227 : }
4228 :
4229 : #ifdef DEBUG_ACTIONSTEPS
4230 : if (DEBUG_COND) {
4231 : std::cout << "lane=" << lane->getID() << "\nUpdating link\n '" << driveItemIt->myLink->getLaneBefore()->getID() << "'->'" << driveItemIt->myLink->getViaLaneOrLane()->getID() << "'"
4232 : << "==> " << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'" << std::endl;
4233 : }
4234 : #endif
4235 1125641 : newLink->setApproaching(this, driveItemIt->myLink->getApproaching(this));
4236 1125641 : driveItemIt->myLink->removeApproaching(this);
4237 1125641 : driveItemIt->myLink = newLink;
4238 : lane = newLink->getViaLaneOrLane();
4239 : ++driveItemIt;
4240 1125641 : if (!lane->isInternal()) {
4241 : ++bestLaneIt;
4242 : }
4243 : }
4244 : #ifdef DEBUG_ACTIONSTEPS
4245 : if (DEBUG_COND) {
4246 : std::cout << "Updated drive items:" << std::endl;
4247 : for (const auto& dpi : myLFLinkLanes) {
4248 : std::cout
4249 : << " vPass=" << dpi.myVLinkPass
4250 : << " vWait=" << dpi.myVLinkWait
4251 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4252 : << " request=" << dpi.mySetRequest
4253 : << "\n";
4254 : }
4255 : }
4256 : #endif
4257 : }
4258 :
4259 :
4260 : void
4261 700430980 : MSVehicle::setBrakingSignals(double vNext) {
4262 : // To avoid casual blinking brake lights at high speeds due to dawdling of the
4263 : // leading vehicle, we don't show brake lights when the deceleration could be caused
4264 : // by frictional forces and air resistance (i.e. proportional to v^2, coefficient could be adapted further)
4265 700430980 : double pseudoFriction = (0.05 + 0.005 * getSpeed()) * getSpeed();
4266 700430980 : bool brakelightsOn = vNext < getSpeed() - ACCEL2SPEED(pseudoFriction);
4267 :
4268 700430980 : if (vNext <= SUMO_const_haltingSpeed) {
4269 : brakelightsOn = true;
4270 : }
4271 700430980 : if (brakelightsOn && !isStopped()) {
4272 : switchOnSignal(VEH_SIGNAL_BRAKELIGHT);
4273 : } else {
4274 : switchOffSignal(VEH_SIGNAL_BRAKELIGHT);
4275 : }
4276 700430980 : }
4277 :
4278 :
4279 : void
4280 700505992 : MSVehicle::updateWaitingTime(double vNext) {
4281 700505992 : if (vNext <= SUMO_const_haltingSpeed && (!isStopped() || isIdling()) && myAcceleration <= accelThresholdForWaiting()) {
4282 91831487 : myWaitingTime += DELTA_T;
4283 91831487 : myWaitingTimeCollector.passTime(DELTA_T, true);
4284 : } else {
4285 608674505 : myWaitingTime = 0;
4286 608674505 : myWaitingTimeCollector.passTime(DELTA_T, false);
4287 608674505 : if (hasInfluencer()) {
4288 269831 : getInfluencer().setExtraImpatience(0);
4289 : }
4290 : }
4291 700505992 : }
4292 :
4293 :
4294 : void
4295 700430838 : MSVehicle::updateTimeLoss(double vNext) {
4296 : // update time loss (depends on the updated edge)
4297 700430838 : if (!isStopped()) {
4298 : // some cfModels (i.e. EIDM may drive faster than predicted by maxNextSpeed)
4299 689646183 : const double vmax = MIN2(myLane->getVehicleMaxSpeed(this), MAX2(myStopSpeed, vNext));
4300 686501912 : if (vmax > 0) {
4301 686492995 : myTimeLoss += TS * (vmax - vNext) / vmax;
4302 : }
4303 : }
4304 700430838 : }
4305 :
4306 :
4307 : double
4308 1564977146 : MSVehicle::checkReversal(bool& canReverse, double speedThreshold, double seen) const {
4309 64418650 : const bool stopOk = (myStops.empty() || myStops.front().edge != myCurrEdge
4310 1597326792 : || (myStops.front().getSpeed() > 0 && myState.myPos > myStops.front().pars.endPos - 2 * POSITION_EPS));
4311 : #ifdef DEBUG_REVERSE_BIDI
4312 : if (DEBUG_COND) std::cout << SIMTIME << " checkReversal lane=" << myLane->getID()
4313 : << " pos=" << myState.myPos
4314 : << " speed=" << std::setprecision(6) << getPreviousSpeed() << std::setprecision(gPrecision)
4315 : << " speedThreshold=" << speedThreshold
4316 : << " seen=" << seen
4317 : << " isRail=" << isRail()
4318 : << " speedOk=" << (getPreviousSpeed() <= speedThreshold)
4319 : << " posOK=" << (myState.myPos <= myLane->getLength())
4320 : << " normal=" << !myLane->isInternal()
4321 : << " routeOK=" << ((myCurrEdge + 1) != myRoute->end())
4322 : << " bidi=" << (myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1))
4323 : << " stopOk=" << stopOk
4324 : << "\n";
4325 : #endif
4326 1564977146 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4327 7241933 : && getPreviousSpeed() <= speedThreshold
4328 6166940 : && myState.myPos <= myLane->getLength()
4329 6165842 : && !myLane->isInternal()
4330 6092296 : && (myCurrEdge + 1) != myRoute->end()
4331 5981243 : && myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1)
4332 : // ensure there are no further stops on this edge
4333 1565826420 : && stopOk
4334 : ) {
4335 : //if (isSelected()) std::cout << " check1 passed\n";
4336 :
4337 : // ensure that the vehicle is fully on bidi edges that allow reversal
4338 180793 : const int neededFutureRoute = 1 + (int)(MSGlobals::gUsingInternalLanes
4339 : ? myFurtherLanes.size()
4340 504 : : ceil((double)myFurtherLanes.size() / 2.0));
4341 180793 : const int remainingRoute = int(myRoute->end() - myCurrEdge) - 1;
4342 180793 : if (remainingRoute < neededFutureRoute) {
4343 : #ifdef DEBUG_REVERSE_BIDI
4344 : if (DEBUG_COND) {
4345 : std::cout << " fail: remainingEdges=" << ((int)(myRoute->end() - myCurrEdge)) << " further=" << myFurtherLanes.size() << "\n";
4346 : }
4347 : #endif
4348 3567 : return getMaxSpeed();
4349 : }
4350 : //if (isSelected()) std::cout << " check2 passed\n";
4351 :
4352 : // ensure that the turn-around connection exists from the current edge to its bidi-edge
4353 177226 : const MSEdgeVector& succ = myLane->getEdge().getSuccessors();
4354 177226 : if (std::find(succ.begin(), succ.end(), myLane->getEdge().getBidiEdge()) == succ.end()) {
4355 : #ifdef DEBUG_REVERSE_BIDI
4356 : if (DEBUG_COND) {
4357 : std::cout << " noTurn (bidi=" << myLane->getEdge().getBidiEdge()->getID() << " succ=" << toString(succ) << "\n";
4358 : }
4359 : #endif
4360 909 : return getMaxSpeed();
4361 : }
4362 : //if (isSelected()) std::cout << " check3 passed\n";
4363 :
4364 : // ensure that the vehicle front will not move past a stop on the bidi edge of the current edge
4365 176317 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + 1)) {
4366 160006 : const double stopPos = myStops.front().getEndPos(*this);
4367 160006 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4368 160006 : const double newPos = myLane->getLength() - (getBackPositionOnLane() + brakeDist);
4369 160006 : if (newPos > stopPos) {
4370 : #ifdef DEBUG_REVERSE_BIDI
4371 : if (DEBUG_COND) {
4372 : std::cout << " reversal would go past stop on " << myLane->getBidiLane()->getID() << "\n";
4373 : }
4374 : #endif
4375 158332 : if (seen > MAX2(brakeDist, 1.0)) {
4376 157202 : return getMaxSpeed();
4377 : } else {
4378 : #ifdef DEBUG_REVERSE_BIDI
4379 : if (DEBUG_COND) {
4380 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4381 : }
4382 : #endif
4383 : }
4384 : }
4385 : }
4386 : //if (isSelected()) std::cout << " check4 passed\n";
4387 :
4388 : // ensure that bidi-edges exist for all further edges
4389 : // and that no stops will be skipped when reversing
4390 : // and that the train will not be on top of a red rail signal after reversal
4391 19115 : const MSLane* bidi = myLane->getBidiLane();
4392 : int view = 2;
4393 38572 : for (MSLane* further : myFurtherLanes) {
4394 21893 : if (!further->getEdge().isInternal()) {
4395 11393 : if (further->getEdge().getBidiEdge() != *(myCurrEdge + view)) {
4396 : #ifdef DEBUG_REVERSE_BIDI
4397 : if (DEBUG_COND) {
4398 : std::cout << " noBidi view=" << view << " further=" << further->getID() << " furtherBidi=" << Named::getIDSecure(further->getEdge().getBidiEdge()) << " future=" << (*(myCurrEdge + view))->getID() << "\n";
4399 : }
4400 : #endif
4401 2277 : return getMaxSpeed();
4402 : }
4403 9116 : const MSLane* nextBidi = further->getBidiLane();
4404 9116 : const MSLink* toNext = bidi->getLinkTo(nextBidi);
4405 9116 : if (toNext == nullptr) {
4406 : // can only happen if the route is invalid
4407 0 : return getMaxSpeed();
4408 : }
4409 9116 : if (toNext->haveRed()) {
4410 : #ifdef DEBUG_REVERSE_BIDI
4411 : if (DEBUG_COND) {
4412 : std::cout << " do not reverse on a red signal\n";
4413 : }
4414 : #endif
4415 0 : return getMaxSpeed();
4416 : }
4417 : bidi = nextBidi;
4418 9116 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + view)) {
4419 453 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4420 453 : const double stopPos = myStops.front().getEndPos(*this);
4421 453 : const double newPos = further->getLength() - (getBackPositionOnLane(further) + brakeDist);
4422 453 : if (newPos > stopPos) {
4423 : #ifdef DEBUG_REVERSE_BIDI
4424 : if (DEBUG_COND) {
4425 : std::cout << " reversal would go past stop on further-opposite lane " << further->getBidiLane()->getID() << "\n";
4426 : }
4427 : #endif
4428 171 : if (seen > MAX2(brakeDist, 1.0)) {
4429 159 : canReverse = false;
4430 159 : return getMaxSpeed();
4431 : } else {
4432 : #ifdef DEBUG_REVERSE_BIDI
4433 : if (DEBUG_COND) {
4434 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4435 : }
4436 : #endif
4437 : }
4438 : }
4439 : }
4440 8957 : view++;
4441 : }
4442 : }
4443 : // reverse as soon as comfortably possible
4444 16679 : const double vMinComfortable = getCarFollowModel().minNextSpeed(getSpeed(), this);
4445 : #ifdef DEBUG_REVERSE_BIDI
4446 : if (DEBUG_COND) {
4447 : std::cout << SIMTIME << " seen=" << seen << " vReverseOK=" << vMinComfortable << "\n";
4448 : }
4449 : #endif
4450 16679 : canReverse = true;
4451 16679 : return vMinComfortable;
4452 : }
4453 1564796353 : return getMaxSpeed();
4454 : }
4455 :
4456 :
4457 : void
4458 700645699 : MSVehicle::processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason) {
4459 716463700 : for (std::vector<MSLane*>::reverse_iterator i = myFurtherLanes.rbegin(); i != myFurtherLanes.rend(); ++i) {
4460 15818001 : passedLanes.push_back(*i);
4461 : }
4462 700645699 : if (passedLanes.size() == 0 || passedLanes.back() != myLane) {
4463 700645699 : passedLanes.push_back(myLane);
4464 : }
4465 : // let trains reverse direction
4466 700645699 : bool reverseTrain = false;
4467 700645699 : checkReversal(reverseTrain);
4468 700645699 : if (reverseTrain) {
4469 : // Train is 'reversing' so toggle the logical state
4470 810 : myAmReversed = !myAmReversed;
4471 : // add some slack to ensure that the back of train does appear looped
4472 810 : myState.myPos += 2 * (myLane->getLength() - myState.myPos) + myType->getLength() + NUMERICAL_EPS;
4473 810 : myState.mySpeed = 0;
4474 : #ifdef DEBUG_REVERSE_BIDI
4475 : if (DEBUG_COND) {
4476 : std::cout << SIMTIME << " reversing train=" << getID() << " newPos=" << myState.myPos << "\n";
4477 : }
4478 : #endif
4479 : }
4480 : // move on lane(s)
4481 700645699 : if (myState.myPos > myLane->getLength()) {
4482 : // The vehicle has moved at least to the next lane (maybe it passed even more than one)
4483 19956096 : if (myCurrEdge != myRoute->end() - 1) {
4484 16833935 : MSLane* approachedLane = myLane;
4485 : // move the vehicle forward
4486 16833935 : myNextDriveItem = myLFLinkLanes.begin();
4487 36313441 : while (myNextDriveItem != myLFLinkLanes.end() && approachedLane != nullptr && myState.myPos > approachedLane->getLength()) {
4488 19498399 : const MSLink* link = myNextDriveItem->myLink;
4489 19498399 : const double linkDist = myNextDriveItem->myDistance;
4490 : ++myNextDriveItem;
4491 : // check whether the vehicle was allowed to enter lane
4492 : // otherwise it is decelerated and we do not need to test for it's
4493 : // approach on the following lanes when a lane changing is performed
4494 : // proceed to the next lane
4495 19498399 : if (approachedLane->mustCheckJunctionCollisions()) {
4496 : // vehicle moves past approachedLane within a single step, collision checking must still be done
4497 66538 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(approachedLane);
4498 : }
4499 19498399 : if (link != nullptr) {
4500 19494214 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4501 45932 : && !myLane->isInternal()
4502 24182 : && myLane->getBidiLane() != nullptr
4503 13042 : && link->getLane()->getBidiLane() == myLane
4504 19495021 : && !reverseTrain) {
4505 : emergencyReason = " because it must reverse direction";
4506 : approachedLane = nullptr;
4507 : break;
4508 : }
4509 19494211 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4510 45929 : && myState.myPos < myLane->getLength() + NUMERICAL_EPS
4511 19494427 : && hasStops() && getNextStop().edge == myCurrEdge) {
4512 : // avoid skipping stop due to numerical instability
4513 : // this is a special case for rail vehicles because they
4514 : // continue myLFLinkLanes past stops
4515 202 : approachedLane = myLane;
4516 202 : myState.myPos = myLane->getLength();
4517 202 : break;
4518 : }
4519 19494009 : approachedLane = link->getViaLaneOrLane();
4520 19494009 : if (myInfluencer == nullptr || myInfluencer->getEmergencyBrakeRedLight()) {
4521 19492412 : bool beyondStopLine = linkDist < link->getLaneBefore()->getVehicleStopOffset(this);
4522 19492412 : if (link->haveRed() && !ignoreRed(link, false) && !beyondStopLine && !reverseTrain) {
4523 : emergencyReason = " because of a red traffic light";
4524 : break;
4525 : }
4526 : }
4527 19493948 : if (reverseTrain && approachedLane->isInternal()) {
4528 : // avoid getting stuck on a slow turn-around internal lane
4529 888 : myState.myPos += approachedLane->getLength();
4530 : }
4531 4185 : } else if (myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4532 : // avoid warning due to numerical instability
4533 229 : approachedLane = myLane;
4534 229 : myState.myPos = myLane->getLength();
4535 3956 : } else if (reverseTrain) {
4536 0 : approachedLane = (*(myCurrEdge + 1))->getLanes()[0];
4537 0 : link = myLane->getLinkTo(approachedLane);
4538 : assert(link != 0);
4539 0 : while (link->getViaLane() != nullptr) {
4540 0 : link = link->getViaLane()->getLinkCont()[0];
4541 : }
4542 : --myNextDriveItem;
4543 : } else {
4544 : emergencyReason = " because there is no connection to the next edge";
4545 : approachedLane = nullptr;
4546 : break;
4547 : }
4548 19494177 : if (approachedLane != myLane && approachedLane != nullptr) {
4549 19493948 : leaveLane(MSMoveReminder::NOTIFICATION_JUNCTION, approachedLane);
4550 19493948 : myState.myPos -= myLane->getLength();
4551 : assert(myState.myPos > 0);
4552 19493948 : enterLaneAtMove(approachedLane);
4553 19493948 : if (link->isEntryLink()) {
4554 7657882 : myJunctionEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4555 7657882 : myJunctionEntryTimeNeverYield = myJunctionEntryTime;
4556 7657882 : myHaveStoppedFor = nullptr;
4557 : }
4558 19493948 : if (link->isConflictEntryLink()) {
4559 7657266 : myJunctionConflictEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4560 : // renew yielded request
4561 7657266 : myJunctionEntryTime = myJunctionEntryTimeNeverYield;
4562 : }
4563 19493948 : if (link->isExitLink()) {
4564 : // passed junction, reset for approaching the next one
4565 7597362 : myJunctionEntryTime = SUMOTime_MAX;
4566 7597362 : myJunctionEntryTimeNeverYield = SUMOTime_MAX;
4567 7597362 : myJunctionConflictEntryTime = SUMOTime_MAX;
4568 : }
4569 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
4570 : if (DEBUG_COND) {
4571 : std::cout << "Update junctionTimes link=" << link->getViaLaneOrLane()->getID()
4572 : << " entry=" << link->isEntryLink() << " conflict=" << link->isConflictEntryLink() << " exit=" << link->isExitLink()
4573 : << " ET=" << myJunctionEntryTime
4574 : << " ETN=" << myJunctionEntryTimeNeverYield
4575 : << " CET=" << myJunctionConflictEntryTime
4576 : << "\n";
4577 : }
4578 : #endif
4579 19493948 : if (hasArrivedInternal()) {
4580 : break;
4581 : }
4582 19480033 : if (myLaneChangeModel->isChangingLanes()) {
4583 7272 : if (link->getDirection() == LinkDirection::LEFT || link->getDirection() == LinkDirection::RIGHT) {
4584 : // abort lane change
4585 54 : WRITE_WARNINGF("Vehicle '%' could not finish continuous lane change (turn lane) time=%.", getID(), time2string(SIMSTEP));
4586 18 : myLaneChangeModel->endLaneChangeManeuver();
4587 : }
4588 : }
4589 19480033 : if (approachedLane->getEdge().isVaporizing()) {
4590 756 : leaveLane(MSMoveReminder::NOTIFICATION_VAPORIZED_VAPORIZER);
4591 : break;
4592 : }
4593 19479277 : passedLanes.push_back(approachedLane);
4594 : }
4595 : }
4596 : // NOTE: Passed drive items will be erased in the next simstep's planMove()
4597 :
4598 : #ifdef DEBUG_ACTIONSTEPS
4599 : if (DEBUG_COND && myNextDriveItem != myLFLinkLanes.begin()) {
4600 : std::cout << "Updated drive items:" << std::endl;
4601 : for (DriveItemVector::iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
4602 : std::cout
4603 : << " vPass=" << (*i).myVLinkPass
4604 : << " vWait=" << (*i).myVLinkWait
4605 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
4606 : << " request=" << (*i).mySetRequest
4607 : << "\n";
4608 : }
4609 : }
4610 : #endif
4611 3122161 : } else if (!hasArrivedInternal() && myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4612 : // avoid warning due to numerical instability when stopping at the end of the route
4613 90 : myState.myPos = myLane->getLength();
4614 : }
4615 :
4616 : }
4617 700645699 : }
4618 :
4619 :
4620 :
4621 : bool
4622 704245042 : MSVehicle::executeMove() {
4623 : #ifdef DEBUG_EXEC_MOVE
4624 : if (DEBUG_COND) {
4625 : std::cout << "\nEXECUTE_MOVE\n"
4626 : << SIMTIME
4627 : << " veh=" << getID()
4628 : << " speed=" << getSpeed() // toString(getSpeed(), 24)
4629 : << std::endl;
4630 : }
4631 : #endif
4632 :
4633 :
4634 : // Maximum safe velocity
4635 704245042 : double vSafe = std::numeric_limits<double>::max();
4636 : // Minimum safe velocity (lower bound).
4637 704245042 : double vSafeMin = -std::numeric_limits<double>::max();
4638 : // The distance to a link, which should either be crossed this step
4639 : // or in front of which we need to stop.
4640 704245042 : double vSafeMinDist = 0;
4641 :
4642 : // myAngle will be subsequently be updated by movement and entering new lanes or sublane-changing
4643 704245042 : myLastAngle = myRawAngle;
4644 :
4645 704245042 : if (myActionStep) {
4646 : // Actuate control (i.e. choose bounds for safe speed in current simstep (euler), resp. after current sim step (ballistic))
4647 632683106 : processLinkApproaches(vSafe, vSafeMin, vSafeMinDist);
4648 : #ifdef DEBUG_ACTIONSTEPS
4649 : if (DEBUG_COND) {
4650 : std::cout << SIMTIME << " vehicle '" << getID() << "'\n"
4651 : " vsafe from processLinkApproaches(): vsafe " << vSafe << std::endl;
4652 : }
4653 : #endif
4654 : } else {
4655 : // Continue with current acceleration
4656 71561936 : vSafe = getSpeed() + ACCEL2SPEED(myAcceleration);
4657 : #ifdef DEBUG_ACTIONSTEPS
4658 : if (DEBUG_COND) {
4659 : std::cout << SIMTIME << " vehicle '" << getID() << "' skips processLinkApproaches()\n"
4660 : " continues with constant accel " << myAcceleration << "...\n"
4661 : << "speed: " << getSpeed() << " -> " << vSafe << std::endl;
4662 : }
4663 : #endif
4664 : }
4665 :
4666 :
4667 : //#ifdef DEBUG_EXEC_MOVE
4668 : // if (DEBUG_COND) {
4669 : // std::cout << "vSafe = " << toString(vSafe,12) << "\n" << std::endl;
4670 : // }
4671 : //#endif
4672 :
4673 : // Determine vNext = speed after current sim step (ballistic), resp. in current simstep (euler)
4674 : // Call to finalizeSpeed applies speed reduction due to dawdling / lane changing but ensures minimum safe speed
4675 704245042 : double vNext = vSafe;
4676 : const MSCFModel& cfModel = getCarFollowModel();
4677 704245042 : const double rawAccel = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4678 704245042 : if (vNext <= SUMO_const_haltingSpeed * TS && myWaitingTime > MSGlobals::gStartupWaitThreshold && rawAccel <= accelThresholdForWaiting() && myActionStep) {
4679 75495474 : myTimeSinceStartup = 0;
4680 628749568 : } else if (isStopped()) {
4681 : // do not apply startupDelay for waypoints
4682 17731160 : if (cfModel.startupDelayStopped() && getNextStop().pars.speed <= 0) {
4683 13772 : myTimeSinceStartup = DELTA_T;
4684 : } else {
4685 : // do not apply startupDelay but signal that a stop has taken place
4686 17717388 : myTimeSinceStartup = cfModel.getStartupDelay() + DELTA_T;
4687 : }
4688 : } else {
4689 : // identify potential startup (before other effects reduce the speed again)
4690 611018408 : myTimeSinceStartup += DELTA_T;
4691 : }
4692 704245042 : if (myActionStep) {
4693 632683106 : vNext = cfModel.finalizeSpeed(this, vSafe);
4694 628868902 : if (vNext > 0) {
4695 586572689 : vNext = MAX2(vNext, vSafeMin);
4696 : }
4697 : }
4698 : // (Leo) to avoid tiny oscillations (< 1e-10) of vNext in a standing vehicle column (observed for ballistic update), we cap off vNext
4699 : // (We assure to do this only for vNext<<NUMERICAL_EPS since otherwise this would nullify the workaround for #2995
4700 : // (Jakob) We also need to make sure to reach a stop at the start of the next edge
4701 700430838 : if (fabs(vNext) < NUMERICAL_EPS_SPEED && (myStopDist > POSITION_EPS || (hasStops() && myCurrEdge == getNextStop().edge))) {
4702 : vNext = 0.;
4703 : }
4704 : #ifdef DEBUG_EXEC_MOVE
4705 : if (DEBUG_COND) {
4706 : std::cout << SIMTIME << " finalizeSpeed vSafe=" << vSafe << " vSafeMin=" << (vSafeMin == -std::numeric_limits<double>::max() ? "-Inf" : toString(vSafeMin))
4707 : << " vNext=" << vNext << " (i.e. accel=" << SPEED2ACCEL(vNext - getSpeed()) << ")" << std::endl;
4708 : }
4709 : #endif
4710 :
4711 : // vNext may be higher than vSafe without implying a bug:
4712 : // - when approaching a green light that suddenly switches to yellow
4713 : // - when using unregulated junctions
4714 : // - when using tau < step-size
4715 : // - when using unsafe car following models
4716 : // - when using TraCI and some speedMode / laneChangeMode settings
4717 : //if (vNext > vSafe + NUMERICAL_EPS) {
4718 : // WRITE_WARNING("vehicle '" + getID() + "' cannot brake hard enough to reach safe speed "
4719 : // + toString(vSafe, 4) + ", moving at " + toString(vNext, 4) + " instead. time="
4720 : // + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4721 : //}
4722 :
4723 700430838 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4724 : vNext = MAX2(vNext, 0.);
4725 : } else {
4726 : // (Leo) Ballistic: negative vNext can be used to indicate a stop within next step.
4727 : }
4728 :
4729 : // Check for speed advices from the traci client
4730 700430838 : vNext = processTraCISpeedControl(vSafe, vNext);
4731 :
4732 : // the acceleration of a vehicle equipped with the elecHybrid device is restricted by the maximal power of the electric drive as well
4733 700430838 : MSDevice_ElecHybrid* elecHybridOfVehicle = dynamic_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid)));
4734 981 : if (elecHybridOfVehicle != nullptr) {
4735 : // this is the consumption given by the car following model-computed acceleration
4736 981 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4737 : // but the maximum power of the electric motor may be lower
4738 : // it needs to be converted from [W] to [Wh/s] (3600s / 1h) so that TS can be taken into account
4739 981 : double maxPower = getEmissionParameters()->getDoubleOptional(SUMO_ATTR_MAXIMUMPOWER, 100000.) / 3600;
4740 981 : if (elecHybridOfVehicle->getConsum() / TS > maxPower) {
4741 : // no, we cannot accelerate that fast, recompute the maximum possible acceleration
4742 70 : double accel = elecHybridOfVehicle->acceleration(*this, maxPower, this->getSpeed());
4743 : // and update the speed of the vehicle
4744 70 : vNext = MIN2(vNext, this->getSpeed() + accel * TS);
4745 : vNext = MAX2(vNext, 0.);
4746 : // and set the vehicle consumption to reflect this
4747 70 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4748 : }
4749 : }
4750 :
4751 700430838 : setBrakingSignals(vNext);
4752 :
4753 : // update position and speed
4754 700430838 : int oldLaneOffset = myLane->getEdge().getNumLanes() - myLane->getIndex();
4755 : const MSLane* oldLaneMaybeOpposite = myLane;
4756 700430838 : if (myLaneChangeModel->isOpposite()) {
4757 : // transform to the forward-direction lane, move and then transform back
4758 406567 : myState.myPos = myLane->getOppositePos(myState.myPos);
4759 406567 : myLane = myLane->getParallelOpposite();
4760 : }
4761 700430838 : updateState(vNext);
4762 700430838 : updateWaitingTime(vNext);
4763 :
4764 : // Lanes, which the vehicle touched at some moment of the executed simstep
4765 : std::vector<MSLane*> passedLanes;
4766 : // remember previous lane (myLane is updated in processLaneAdvances)
4767 700430838 : const MSLane* oldLane = myLane;
4768 : // Reason for a possible emergency stop
4769 : std::string emergencyReason;
4770 700430838 : processLaneAdvances(passedLanes, emergencyReason);
4771 :
4772 700430838 : updateTimeLoss(vNext);
4773 700430838 : myCollisionImmunity = MAX2((SUMOTime) - 1, myCollisionImmunity - DELTA_T);
4774 :
4775 700430838 : if (!hasArrivedInternal() && !myLane->getEdge().isVaporizing()) {
4776 697113268 : if (myState.myPos > myLane->getLength()) {
4777 350 : if (emergencyReason == "") {
4778 18 : emergencyReason = TL(" for unknown reasons");
4779 : }
4780 1400 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency stop at the end of lane '%'% (decel=%, offset=%), time=%."),
4781 : getID(), myLane->getID(), emergencyReason, myAcceleration - myState.mySpeed,
4782 : myState.myPos - myLane->getLength(), time2string(SIMSTEP));
4783 350 : MSNet::getInstance()->getVehicleControl().registerEmergencyStop();
4784 350 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::EMERGENCYSTOP);
4785 350 : myState.myPos = myLane->getLength();
4786 350 : myState.mySpeed = 0;
4787 350 : myAcceleration = 0;
4788 : }
4789 697113268 : const MSLane* oldBackLane = getBackLane();
4790 697113268 : if (myLaneChangeModel->isOpposite()) {
4791 : passedLanes.clear(); // ignore back occupation
4792 : }
4793 : #ifdef DEBUG_ACTIONSTEPS
4794 : if (DEBUG_COND) {
4795 : std::cout << SIMTIME << " veh '" << getID() << "' updates further lanes." << std::endl;
4796 : }
4797 : #endif
4798 697113268 : myState.myBackPos = updateFurtherLanes(myFurtherLanes, myFurtherLanesPosLat, passedLanes);
4799 697113268 : if (passedLanes.size() > 1 && isRail()) {
4800 872961 : for (auto pi = passedLanes.rbegin(); pi != passedLanes.rend(); ++pi) {
4801 658004 : MSLane* pLane = *pi;
4802 658004 : if (pLane != myLane && std::find(myFurtherLanes.begin(), myFurtherLanes.end(), pLane) == myFurtherLanes.end()) {
4803 45579 : leaveLaneBack(MSMoveReminder::NOTIFICATION_JUNCTION, *pi);
4804 : }
4805 : }
4806 : }
4807 : // bestLanes need to be updated before lane changing starts. NOTE: This call is also a presumption for updateDriveItems()
4808 697113268 : updateBestLanes();
4809 697113268 : if (myLane != oldLane || oldBackLane != getBackLane()) {
4810 24737521 : if (myLaneChangeModel->getShadowLane() != nullptr || getLateralOverlap() > POSITION_EPS) {
4811 : // shadow lane must be updated if the front or back lane changed
4812 : // either if we already have a shadowLane or if there is lateral overlap
4813 553804 : myLaneChangeModel->updateShadowLane();
4814 : }
4815 24737521 : if (MSGlobals::gLateralResolution > 0 && !myLaneChangeModel->isOpposite()) {
4816 : // The vehicles target lane must be also be updated if the front or back lane changed
4817 4415018 : myLaneChangeModel->updateTargetLane();
4818 : }
4819 : }
4820 697113268 : setBlinkerInformation(); // needs updated bestLanes
4821 : //change the blue light only for emergency vehicles SUMOVehicleClass
4822 697113268 : if (myType->getVehicleClass() == SVC_EMERGENCY) {
4823 85511 : setEmergencyBlueLight(MSNet::getInstance()->getCurrentTimeStep());
4824 : }
4825 : // must be done before angle computation
4826 : // State needs to be reset for all vehicles before the next call to MSEdgeControl::changeLanes
4827 697113268 : if (myActionStep) {
4828 : // check (#2681): Can this be skipped?
4829 625572612 : myLaneChangeModel->prepareStep();
4830 : } else {
4831 71540656 : myLaneChangeModel->resetSpeedLat();
4832 : #ifdef DEBUG_ACTIONSTEPS
4833 : if (DEBUG_COND) {
4834 : std::cout << SIMTIME << " veh '" << getID() << "' skips LCM->prepareStep()." << std::endl;
4835 : }
4836 : #endif
4837 : }
4838 697113268 : myLaneChangeModel->setPreviousAngleOffset(myLaneChangeModel->getAngleOffset());
4839 697113268 : myAngle = computeAngle();
4840 : }
4841 :
4842 : #ifdef DEBUG_EXEC_MOVE
4843 : if (DEBUG_COND) {
4844 : std::cout << SIMTIME << " executeMove finished veh=" << getID() << " lane=" << myLane->getID() << " myPos=" << getPositionOnLane() << " myPosLat=" << getLateralPositionOnLane() << "\n";
4845 : gDebugFlag1 = false; // See MSLink_DEBUG_OPENED
4846 : }
4847 : #endif
4848 700430838 : if (myLaneChangeModel->isOpposite()) {
4849 : // transform back to the opposite-direction lane
4850 : MSLane* newOpposite = nullptr;
4851 406567 : const MSEdge* newOppositeEdge = myLane->getEdge().getOppositeEdge();
4852 406567 : if (newOppositeEdge != nullptr) {
4853 406517 : newOpposite = newOppositeEdge->getLanes()[newOppositeEdge->getNumLanes() - MAX2(1, oldLaneOffset)];
4854 : #ifdef DEBUG_EXEC_MOVE
4855 : if (DEBUG_COND) {
4856 : std::cout << SIMTIME << " newOppositeEdge=" << newOppositeEdge->getID() << " oldLaneOffset=" << oldLaneOffset << " leftMost=" << newOppositeEdge->getNumLanes() - 1 << " newOpposite=" << Named::getIDSecure(newOpposite) << "\n";
4857 : }
4858 : #endif
4859 : }
4860 406517 : if (newOpposite == nullptr) {
4861 50 : if (!myLaneChangeModel->hasBlueLight()) {
4862 : // unusual overtaking at junctions is ok for emergency vehicles
4863 0 : WRITE_WARNINGF(TL("Unexpected end of opposite lane for vehicle '%' at lane '%', time=%."),
4864 : getID(), myLane->getID(), time2string(SIMSTEP));
4865 : }
4866 50 : myLaneChangeModel->changedToOpposite();
4867 50 : if (myState.myPos < getLength()) {
4868 : // further lanes is always cleared during opposite driving
4869 50 : MSLane* oldOpposite = oldLane->getOpposite();
4870 50 : if (oldOpposite != nullptr) {
4871 50 : myFurtherLanes.push_back(oldOpposite);
4872 50 : myFurtherLanesPosLat.push_back(0);
4873 : // small value since the lane is going in the other direction
4874 50 : myState.myBackPos = getLength() - myState.myPos;
4875 50 : myAngle = computeAngle();
4876 : } else {
4877 : SOFT_ASSERT(false);
4878 : }
4879 : }
4880 : } else {
4881 406517 : myState.myPos = myLane->getOppositePos(myState.myPos);
4882 406517 : myLane = newOpposite;
4883 : oldLane = oldLaneMaybeOpposite;
4884 : //std::cout << SIMTIME << " updated myLane=" << Named::getIDSecure(myLane) << " oldLane=" << oldLane->getID() << "\n";
4885 406517 : myCachedPosition = Position::INVALID;
4886 406517 : myLaneChangeModel->updateShadowLane();
4887 : }
4888 : }
4889 700430838 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4890 : // store angle before lane changing
4891 700430838 : myRawAngle = myAngle;
4892 : // Return whether the vehicle did move to another lane
4893 1400861676 : return myLane != oldLane;
4894 700430838 : }
4895 :
4896 : void
4897 214861 : MSVehicle::executeFractionalMove(double dist) {
4898 214861 : myState.myPos += dist;
4899 214861 : myState.myLastCoveredDist = dist;
4900 214861 : myCachedPosition = Position::INVALID;
4901 :
4902 214861 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(dist);
4903 214861 : const SUMOTime t = MSNet::getInstance()->getCurrentTimeStep();
4904 445727 : for (int i = 0; i < (int)lanes.size(); i++) {
4905 230866 : MSLink* link = nullptr;
4906 230866 : if (i + 1 < (int)lanes.size()) {
4907 16005 : const MSLane* const to = lanes[i + 1];
4908 16005 : const bool internal = to->isInternal();
4909 16010 : for (MSLink* const l : lanes[i]->getLinkCont()) {
4910 16010 : if ((internal && l->getViaLane() == to) || (!internal && l->getLane() == to)) {
4911 16005 : link = l;
4912 16005 : break;
4913 : }
4914 : }
4915 : }
4916 230866 : myLFLinkLanes.emplace_back(link, getSpeed(), getSpeed(), true, t, getSpeed(), 0, 0, dist);
4917 : }
4918 : // minimum execute move:
4919 : std::vector<MSLane*> passedLanes;
4920 : // Reason for a possible emergency stop
4921 214861 : if (lanes.size() > 1) {
4922 4005 : myLane->removeVehicle(this, MSMoveReminder::NOTIFICATION_JUNCTION, false);
4923 : }
4924 : std::string emergencyReason;
4925 214861 : processLaneAdvances(passedLanes, emergencyReason);
4926 : #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
4927 : if (DEBUG_COND) {
4928 : std::cout << SIMTIME << " veh=" << getID() << " executeFractionalMove dist=" << dist
4929 : << " passedLanes=" << toString(passedLanes) << " lanes=" << toString(lanes)
4930 : << " finalPos=" << myState.myPos
4931 : << " speed=" << getSpeed()
4932 : << " myFurtherLanes=" << toString(myFurtherLanes)
4933 : << "\n";
4934 : }
4935 : #endif
4936 214861 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4937 214861 : if (lanes.size() > 1) {
4938 4010 : for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
4939 : #ifdef DEBUG_FURTHER
4940 : if (DEBUG_COND) {
4941 : std::cout << SIMTIME << " leaveLane \n";
4942 : }
4943 : #endif
4944 5 : (*i)->resetPartialOccupation(this);
4945 : }
4946 : myFurtherLanes.clear();
4947 : myFurtherLanesPosLat.clear();
4948 4005 : myLane->forceVehicleInsertion(this, getPositionOnLane(), MSMoveReminder::NOTIFICATION_JUNCTION, getLateralPositionOnLane());
4949 : }
4950 214861 : }
4951 :
4952 :
4953 : void
4954 708598488 : MSVehicle::updateState(double vNext, bool parking) {
4955 : // update position and speed
4956 : double deltaPos; // positional change
4957 708598488 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4958 : // euler
4959 609300325 : deltaPos = SPEED2DIST(vNext);
4960 : } else {
4961 : // ballistic
4962 99298163 : deltaPos = getDeltaPos(SPEED2ACCEL(vNext - myState.mySpeed));
4963 : }
4964 :
4965 : // the *mean* acceleration during the next step (probably most appropriate for emission calculation)
4966 : // NOTE: for the ballistic update vNext may be negative, indicating a stop.
4967 708598488 : myAcceleration = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4968 :
4969 : #ifdef DEBUG_EXEC_MOVE
4970 : if (DEBUG_COND) {
4971 : std::cout << SIMTIME << " updateState() for veh '" << getID() << "': deltaPos=" << deltaPos
4972 : << " pos=" << myState.myPos << " newPos=" << myState.myPos + deltaPos << std::endl;
4973 : }
4974 : #endif
4975 708598488 : double decelPlus = -myAcceleration - getCarFollowModel().getMaxDecel() - NUMERICAL_EPS;
4976 708598488 : if (decelPlus > 0) {
4977 429606 : const double previousAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
4978 429606 : if (myAcceleration + NUMERICAL_EPS < previousAcceleration) {
4979 : // vehicle brakes beyond wished maximum deceleration (only warn at the start of the braking manoeuvre)
4980 290205 : decelPlus += 2 * NUMERICAL_EPS;
4981 290205 : const double emergencyFraction = decelPlus / MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel());
4982 290205 : if (emergencyFraction >= MSGlobals::gEmergencyDecelWarningThreshold) {
4983 95583 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency braking on lane '%' with decel=%, wished=%, severity=%, time=%."),
4984 : //+ " decelPlus=" + toString(decelPlus)
4985 : //+ " prevAccel=" + toString(previousAcceleration)
4986 : //+ " reserve=" + toString(MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel()))
4987 : getID(), myLane->getID(), -myAcceleration, getCarFollowModel().getMaxDecel(), emergencyFraction, time2string(SIMSTEP));
4988 31861 : MSNet::getInstance()->getVehicleControl().registerEmergencyBraking();
4989 : }
4990 : }
4991 : }
4992 :
4993 708598488 : myState.myPreviousSpeed = myState.mySpeed;
4994 708598488 : myState.mySpeed = MAX2(vNext, 0.);
4995 :
4996 708598488 : if (isRemoteControlled()) {
4997 7174 : deltaPos = myInfluencer->implicitDeltaPosRemote(this);
4998 : }
4999 :
5000 708598488 : myState.myPos += deltaPos;
5001 708598488 : myState.myLastCoveredDist = deltaPos;
5002 708598488 : myNextTurn.first -= deltaPos;
5003 :
5004 708598488 : if (!parking) {
5005 700430838 : myCachedPosition = Position::INVALID;
5006 : }
5007 708598488 : }
5008 :
5009 : void
5010 8167650 : MSVehicle::updateParkingState() {
5011 8167650 : updateState(0, true);
5012 : // deboard while parked
5013 8167650 : if (myPersonDevice != nullptr) {
5014 620078 : myPersonDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
5015 : }
5016 8167650 : if (myContainerDevice != nullptr) {
5017 59887 : myContainerDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
5018 : }
5019 16512753 : for (MSVehicleDevice* const dev : myDevices) {
5020 8345103 : dev->notifyParking();
5021 : }
5022 8167650 : }
5023 :
5024 :
5025 : void
5026 30555 : MSVehicle::replaceVehicleType(const MSVehicleType* type) {
5027 30555 : MSBaseVehicle::replaceVehicleType(type);
5028 30555 : delete myCFVariables;
5029 30555 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
5030 30555 : }
5031 :
5032 :
5033 : const MSLane*
5034 1378375788 : MSVehicle::getBackLane() const {
5035 1378375788 : if (myFurtherLanes.size() > 0) {
5036 18897540 : return myFurtherLanes.back();
5037 : } else {
5038 1359478248 : return myLane;
5039 : }
5040 : }
5041 :
5042 :
5043 : double
5044 702612023 : MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<double>& furtherLanesPosLat,
5045 : const std::vector<MSLane*>& passedLanes) {
5046 : #ifdef DEBUG_SETFURTHER
5047 : if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID()
5048 : << " updateFurtherLanes oldFurther=" << toString(furtherLanes)
5049 : << " oldFurtherPosLat=" << toString(furtherLanesPosLat)
5050 : << " passed=" << toString(passedLanes)
5051 : << "\n";
5052 : #endif
5053 718465772 : for (MSLane* further : furtherLanes) {
5054 15853749 : further->resetPartialOccupation(this);
5055 15853749 : if (further->getBidiLane() != nullptr
5056 15853749 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5057 101822 : further->getBidiLane()->resetPartialOccupation(this);
5058 : }
5059 : }
5060 :
5061 : std::vector<MSLane*> newFurther;
5062 : std::vector<double> newFurtherPosLat;
5063 702612023 : double backPosOnPreviousLane = myState.myPos - getLength();
5064 : bool widthShift = myFurtherLanesPosLat.size() > myFurtherLanes.size();
5065 702612023 : if (passedLanes.size() > 1) {
5066 : // There are candidates for further lanes. (passedLanes[-1] is the current lane, or current shadow lane in context of updateShadowLanes())
5067 : std::vector<MSLane*>::const_iterator fi = furtherLanes.begin();
5068 : std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
5069 44565646 : for (auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
5070 : // As long as vehicle back reaches into passed lane, add it to the further lanes
5071 15787352 : MSLane* further = *pi;
5072 15787352 : newFurther.push_back(further);
5073 15787352 : backPosOnPreviousLane += further->setPartialOccupation(this);
5074 15787352 : if (further->getBidiLane() != nullptr
5075 15787352 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5076 99995 : further->getBidiLane()->setPartialOccupation(this);
5077 : }
5078 15787352 : if (fi != furtherLanes.end() && further == *fi) {
5079 : // Lateral position on this lane is already known. Assume constant and use old value.
5080 5614216 : newFurtherPosLat.push_back(*fpi);
5081 : ++fi;
5082 : ++fpi;
5083 : } else {
5084 : // The lane *pi was not in furtherLanes before.
5085 : // If it is downstream, we assume as lateral position the current position
5086 : // If it is a new lane upstream (can appear as shadow further in case of LC-maneuvering, e.g.)
5087 : // we assign the last known lateral position.
5088 10173136 : if (newFurtherPosLat.size() == 0) {
5089 9559522 : if (widthShift) {
5090 1502444 : newFurtherPosLat.push_back(myFurtherLanesPosLat.back());
5091 : } else {
5092 8057078 : newFurtherPosLat.push_back(myState.myPosLat);
5093 : }
5094 : } else {
5095 613614 : newFurtherPosLat.push_back(newFurtherPosLat.back());
5096 : }
5097 : }
5098 : #ifdef DEBUG_SETFURTHER
5099 : if (DEBUG_COND) {
5100 : std::cout << SIMTIME << " updateFurtherLanes \n"
5101 : << " further lane '" << further->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
5102 : << std::endl;
5103 : }
5104 : #endif
5105 : }
5106 28778294 : furtherLanes = newFurther;
5107 28778294 : furtherLanesPosLat = newFurtherPosLat;
5108 : } else {
5109 : furtherLanes.clear();
5110 : furtherLanesPosLat.clear();
5111 : }
5112 : #ifdef DEBUG_SETFURTHER
5113 : if (DEBUG_COND) std::cout
5114 : << " newFurther=" << toString(furtherLanes)
5115 : << " newFurtherPosLat=" << toString(furtherLanesPosLat)
5116 : << " newBackPos=" << backPosOnPreviousLane
5117 : << "\n";
5118 : #endif
5119 702612023 : return backPosOnPreviousLane;
5120 702612023 : }
5121 :
5122 :
5123 : double
5124 34742102187 : MSVehicle::getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const {
5125 : #ifdef DEBUG_FURTHER
5126 : if (DEBUG_COND) {
5127 : std::cout << SIMTIME
5128 : << " getBackPositionOnLane veh=" << getID()
5129 : << " lane=" << Named::getIDSecure(lane)
5130 : << " cbgP=" << calledByGetPosition
5131 : << " pos=" << myState.myPos
5132 : << " backPos=" << myState.myBackPos
5133 : << " myLane=" << myLane->getID()
5134 : << " myLaneBidi=" << Named::getIDSecure(myLane->getBidiLane())
5135 : << " further=" << toString(myFurtherLanes)
5136 : << " furtherPosLat=" << toString(myFurtherLanesPosLat)
5137 : << "\n shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
5138 : << " shadowFurther=" << toString(myLaneChangeModel->getShadowFurtherLanes())
5139 : << " shadowFurtherPosLat=" << toString(myLaneChangeModel->getShadowFurtherLanesPosLat())
5140 : << "\n targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
5141 : << " furtherTargets=" << toString(myLaneChangeModel->getFurtherTargetLanes())
5142 : << std::endl;
5143 : }
5144 : #endif
5145 34742102187 : if (lane == myLane
5146 8364956111 : || lane == myLaneChangeModel->getShadowLane()
5147 39575564742 : || lane == myLaneChangeModel->getTargetLane()) {
5148 29910223719 : if (myLaneChangeModel->isOpposite()) {
5149 231227727 : if (lane == myLaneChangeModel->getShadowLane()) {
5150 199150480 : return lane->getLength() - myState.myPos - myType->getLength();
5151 : } else {
5152 36870724 : return myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5153 : }
5154 29678995992 : } else if (&lane->getEdge() != &myLane->getEdge()) {
5155 20781991 : return lane->getLength() - myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5156 : } else {
5157 : // account for parallel lanes of different lengths in the most conservative manner (i.e. while turning)
5158 59317134682 : return myState.myPos - myType->getLength() + MIN2(0.0, lane->getLength() - myLane->getLength());
5159 : }
5160 4831878468 : } else if (lane == myLane->getBidiLane()) {
5161 42181345 : return lane->getLength() - myState.myPos + myType->getLength() * (calledByGetPosition ? -1 : 1);
5162 4797541219 : } else if (myFurtherLanes.size() > 0 && lane == myFurtherLanes.back()) {
5163 4746862923 : return myState.myBackPos;
5164 50678296 : } else if ((myLaneChangeModel->getShadowFurtherLanes().size() > 0 && lane == myLaneChangeModel->getShadowFurtherLanes().back())
5165 51133019 : || (myLaneChangeModel->getFurtherTargetLanes().size() > 0 && lane == myLaneChangeModel->getFurtherTargetLanes().back())) {
5166 : assert(myFurtherLanes.size() > 0);
5167 21757321 : if (lane->getLength() == myFurtherLanes.back()->getLength()) {
5168 21099230 : return myState.myBackPos;
5169 : } else {
5170 : // interpolate
5171 : //if (DEBUG_COND) {
5172 : //if (myFurtherLanes.back()->getLength() != lane->getLength()) {
5173 : // std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " further=" << myFurtherLanes.back()->getID()
5174 : // << " len=" << lane->getLength() << " fLen=" << myFurtherLanes.back()->getLength()
5175 : // << " backPos=" << myState.myBackPos << " result=" << myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength() << "\n";
5176 : //}
5177 658091 : return myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength();
5178 : }
5179 : } else {
5180 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherLanes=" << toString(myFurtherLanes) << "\n";
5181 28920975 : double leftLength = myType->getLength() - myState.myPos;
5182 :
5183 : std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin();
5184 30930520 : while (leftLength > 0 && i != myFurtherLanes.end()) {
5185 30878259 : leftLength -= (*i)->getLength();
5186 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5187 30878259 : if (*i == lane) {
5188 27827721 : return -leftLength;
5189 3050538 : } else if (*i == lane->getBidiLane()) {
5190 1040993 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5191 : }
5192 : ++i;
5193 : }
5194 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
5195 52261 : leftLength = myType->getLength() - myState.myPos;
5196 52261 : i = myLaneChangeModel->getShadowFurtherLanes().begin();
5197 52261 : while (leftLength > 0 && i != myLaneChangeModel->getShadowFurtherLanes().end()) {
5198 52258 : leftLength -= (*i)->getLength();
5199 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5200 52258 : if (*i == lane) {
5201 23842 : return -leftLength;
5202 28416 : } else if (*i == lane->getBidiLane()) {
5203 28416 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5204 : }
5205 : ++i;
5206 : }
5207 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherTargetLanes=" << toString(myLaneChangeModel->getFurtherTargetLanes()) << "\n";
5208 3 : leftLength = myType->getLength() - myState.myPos;
5209 : i = getFurtherLanes().begin();
5210 3 : const std::vector<MSLane*> furtherTargetLanes = myLaneChangeModel->getFurtherTargetLanes();
5211 : auto j = furtherTargetLanes.begin();
5212 3 : while (leftLength > 0 && j != furtherTargetLanes.end()) {
5213 1 : leftLength -= (*i)->getLength();
5214 : // if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5215 1 : if (*j == lane) {
5216 1 : return -leftLength;
5217 0 : } else if (*j == lane->getBidiLane()) {
5218 0 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5219 : }
5220 : ++i;
5221 : ++j;
5222 : }
5223 8 : WRITE_WARNINGF("Request backPos of vehicle '%' for invalid lane '%' time=%.",
5224 : getID(), Named::getIDSecure(lane), time2string(SIMSTEP))
5225 : SOFT_ASSERT(false);
5226 2 : return myState.myBackPos;
5227 3 : }
5228 : }
5229 :
5230 :
5231 : double
5232 28271549514 : MSVehicle::getPositionOnLane(const MSLane* lane) const {
5233 28271549514 : return getBackPositionOnLane(lane, true) + myType->getLength();
5234 : }
5235 :
5236 :
5237 : bool
5238 419514049 : MSVehicle::isFrontOnLane(const MSLane* lane) const {
5239 419514049 : return lane == myLane || lane == myLaneChangeModel->getShadowLane() || lane == myLane->getBidiLane();
5240 : }
5241 :
5242 :
5243 : void
5244 632683106 : MSVehicle::checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const {
5245 632683106 : if (MSGlobals::gUsingInternalLanes && !myLane->getEdge().isRoundabout() && !myLaneChangeModel->isOpposite()) {
5246 629485839 : double seenSpace = -lengthsInFront;
5247 : #ifdef DEBUG_CHECKREWINDLINKLANES
5248 : if (DEBUG_COND) {
5249 : std::cout << "\nCHECK_REWIND_LINKLANES\n" << " veh=" << getID() << " lengthsInFront=" << lengthsInFront << "\n";
5250 : };
5251 : #endif
5252 629485839 : bool foundStopped = false;
5253 : // compute available space until a stopped vehicle is found
5254 : // this is the sum of non-interal lane length minus in-between vehicle lengths
5255 1838763895 : for (int i = 0; i < (int)lfLinks.size(); ++i) {
5256 : // skip unset links
5257 1209278056 : DriveProcessItem& item = lfLinks[i];
5258 : #ifdef DEBUG_CHECKREWINDLINKLANES
5259 : if (DEBUG_COND) std::cout << SIMTIME
5260 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5261 : << " foundStopped=" << foundStopped;
5262 : #endif
5263 1209278056 : if (item.myLink == nullptr || foundStopped) {
5264 396757466 : if (!foundStopped) {
5265 344409014 : item.availableSpace += seenSpace;
5266 : } else {
5267 52348452 : item.availableSpace = seenSpace;
5268 : }
5269 : #ifdef DEBUG_CHECKREWINDLINKLANES
5270 : if (DEBUG_COND) {
5271 : std::cout << " avail=" << item.availableSpace << "\n";
5272 : }
5273 : #endif
5274 396757466 : continue;
5275 : }
5276 : // get the next lane, determine whether it is an internal lane
5277 : const MSLane* approachedLane = item.myLink->getViaLane();
5278 812520590 : if (approachedLane != nullptr) {
5279 443509087 : if (keepClear(item.myLink)) {
5280 141901403 : seenSpace = seenSpace - approachedLane->getBruttoVehLenSum();
5281 141901403 : if (approachedLane == myLane) {
5282 48432 : seenSpace += getVehicleType().getLengthWithGap();
5283 : }
5284 : } else {
5285 301607684 : seenSpace = seenSpace + approachedLane->getSpaceTillLastStanding(this, foundStopped);// - approachedLane->getBruttoVehLenSum() + approachedLane->getLength();
5286 : }
5287 443509087 : item.availableSpace = seenSpace;
5288 : #ifdef DEBUG_CHECKREWINDLINKLANES
5289 : if (DEBUG_COND) std::cout
5290 : << " approached=" << approachedLane->getID()
5291 : << " approachedBrutto=" << approachedLane->getBruttoVehLenSum()
5292 : << " avail=" << item.availableSpace
5293 : << " seenSpace=" << seenSpace
5294 : << " hadStoppedVehicle=" << item.hadStoppedVehicle
5295 : << " lengthsInFront=" << lengthsInFront
5296 : << "\n";
5297 : #endif
5298 443509087 : continue;
5299 : }
5300 : approachedLane = item.myLink->getLane();
5301 369011503 : const MSVehicle* last = approachedLane->getLastAnyVehicle();
5302 369011503 : if (last == nullptr || last == this) {
5303 61300079 : if (approachedLane->getLength() > getVehicleType().getLength()
5304 61300079 : || keepClear(item.myLink)) {
5305 59002767 : seenSpace += approachedLane->getLength();
5306 : }
5307 61300079 : item.availableSpace = seenSpace;
5308 : #ifdef DEBUG_CHECKREWINDLINKLANES
5309 : if (DEBUG_COND) {
5310 : std::cout << " last=" << Named::getIDSecure(last) << " laneLength=" << approachedLane->getLength() << " avail=" << item.availableSpace << "\n";
5311 : }
5312 : #endif
5313 : } else {
5314 307711424 : bool foundStopped2 = false;
5315 307711424 : double spaceTillLastStanding = approachedLane->getSpaceTillLastStanding(this, foundStopped2);
5316 307711424 : if (approachedLane->getBidiLane() != nullptr) {
5317 491663 : const MSVehicle* oncomingVeh = approachedLane->getBidiLane()->getFirstFullVehicle();
5318 491663 : if (oncomingVeh) {
5319 334980 : const double oncomingGap = approachedLane->getLength() - oncomingVeh->getPositionOnLane();
5320 334980 : const double oncomingBGap = oncomingVeh->getBrakeGap(true);
5321 : // oncoming movement until ego enters the junction
5322 334980 : const double oncomingMove = STEPS2TIME(item.myArrivalTime - SIMSTEP) * oncomingVeh->getSpeed();
5323 334980 : const double spaceTillOncoming = oncomingGap - oncomingBGap - oncomingMove;
5324 : spaceTillLastStanding = MIN2(spaceTillLastStanding, spaceTillOncoming);
5325 334980 : if (spaceTillOncoming <= getVehicleType().getLengthWithGap()) {
5326 27612 : foundStopped = true;
5327 : }
5328 : #ifdef DEBUG_CHECKREWINDLINKLANES
5329 : if (DEBUG_COND) {
5330 : std::cout << " oVeh=" << oncomingVeh->getID()
5331 : << " oGap=" << oncomingGap
5332 : << " bGap=" << oncomingBGap
5333 : << " mGap=" << oncomingMove
5334 : << " sto=" << spaceTillOncoming;
5335 : }
5336 : #endif
5337 : }
5338 : }
5339 307711424 : seenSpace += spaceTillLastStanding;
5340 307711424 : if (foundStopped2) {
5341 21102517 : foundStopped = true;
5342 21102517 : item.hadStoppedVehicle = true;
5343 : }
5344 307711424 : item.availableSpace = seenSpace;
5345 307711424 : if (last->myHaveToWaitOnNextLink || last->isStopped()) {
5346 30609365 : foundStopped = true;
5347 30609365 : item.hadStoppedVehicle = true;
5348 : }
5349 : #ifdef DEBUG_CHECKREWINDLINKLANES
5350 : if (DEBUG_COND) std::cout
5351 : << " approached=" << approachedLane->getID()
5352 : << " last=" << last->getID()
5353 : << " lastHasToWait=" << last->myHaveToWaitOnNextLink
5354 : << " lastBrakeLight=" << last->signalSet(VEH_SIGNAL_BRAKELIGHT)
5355 : << " lastBrakeGap=" << last->getCarFollowModel().brakeGap(last->getSpeed())
5356 : << " lastGap=" << (last->getBackPositionOnLane(approachedLane) + last->getCarFollowModel().brakeGap(last->getSpeed()) - last->getSpeed() * last->getCarFollowModel().getHeadwayTime()
5357 : // gap of last up to the next intersection
5358 : - last->getVehicleType().getMinGap())
5359 : << " stls=" << spaceTillLastStanding
5360 : << " avail=" << item.availableSpace
5361 : << " seenSpace=" << seenSpace
5362 : << " foundStopped=" << foundStopped
5363 : << " foundStopped2=" << foundStopped2
5364 : << "\n";
5365 : #endif
5366 : }
5367 : }
5368 :
5369 : // check which links allow continuation and add pass available to the previous item
5370 1209278056 : for (int i = ((int)lfLinks.size() - 1); i > 0; --i) {
5371 579792217 : DriveProcessItem& item = lfLinks[i - 1];
5372 579792217 : DriveProcessItem& nextItem = lfLinks[i];
5373 579792217 : const bool canLeaveJunction = item.myLink->getViaLane() == nullptr || nextItem.myLink == nullptr || nextItem.mySetRequest;
5374 : const bool opened = (item.myLink != nullptr
5375 579792217 : && (canLeaveJunction || (
5376 : // indirect bicycle turn
5377 28604886 : nextItem.myLink != nullptr && nextItem.myLink->isInternalJunctionLink() && nextItem.myLink->haveRed()))
5378 551201393 : && (
5379 551201393 : item.myLink->havePriority()
5380 27905133 : || i == 1 // the upcoming link (item 0) is checked in executeMove anyway. No need to use outdata approachData here
5381 5419014 : || (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority())
5382 5389582 : || item.myLink->opened(item.myArrivalTime, item.myArrivalSpeed,
5383 5389582 : item.getLeaveSpeed(), getVehicleType().getLength(),
5384 5389582 : getImpatience(), getCarFollowModel().getMaxDecel(), getWaitingTime(), getLateralPositionOnLane(), nullptr, false, this)));
5385 579792217 : bool allowsContinuation = (item.myLink == nullptr || item.myLink->isCont() || opened) && !item.hadStoppedVehicle;
5386 : #ifdef DEBUG_CHECKREWINDLINKLANES
5387 : if (DEBUG_COND) std::cout
5388 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5389 : << " canLeave=" << canLeaveJunction
5390 : << " opened=" << opened
5391 : << " allowsContinuation=" << allowsContinuation
5392 : << " foundStopped=" << foundStopped
5393 : << "\n";
5394 : #endif
5395 579792217 : if (!opened && item.myLink != nullptr) {
5396 29327846 : foundStopped = true;
5397 29327846 : if (i > 1) {
5398 4893485 : DriveProcessItem& item2 = lfLinks[i - 2];
5399 4893485 : if (item2.myLink != nullptr && item2.myLink->isCont()) {
5400 : allowsContinuation = true;
5401 : }
5402 : }
5403 : }
5404 576570553 : if (allowsContinuation) {
5405 520089552 : item.availableSpace = nextItem.availableSpace;
5406 : #ifdef DEBUG_CHECKREWINDLINKLANES
5407 : if (DEBUG_COND) std::cout
5408 : << " link=" << (item.myLink == nullptr ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5409 : << " copy nextAvail=" << nextItem.availableSpace
5410 : << "\n";
5411 : #endif
5412 : }
5413 : }
5414 :
5415 : // find removalBegin
5416 : int removalBegin = -1;
5417 759023907 : for (int i = 0; foundStopped && i < (int)lfLinks.size() && removalBegin < 0; ++i) {
5418 : // skip unset links
5419 129538068 : const DriveProcessItem& item = lfLinks[i];
5420 129538068 : if (item.myLink == nullptr) {
5421 6741767 : continue;
5422 : }
5423 : /*
5424 : double impatienceCorrection = MAX2(0., double(double(myWaitingTime)));
5425 : if (seenSpace<getVehicleType().getLengthWithGap()-impatienceCorrection/10.&&nextSeenNonInternal!=0) {
5426 : removalBegin = lastLinkToInternal;
5427 : }
5428 : */
5429 :
5430 122796301 : const double leftSpace = item.availableSpace - getVehicleType().getLengthWithGap();
5431 : #ifdef DEBUG_CHECKREWINDLINKLANES
5432 : if (DEBUG_COND) std::cout
5433 : << SIMTIME
5434 : << " veh=" << getID()
5435 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5436 : << " avail=" << item.availableSpace
5437 : << " leftSpace=" << leftSpace
5438 : << "\n";
5439 : #endif
5440 122796301 : if (leftSpace < 0/* && item.myLink->willHaveBlockedFoe()*/) {
5441 : double impatienceCorrection = 0;
5442 : /*
5443 : if(item.myLink->getState()==LINKSTATE_MINOR) {
5444 : impatienceCorrection = MAX2(0., STEPS2TIME(myWaitingTime));
5445 : }
5446 : */
5447 : // may ignore keepClear rules
5448 77650112 : if (leftSpace < -impatienceCorrection / 10. && keepClear(item.myLink)) {
5449 : removalBegin = i;
5450 : }
5451 : //removalBegin = i;
5452 : }
5453 : }
5454 : // abort requests
5455 629485839 : if (removalBegin != -1 && !(removalBegin == 0 && myLane->getEdge().isInternal())) {
5456 31046927 : const double brakeGap = getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.);
5457 106383688 : while (removalBegin < (int)(lfLinks.size())) {
5458 80304155 : DriveProcessItem& dpi = lfLinks[removalBegin];
5459 80304155 : if (dpi.myLink == nullptr) {
5460 : break;
5461 : }
5462 75336761 : dpi.myVLinkPass = dpi.myVLinkWait;
5463 : #ifdef DEBUG_CHECKREWINDLINKLANES
5464 : if (DEBUG_COND) {
5465 : std::cout << " removalBegin=" << removalBegin << " brakeGap=" << brakeGap << " dist=" << dpi.myDistance << " speed=" << myState.mySpeed << " a2s=" << ACCEL2SPEED(getCarFollowModel().getMaxDecel()) << "\n";
5466 : }
5467 : #endif
5468 75336761 : if (dpi.myDistance >= brakeGap + POSITION_EPS) {
5469 : // always leave junctions after requesting to enter
5470 75327541 : if (!dpi.myLink->isExitLink() || !lfLinks[removalBegin - 1].mySetRequest) {
5471 75319192 : dpi.mySetRequest = false;
5472 : }
5473 : }
5474 75336761 : ++removalBegin;
5475 : }
5476 : }
5477 : }
5478 632683106 : }
5479 :
5480 :
5481 : void
5482 704245042 : MSVehicle::setApproachingForAllLinks() {
5483 704245042 : if (!myActionStep) {
5484 : return;
5485 : }
5486 632683106 : removeApproachingInformation(myLFLinkLanesPrev);
5487 1849786410 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5488 1217103304 : if (dpi.myLink != nullptr) {
5489 864331447 : if (dpi.myLink->getState() == LINKSTATE_ALLWAY_STOP) {
5490 2850520 : dpi.myArrivalTime += (SUMOTime)RandHelper::rand((int)2, getRNG()); // tie braker
5491 : }
5492 864331447 : dpi.myLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5493 864331447 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance, getLateralPositionOnLane());
5494 : }
5495 : }
5496 632683106 : if (isRail()) {
5497 8206561 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5498 6823770 : if (dpi.myLink != nullptr && dpi.myLink->getTLLogic() != nullptr && dpi.myLink->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL) {
5499 693214 : MSRailSignalControl::getInstance().notifyApproach(dpi.myLink);
5500 : }
5501 : }
5502 : }
5503 632683106 : if (myLaneChangeModel->getShadowLane() != nullptr) {
5504 : // register on all shadow links
5505 7597868 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
5506 5038487 : if (dpi.myLink != nullptr) {
5507 3444176 : MSLink* parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
5508 3444176 : if (parallelLink == nullptr && getLaneChangeModel().isOpposite() && dpi.myLink->isEntryLink()) {
5509 : // register on opposite direction entry link to warn foes at minor side road
5510 169638 : parallelLink = dpi.myLink->getOppositeDirectionLink();
5511 : }
5512 3444176 : if (parallelLink != nullptr) {
5513 2450135 : const double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
5514 2450135 : parallelLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5515 2450135 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance,
5516 : latOffset);
5517 2450135 : myLaneChangeModel->setShadowApproachingInformation(parallelLink);
5518 : }
5519 : }
5520 : }
5521 : }
5522 : #ifdef DEBUG_PLAN_MOVE
5523 : if (DEBUG_COND) {
5524 : std::cout << SIMTIME
5525 : << " veh=" << getID()
5526 : << " after checkRewindLinkLanes\n";
5527 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5528 : std::cout
5529 : << " vPass=" << dpi.myVLinkPass
5530 : << " vWait=" << dpi.myVLinkWait
5531 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
5532 : << " request=" << dpi.mySetRequest
5533 : << " atime=" << dpi.myArrivalTime
5534 : << "\n";
5535 : }
5536 : }
5537 : #endif
5538 : }
5539 :
5540 :
5541 : void
5542 1853 : MSVehicle::registerInsertionApproach(MSLink* link, double dist) {
5543 : DriveProcessItem dpi(0, dist);
5544 1853 : dpi.myLink = link;
5545 1853 : const double arrivalSpeedBraking = getCarFollowModel().getMinimalArrivalSpeedEuler(dist, getSpeed());
5546 1853 : link->setApproaching(this, SUMOTime_MAX, 0, 0, false, arrivalSpeedBraking, 0, dpi.myDistance, 0);
5547 : // ensure cleanup in the next step
5548 1853 : myLFLinkLanes.push_back(dpi);
5549 1853 : MSRailSignalControl::getInstance().notifyApproach(link);
5550 1853 : }
5551 :
5552 :
5553 : void
5554 19512384 : MSVehicle::enterLaneAtMove(MSLane* enteredLane, bool onTeleporting) {
5555 19512384 : myAmOnNet = !onTeleporting;
5556 : // vaporizing edge?
5557 : /*
5558 : if (enteredLane->getEdge().isVaporizing()) {
5559 : // yep, let's do the vaporization...
5560 : myLane = enteredLane;
5561 : return true;
5562 : }
5563 : */
5564 : // Adjust MoveReminder offset to the next lane
5565 19512384 : adaptLaneEntering2MoveReminder(*enteredLane);
5566 : // set the entered lane as the current lane
5567 19512384 : MSLane* oldLane = myLane;
5568 19512384 : myLane = enteredLane;
5569 19512384 : myLastBestLanesEdge = nullptr;
5570 :
5571 : // internal edges are not a part of the route...
5572 19512384 : if (!enteredLane->getEdge().isInternal()) {
5573 : ++myCurrEdge;
5574 : assert(myLaneChangeModel->isOpposite() || haveValidStopEdges());
5575 : }
5576 19512384 : if (myInfluencer != nullptr) {
5577 8976 : myInfluencer->adaptLaneTimeLine(myLane->getIndex() - oldLane->getIndex());
5578 : }
5579 19512384 : if (!onTeleporting) {
5580 19493948 : activateReminders(MSMoveReminder::NOTIFICATION_JUNCTION, enteredLane);
5581 19493948 : if (MSGlobals::gLateralResolution > 0) {
5582 3825647 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5583 : // transform lateral position when the lane width changes
5584 : assert(oldLane != nullptr);
5585 3825647 : const MSLink* const link = oldLane->getLinkTo(myLane);
5586 3825647 : if (link != nullptr) {
5587 3825606 : myState.myPosLat += link->getLateralShift();
5588 : } else {
5589 41 : myState.myPosLat += (oldLane->getCenterOnEdge() - myLane->getCanonicalPredecessorLane()->getRightSideOnEdge()) / 2;
5590 : }
5591 15668301 : } else if (fabs(myState.myPosLat) > NUMERICAL_EPS) {
5592 243611 : const double overlap = MAX2(0.0, getLateralOverlap(myState.myPosLat, oldLane));
5593 243611 : const double range = (oldLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5594 243611 : const double range2 = (myLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5595 243611 : myState.myPosLat *= range2 / range;
5596 : }
5597 19493948 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5598 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5599 : // (unless the lane is shared with cars)
5600 27038 : myLane->getBidiLane()->setPartialOccupation(this);
5601 : }
5602 : } else {
5603 : // normal move() isn't called so reset position here. must be done
5604 : // before calling reminders
5605 18436 : myState.myPos = 0;
5606 18436 : myCachedPosition = Position::INVALID;
5607 18436 : activateReminders(MSMoveReminder::NOTIFICATION_TELEPORT, enteredLane);
5608 : }
5609 : // update via
5610 19512384 : if (myParameter->via.size() > 0 && myLane->getEdge().getID() == myParameter->via.front()) {
5611 7244 : myParameter->via.erase(myParameter->via.begin());
5612 : }
5613 19512384 : }
5614 :
5615 :
5616 : void
5617 1091712 : MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
5618 1091712 : myAmOnNet = true;
5619 1091712 : myLane = enteredLane;
5620 1091712 : myCachedPosition = Position::INVALID;
5621 : // need to update myCurrentLaneInBestLanes
5622 1091712 : updateBestLanes();
5623 : // switch to and activate the new lane's reminders
5624 : // keep OldLaneReminders
5625 1290383 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5626 198671 : addReminder(*rem);
5627 : }
5628 1091712 : activateReminders(MSMoveReminder::NOTIFICATION_LANE_CHANGE, enteredLane);
5629 1091712 : MSLane* lane = myLane;
5630 1091712 : double leftLength = getVehicleType().getLength() - myState.myPos;
5631 : int deleteFurther = 0;
5632 : #ifdef DEBUG_SETFURTHER
5633 : if (DEBUG_COND) {
5634 : std::cout << SIMTIME << " enterLaneAtLaneChange entered=" << Named::getIDSecure(enteredLane) << " oldFurther=" << toString(myFurtherLanes) << "\n";
5635 : }
5636 : #endif
5637 1091712 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5638 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5639 : // (unless the lane is shared with cars)
5640 19829 : myLane->getBidiLane()->setPartialOccupation(this);
5641 : }
5642 1177791 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
5643 86079 : if (lane != nullptr) {
5644 82925 : lane = lane->getLogicalPredecessorLane(myFurtherLanes[i]->getEdge());
5645 : }
5646 : #ifdef DEBUG_SETFURTHER
5647 : if (DEBUG_COND) {
5648 : std::cout << " enterLaneAtLaneChange i=" << i << " lane=" << Named::getIDSecure(lane) << " leftLength=" << leftLength << "\n";
5649 : }
5650 : #endif
5651 86079 : if (leftLength > 0) {
5652 85510 : if (lane != nullptr) {
5653 34925 : myFurtherLanes[i]->resetPartialOccupation(this);
5654 34925 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5655 34925 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5656 60 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5657 : }
5658 : // lane changing onto longer lanes may reduce the number of
5659 : // remaining further lanes
5660 34925 : myFurtherLanes[i] = lane;
5661 34925 : myFurtherLanesPosLat[i] = myState.myPosLat;
5662 34925 : leftLength -= lane->setPartialOccupation(this);
5663 34925 : if (lane->getBidiLane() != nullptr
5664 34925 : && (!isRailway(getVClass()) || (lane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5665 1916 : lane->getBidiLane()->setPartialOccupation(this);
5666 : }
5667 34925 : myState.myBackPos = -leftLength;
5668 : #ifdef DEBUG_SETFURTHER
5669 : if (DEBUG_COND) {
5670 : std::cout << SIMTIME << " newBackPos=" << myState.myBackPos << "\n";
5671 : }
5672 : #endif
5673 : } else {
5674 : // keep the old values, but ensure there is no shadow
5675 50585 : if (myLaneChangeModel->isChangingLanes()) {
5676 15 : myLaneChangeModel->setNoShadowPartialOccupator(myFurtherLanes[i]);
5677 : }
5678 50585 : if (myState.myBackPos < 0) {
5679 41 : myState.myBackPos += myFurtherLanes[i]->getLength();
5680 : }
5681 : #ifdef DEBUG_SETFURTHER
5682 : if (DEBUG_COND) {
5683 : std::cout << SIMTIME << " i=" << i << " further=" << myFurtherLanes[i]->getID() << " newBackPos=" << myState.myBackPos << "\n";
5684 : }
5685 : #endif
5686 : }
5687 : } else {
5688 569 : myFurtherLanes[i]->resetPartialOccupation(this);
5689 569 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5690 569 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5691 0 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5692 : }
5693 569 : deleteFurther++;
5694 : }
5695 : }
5696 1091712 : if (deleteFurther > 0) {
5697 : #ifdef DEBUG_SETFURTHER
5698 : if (DEBUG_COND) {
5699 : std::cout << SIMTIME << " veh=" << getID() << " shortening myFurtherLanes by " << deleteFurther << "\n";
5700 : }
5701 : #endif
5702 551 : myFurtherLanes.erase(myFurtherLanes.end() - deleteFurther, myFurtherLanes.end());
5703 551 : myFurtherLanesPosLat.erase(myFurtherLanesPosLat.end() - deleteFurther, myFurtherLanesPosLat.end());
5704 : }
5705 : #ifdef DEBUG_SETFURTHER
5706 : if (DEBUG_COND) {
5707 : std::cout << SIMTIME << " enterLaneAtLaneChange new furtherLanes=" << toString(myFurtherLanes)
5708 : << " furterLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
5709 : }
5710 : #endif
5711 1091712 : myAngle = computeAngle();
5712 1091712 : }
5713 :
5714 :
5715 : void
5716 3540294 : MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision) {
5717 : // build the list of lanes the vehicle is lapping into
5718 3540294 : if (!myLaneChangeModel->isOpposite()) {
5719 3518009 : double leftLength = myType->getLength() - pos;
5720 3518009 : MSLane* clane = enteredLane;
5721 3518009 : int routeIndex = getRoutePosition();
5722 3622271 : while (leftLength > 0) {
5723 236416 : if (routeIndex > 0 && clane->getEdge().isNormal()) {
5724 : // get predecessor lane that corresponds to prior route
5725 4567 : routeIndex--;
5726 4567 : const MSEdge* fromRouteEdge = myRoute->getEdges()[routeIndex];
5727 : MSLane* target = clane;
5728 4567 : clane = nullptr;
5729 6093 : for (auto ili : target->getIncomingLanes()) {
5730 6086 : if (ili.lane->getEdge().getNormalBefore() == fromRouteEdge) {
5731 4560 : clane = ili.lane;
5732 4560 : break;
5733 : }
5734 : }
5735 : } else {
5736 231849 : clane = clane->getLogicalPredecessorLane();
5737 : }
5738 144601 : if (clane == nullptr || clane == myLane || clane == myLane->getBidiLane()
5739 381009 : || (clane->isInternal() && (
5740 121394 : clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN
5741 81063 : || clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN_LEFTHAND))) {
5742 : break;
5743 : }
5744 104262 : if (!collision || std::find(myFurtherLanes.begin(), myFurtherLanes.end(), clane) == myFurtherLanes.end()) {
5745 103809 : myFurtherLanes.push_back(clane);
5746 103809 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5747 103809 : clane->setPartialOccupation(this);
5748 103809 : if (clane->getBidiLane() != nullptr
5749 103809 : && (!isRailway(getVClass()) || (clane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5750 5 : clane->getBidiLane()->setPartialOccupation(this);
5751 : }
5752 : }
5753 104262 : leftLength -= clane->getLength();
5754 : }
5755 3518009 : myState.myBackPos = -leftLength;
5756 : #ifdef DEBUG_SETFURTHER
5757 : if (DEBUG_COND) {
5758 : std::cout << SIMTIME << " computeFurtherLanes veh=" << getID() << " pos=" << pos << " myFurtherLanes=" << toString(myFurtherLanes) << " backPos=" << myState.myBackPos << "\n";
5759 : }
5760 : #endif
5761 : } else {
5762 : // clear partial occupation
5763 22659 : for (MSLane* further : myFurtherLanes) {
5764 : #ifdef DEBUG_SETFURTHER
5765 : if (DEBUG_COND) {
5766 : std::cout << SIMTIME << " opposite: resetPartialOccupation " << further->getID() << " \n";
5767 : }
5768 : #endif
5769 374 : further->resetPartialOccupation(this);
5770 374 : if (further->getBidiLane() != nullptr
5771 374 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5772 0 : further->getBidiLane()->resetPartialOccupation(this);
5773 : }
5774 : }
5775 : myFurtherLanes.clear();
5776 : myFurtherLanesPosLat.clear();
5777 : }
5778 3540294 : }
5779 :
5780 :
5781 : void
5782 3539838 : MSVehicle::enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification) {
5783 3539838 : myState = State(pos, speed, posLat, pos - getVehicleType().getLength(), hasDeparted() ? myState.myPreviousSpeed : speed);
5784 3539838 : if (myDeparture == NOT_YET_DEPARTED) {
5785 3465446 : onDepart();
5786 : }
5787 3539838 : myCachedPosition = Position::INVALID;
5788 : assert(myState.myPos >= 0);
5789 : assert(myState.mySpeed >= 0);
5790 3539838 : myLane = enteredLane;
5791 3539838 : myAmOnNet = true;
5792 : // schedule action for the next timestep
5793 3539838 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + DELTA_T;
5794 3539838 : if (notification != MSMoveReminder::NOTIFICATION_TELEPORT) {
5795 3528008 : if (notification == MSMoveReminder::NOTIFICATION_PARKING && myInfluencer != nullptr) {
5796 12 : drawOutsideNetwork(false);
5797 : }
5798 : // set and activate the new lane's reminders, teleports already did that at enterLaneAtMove
5799 7492199 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5800 3964191 : addReminder(*rem);
5801 : }
5802 3528008 : activateReminders(notification, enteredLane);
5803 : } else {
5804 11830 : myLastBestLanesEdge = nullptr;
5805 11830 : myLastBestLanesInternalLane = nullptr;
5806 11830 : myLaneChangeModel->resetState();
5807 12987 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()
5808 12524 : && myStops.front().pars.endPos < pos) {
5809 0 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5810 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5811 0 : cleanupParkingReservation();
5812 0 : myStops.pop_front();
5813 : }
5814 : // avoid startup-effects after teleport
5815 11830 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
5816 11830 : myStopSpeed = std::numeric_limits<double>::max();
5817 : }
5818 3539838 : computeFurtherLanes(enteredLane, pos);
5819 3539838 : if (MSGlobals::gLateralResolution > 0) {
5820 520886 : myLaneChangeModel->updateShadowLane();
5821 520886 : myLaneChangeModel->updateTargetLane();
5822 3018952 : } else if (MSGlobals::gLaneChangeDuration > 0) {
5823 40414 : myLaneChangeModel->updateShadowLane();
5824 : }
5825 3539838 : if (notification != MSMoveReminder::NOTIFICATION_LOAD_STATE) {
5826 3538379 : myAngle = computeAngle();
5827 3538379 : myRawAngle = myAngle;
5828 3538379 : if (myLaneChangeModel->isOpposite()) {
5829 22285 : myAngle += M_PI;
5830 : }
5831 : }
5832 3539838 : if (MSNet::getInstance()->hasPersons()) {
5833 58425 : for (MSLane* further : myFurtherLanes) {
5834 876 : if (further->mustCheckJunctionCollisions()) {
5835 4 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(further);
5836 : }
5837 : }
5838 : }
5839 3539838 : }
5840 :
5841 :
5842 : void
5843 24021940 : MSVehicle::leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane) {
5844 66427012 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5845 42405072 : if (rem->first->notifyLeave(*this, myState.myPos + rem->second, reason, approachedLane)) {
5846 : #ifdef _DEBUG
5847 : if (myTraceMoveReminders) {
5848 : traceMoveReminder("notifyLeave", rem->first, rem->second, true);
5849 : }
5850 : #endif
5851 : ++rem;
5852 : } else {
5853 : #ifdef _DEBUG
5854 : if (myTraceMoveReminders) {
5855 : traceMoveReminder("notifyLeave", rem->first, rem->second, false);
5856 : }
5857 : #endif
5858 : rem = myMoveReminders.erase(rem);
5859 : }
5860 : }
5861 24021940 : if ((reason == MSMoveReminder::NOTIFICATION_JUNCTION
5862 24021940 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT
5863 4515491 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT_CONTINUATION)
5864 19512636 : && myLane != nullptr) {
5865 19512607 : myOdometer += getLane()->getLength();
5866 : }
5867 24021911 : if (myLane != nullptr && myLane->getBidiLane() != nullptr && myAmOnNet
5868 24094782 : && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5869 48325 : myLane->getBidiLane()->resetPartialOccupation(this);
5870 : }
5871 24021940 : if (reason != MSMoveReminder::NOTIFICATION_JUNCTION && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5872 : // @note. In case of lane change, myFurtherLanes and partial occupation
5873 : // are handled in enterLaneAtLaneChange()
5874 3424874 : for (MSLane* further : myFurtherLanes) {
5875 : #ifdef DEBUG_FURTHER
5876 : if (DEBUG_COND) {
5877 : std::cout << SIMTIME << " leaveLane \n";
5878 : }
5879 : #endif
5880 32964 : further->resetPartialOccupation(this);
5881 32964 : if (further->getBidiLane() != nullptr
5882 32964 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5883 4 : further->getBidiLane()->resetPartialOccupation(this);
5884 : }
5885 : }
5886 : myFurtherLanes.clear();
5887 : myFurtherLanesPosLat.clear();
5888 : }
5889 3391910 : if (reason >= MSMoveReminder::NOTIFICATION_TELEPORT) {
5890 3391910 : myAmOnNet = false;
5891 3391910 : myWaitingTime = 0;
5892 : }
5893 24021940 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && resumeFromStopping()) {
5894 18 : myStopDist = std::numeric_limits<double>::max();
5895 18 : if (myPastStops.back().speed <= 0) {
5896 54 : WRITE_WARNINGF(TL("Vehicle '%' aborts stop."), getID());
5897 : }
5898 : }
5899 24021940 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5900 22870917 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()) {
5901 1445 : if (myStops.front().getSpeed() <= 0) {
5902 3333 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5903 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5904 1111 : cleanupParkingReservation();
5905 1111 : if (MSStopOut::active()) {
5906 : // clean up if stopBlocked was called
5907 17 : MSStopOut::getInstance()->stopNotStarted(this);
5908 : }
5909 1111 : myStops.pop_front();
5910 : } else {
5911 : MSStop& stop = myStops.front();
5912 : // passed waypoint at the end of the lane
5913 334 : if (!stop.reached) {
5914 334 : if (MSStopOut::active()) {
5915 21 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), MSNet::getInstance()->getCurrentTimeStep());
5916 : }
5917 334 : stop.reached = true;
5918 : // enter stopping place so leaveFrom works as expected
5919 334 : if (stop.busstop != nullptr) {
5920 : // let the bus stop know the vehicle
5921 25 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5922 : }
5923 334 : if (stop.containerstop != nullptr) {
5924 : // let the container stop know the vehicle
5925 13 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5926 : }
5927 : // do not enter parkingarea!
5928 334 : if (stop.chargingStation != nullptr) {
5929 : // let the container stop know the vehicle
5930 122 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5931 : }
5932 : }
5933 334 : resumeFromStopping();
5934 : }
5935 1445 : myStopDist = std::numeric_limits<double>::max();
5936 : }
5937 : }
5938 24021940 : }
5939 :
5940 :
5941 : void
5942 45579 : MSVehicle::leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane* leftLane) {
5943 185914 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5944 140335 : if (rem->first->notifyLeaveBack(*this, reason, leftLane)) {
5945 : #ifdef _DEBUG
5946 : if (myTraceMoveReminders) {
5947 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, true);
5948 : }
5949 : #endif
5950 : ++rem;
5951 : } else {
5952 : #ifdef _DEBUG
5953 : if (myTraceMoveReminders) {
5954 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, false);
5955 : }
5956 : #endif
5957 : rem = myMoveReminders.erase(rem);
5958 : }
5959 : }
5960 : #ifdef DEBUG_MOVEREMINDERS
5961 : if (DEBUG_COND) {
5962 : std::cout << SIMTIME << " veh=" << getID() << " myReminders:";
5963 : for (auto rem : myMoveReminders) {
5964 : std::cout << rem.first->getDescription() << " ";
5965 : }
5966 : std::cout << "\n";
5967 : }
5968 : #endif
5969 45579 : }
5970 :
5971 :
5972 : MSAbstractLaneChangeModel&
5973 10433073385 : MSVehicle::getLaneChangeModel() {
5974 10433073385 : return *myLaneChangeModel;
5975 : }
5976 :
5977 :
5978 : const MSAbstractLaneChangeModel&
5979 4939707440 : MSVehicle::getLaneChangeModel() const {
5980 4939707440 : return *myLaneChangeModel;
5981 : }
5982 :
5983 : bool
5984 517896 : MSVehicle::isOppositeLane(const MSLane* lane) const {
5985 517896 : return (lane->isInternal()
5986 517896 : ? & (lane->getLinkCont()[0]->getLane()->getEdge()) != *(myCurrEdge + 1)
5987 516150 : : &lane->getEdge() != *myCurrEdge);
5988 : }
5989 :
5990 : const std::vector<MSVehicle::LaneQ>&
5991 1346060140 : MSVehicle::getBestLanes() const {
5992 1346060140 : return *myBestLanes.begin();
5993 : }
5994 :
5995 :
5996 : void
5997 1875689277 : MSVehicle::updateBestLanes(bool forceRebuild, const MSLane* startLane) {
5998 : #ifdef DEBUG_BESTLANES
5999 : if (DEBUG_COND) {
6000 : std::cout << SIMTIME << " updateBestLanes veh=" << getID() << " force=" << forceRebuild << " startLane1=" << Named::getIDSecure(startLane) << " myLane=" << Named::getIDSecure(myLane) << "\n";
6001 : }
6002 : #endif
6003 1875689277 : if (startLane == nullptr) {
6004 992644786 : startLane = myLane;
6005 : }
6006 : assert(startLane != 0);
6007 1875689277 : if (myLaneChangeModel->isOpposite()) {
6008 : // depending on the calling context, startLane might be the forward lane
6009 : // or the reverse-direction lane. In the latter case we need to
6010 : // transform it to the forward lane.
6011 517896 : if (isOppositeLane(startLane)) {
6012 : // use leftmost lane of forward edge
6013 111097 : startLane = startLane->getEdge().getOppositeEdge()->getLanes().back();
6014 : assert(startLane != 0);
6015 : #ifdef DEBUG_BESTLANES
6016 : if (DEBUG_COND) {
6017 : std::cout << " startLaneIsOpposite newStartLane=" << startLane->getID() << "\n";
6018 : }
6019 : #endif
6020 : }
6021 : }
6022 1875689277 : if (forceRebuild) {
6023 1738173 : myLastBestLanesEdge = nullptr;
6024 1738173 : myLastBestLanesInternalLane = nullptr;
6025 : }
6026 1875689277 : if (myBestLanes.size() > 0 && !forceRebuild && myLastBestLanesEdge == &startLane->getEdge()) {
6027 1844805965 : updateOccupancyAndCurrentBestLane(startLane);
6028 : #ifdef DEBUG_BESTLANES
6029 : if (DEBUG_COND) {
6030 : std::cout << " only updateOccupancyAndCurrentBestLane\n";
6031 : }
6032 : #endif
6033 1844805965 : return;
6034 : }
6035 30883312 : if (startLane->getEdge().isInternal()) {
6036 14787283 : if (myBestLanes.size() == 0 || forceRebuild) {
6037 : // rebuilt from previous non-internal lane (may backtrack twice if behind an internal junction)
6038 2217 : updateBestLanes(true, startLane->getLogicalPredecessorLane());
6039 : }
6040 14787283 : if (myLastBestLanesInternalLane == startLane && !forceRebuild) {
6041 : #ifdef DEBUG_BESTLANES
6042 : if (DEBUG_COND) {
6043 : std::cout << " nothing to do on internal\n";
6044 : }
6045 : #endif
6046 : return;
6047 : }
6048 : // adapt best lanes to fit the current internal edge:
6049 : // keep the entries that are reachable from this edge
6050 5267641 : const MSEdge* nextEdge = startLane->getNextNormal();
6051 : assert(!nextEdge->isInternal());
6052 10384038 : for (std::vector<std::vector<LaneQ> >::iterator it = myBestLanes.begin(); it != myBestLanes.end();) {
6053 : std::vector<LaneQ>& lanes = *it;
6054 : assert(lanes.size() > 0);
6055 10384038 : if (&(lanes[0].lane->getEdge()) == nextEdge) {
6056 : // keep those lanes which are successors of internal lanes from the edge of startLane
6057 5267641 : std::vector<LaneQ> oldLanes = lanes;
6058 : lanes.clear();
6059 : const std::vector<MSLane*>& sourceLanes = startLane->getEdge().getLanes();
6060 11921085 : for (std::vector<MSLane*>::const_iterator it_source = sourceLanes.begin(); it_source != sourceLanes.end(); ++it_source) {
6061 11225615 : for (std::vector<LaneQ>::iterator it_lane = oldLanes.begin(); it_lane != oldLanes.end(); ++it_lane) {
6062 11225615 : if ((*it_source)->getLinkCont()[0]->getLane() == (*it_lane).lane) {
6063 6653444 : lanes.push_back(*it_lane);
6064 : break;
6065 : }
6066 : }
6067 : }
6068 : assert(lanes.size() == startLane->getEdge().getLanes().size());
6069 : // patch invalid bestLaneOffset and updated myCurrentLaneInBestLanes
6070 11921085 : for (int i = 0; i < (int)lanes.size(); ++i) {
6071 6653444 : if (i + lanes[i].bestLaneOffset < 0) {
6072 105555 : lanes[i].bestLaneOffset = -i;
6073 : }
6074 6653444 : if (i + lanes[i].bestLaneOffset >= (int)lanes.size()) {
6075 26844 : lanes[i].bestLaneOffset = (int)lanes.size() - i - 1;
6076 : }
6077 : assert(i + lanes[i].bestLaneOffset >= 0);
6078 : assert(i + lanes[i].bestLaneOffset < (int)lanes.size());
6079 6653444 : if (lanes[i].bestContinuations[0] != 0) {
6080 : // patch length of bestContinuation to match expectations (only once)
6081 6459839 : lanes[i].bestContinuations.insert(lanes[i].bestContinuations.begin(), (MSLane*)nullptr);
6082 : }
6083 6653444 : if (startLane->getLinkCont()[0]->getLane() == lanes[i].lane) {
6084 5311590 : myCurrentLaneInBestLanes = lanes.begin() + i;
6085 : }
6086 : assert(&(lanes[i].lane->getEdge()) == nextEdge);
6087 : }
6088 5267641 : myLastBestLanesInternalLane = startLane;
6089 5267641 : updateOccupancyAndCurrentBestLane(startLane);
6090 : #ifdef DEBUG_BESTLANES
6091 : if (DEBUG_COND) {
6092 : std::cout << " updated for internal\n";
6093 : }
6094 : #endif
6095 : return;
6096 5267641 : } else {
6097 : // remove passed edges
6098 5116397 : it = myBestLanes.erase(it);
6099 : }
6100 : }
6101 : assert(false); // should always find the next edge
6102 : }
6103 : // start rebuilding
6104 16096029 : myLastBestLanesInternalLane = nullptr;
6105 16096029 : myLastBestLanesEdge = &startLane->getEdge();
6106 : myBestLanes.clear();
6107 :
6108 : // get information about the next stop
6109 16096029 : MSRouteIterator nextStopEdge = myRoute->end();
6110 : const MSLane* nextStopLane = nullptr;
6111 : double nextStopPos = 0;
6112 16096029 : if (!myStops.empty()) {
6113 : const MSStop& nextStop = myStops.front();
6114 261713 : nextStopLane = nextStop.lane;
6115 261713 : if (nextStop.isOpposite) {
6116 : // target leftmost lane in forward direction
6117 340 : nextStopLane = nextStopLane->getEdge().getOppositeEdge()->getLanes().back();
6118 : }
6119 261713 : nextStopEdge = nextStop.edge;
6120 261713 : nextStopPos = nextStop.pars.startPos;
6121 : }
6122 : // myArrivalTime = -1 in the context of validating departSpeed with departLane=best
6123 16096029 : if (myParameter->arrivalLaneProcedure >= ArrivalLaneDefinition::GIVEN && nextStopEdge == myRoute->end() && myArrivalLane >= 0) {
6124 318440 : nextStopEdge = (myRoute->end() - 1);
6125 318440 : nextStopLane = (*nextStopEdge)->getLanes()[myArrivalLane];
6126 318440 : nextStopPos = myArrivalPos;
6127 : }
6128 16096029 : if (nextStopEdge != myRoute->end()) {
6129 : // make sure that the "wrong" lanes get a penalty. (penalty needs to be
6130 : // large enough to overcome a magic threshold in MSLaneChangeModel::DK2004.cpp:383)
6131 580153 : nextStopPos = MAX2(POSITION_EPS, MIN2((double)nextStopPos, (double)(nextStopLane->getLength() - 2 * POSITION_EPS)));
6132 580153 : if (nextStopLane->isInternal()) {
6133 : // switch to the correct lane before entering the intersection
6134 171 : nextStopPos = (*nextStopEdge)->getLength();
6135 : }
6136 : }
6137 :
6138 : // go forward along the next lanes; always look past stops to ensure that we
6139 : // know where to go once the stop ends
6140 : // trains do not have to deal with lane-changing for stops but their best
6141 : // lanes lookahead is needed for rail signal control
6142 : int seen = 0;
6143 : double seenLength = 0;
6144 : bool progress = true;
6145 : // bestLanes must cover the braking distance even when at the very end of the current lane to avoid unecessary slow down
6146 32192058 : const double maxBrakeDist = startLane->getLength() + getCarFollowModel().getHeadwayTime() * getMaxSpeed() + getCarFollowModel().brakeGap(getMaxSpeed()) + getVehicleType().getMinGap();
6147 16096029 : const double lookahead = getLaneChangeModel().getStrategicLookahead();
6148 81383515 : for (MSRouteIterator ce = myCurrEdge; progress;) {
6149 : std::vector<LaneQ> currentLanes;
6150 : const std::vector<MSLane*>* allowed = nullptr;
6151 : const MSEdge* nextEdge = nullptr;
6152 65287486 : if (ce != myRoute->end() && ce + 1 != myRoute->end()) {
6153 53315658 : nextEdge = *(ce + 1);
6154 53315658 : allowed = (*ce)->allowedLanes(*nextEdge, myType->getVehicleClass());
6155 : }
6156 65287486 : const std::vector<MSLane*>& lanes = (*ce)->getLanes();
6157 165001854 : for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
6158 : LaneQ q;
6159 99714368 : MSLane* cl = *i;
6160 99714368 : q.lane = cl;
6161 99714368 : q.bestContinuations.push_back(cl);
6162 99714368 : q.bestLaneOffset = 0;
6163 99714368 : q.length = cl->allowsVehicleClass(myType->getVehicleClass()) ? (*ce)->getLength() : 0;
6164 99714368 : q.currentLength = q.length;
6165 : // if all lanes are forbidden (i.e. due to a dynamic closing) we want to express no preference
6166 99714368 : q.allowsContinuation = allowed == nullptr || std::find(allowed->begin(), allowed->end(), cl) != allowed->end();
6167 99714368 : q.occupation = 0;
6168 99714368 : q.nextOccupation = 0;
6169 99714368 : currentLanes.push_back(q);
6170 : }
6171 : //
6172 : if (nextStopEdge == ce
6173 : // already past the stop edge
6174 65287486 : && !(ce == myCurrEdge && myLane != nullptr && myLane->isInternal())) {
6175 573044 : const MSLane* normalStopLane = nextStopLane->getNormalPredecessorLane();
6176 1818016 : for (std::vector<LaneQ>::iterator q = currentLanes.begin(); q != currentLanes.end(); ++q) {
6177 1244972 : if (nextStopLane != nullptr && normalStopLane != (*q).lane) {
6178 671928 : (*q).allowsContinuation = false;
6179 671928 : (*q).length = nextStopPos;
6180 671928 : (*q).currentLength = (*q).length;
6181 : }
6182 : }
6183 : }
6184 :
6185 65287486 : myBestLanes.push_back(currentLanes);
6186 65287486 : ++seen;
6187 65287486 : seenLength += currentLanes[0].lane->getLength();
6188 : ++ce;
6189 65287486 : if (lookahead >= 0) {
6190 45 : progress &= (seen <= 2 || seenLength < lookahead); // custom (but we need to look at least one edge ahead)
6191 : } else {
6192 86791035 : progress &= (seen <= 4 || seenLength < MAX2(maxBrakeDist, 3000.0)); // motorway
6193 70153957 : progress &= (seen <= 8 || seenLength < MAX2(maxBrakeDist, 200.0) || isRailway(getVClass())); // urban
6194 : }
6195 65287486 : progress &= ce != myRoute->end();
6196 : /*
6197 : if(progress) {
6198 : progress &= (currentLanes.size()!=1||(*ce)->getLanes().size()!=1);
6199 : }
6200 : */
6201 65287486 : }
6202 :
6203 : // we are examining the last lane explicitly
6204 16096029 : if (myBestLanes.size() != 0) {
6205 : double bestLength = -1;
6206 : // minimum and maximum lane index with best length
6207 : int bestThisIndex = 0;
6208 : int bestThisMaxIndex = 0;
6209 : int index = 0;
6210 : std::vector<LaneQ>& last = myBestLanes.back();
6211 41861026 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6212 25764997 : if ((*j).length > bestLength) {
6213 : bestLength = (*j).length;
6214 : bestThisIndex = index;
6215 : bestThisMaxIndex = index;
6216 6118873 : } else if ((*j).length == bestLength) {
6217 : bestThisMaxIndex = index;
6218 : }
6219 : }
6220 : index = 0;
6221 : bool requiredChangeRightForbidden = false;
6222 : int requireChangeToLeftForbidden = -1;
6223 41861026 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6224 25764997 : if ((*j).length < bestLength) {
6225 3938900 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6226 145462 : (*j).bestLaneOffset = bestThisIndex - index;
6227 : } else {
6228 3793438 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6229 : }
6230 3938900 : if (!(*j).allowsContinuation) {
6231 543325 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6232 240244 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6233 237589 : || requiredChangeRightForbidden)) {
6234 : // this lane and all further lanes to the left cannot be used
6235 : requiredChangeRightForbidden = true;
6236 2655 : (*j).length = 0;
6237 540670 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6238 303055 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6239 : // this lane and all previous lanes to the right cannot be used
6240 6426 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6241 : }
6242 : }
6243 : }
6244 : }
6245 16102465 : for (int i = requireChangeToLeftForbidden; i >= 0; i--) {
6246 6436 : if (last[i].bestLaneOffset > 0) {
6247 6436 : last[i].length = 0;
6248 : }
6249 : }
6250 : #ifdef DEBUG_BESTLANES
6251 : if (DEBUG_COND) {
6252 : std::cout << " last edge=" << last.front().lane->getEdge().getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6253 : std::vector<LaneQ>& laneQs = myBestLanes.back();
6254 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6255 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << "\n";
6256 : }
6257 : }
6258 : #endif
6259 : }
6260 : // go backward through the lanes
6261 : // track back best lane and compute the best prior lane(s)
6262 65287486 : for (std::vector<std::vector<LaneQ> >::reverse_iterator i = myBestLanes.rbegin() + 1; i != myBestLanes.rend(); ++i) {
6263 : std::vector<LaneQ>& nextLanes = (*(i - 1));
6264 : std::vector<LaneQ>& clanes = (*i);
6265 49191457 : MSEdge* const cE = &clanes[0].lane->getEdge();
6266 : int index = 0;
6267 : double bestConnectedLength = -1;
6268 : double bestLength = -1;
6269 122452088 : for (const LaneQ& j : nextLanes) {
6270 146521262 : if (j.lane->isApproachedFrom(cE) && bestConnectedLength < j.length) {
6271 : bestConnectedLength = j.length;
6272 : }
6273 73260631 : if (bestLength < j.length) {
6274 : bestLength = j.length;
6275 : }
6276 : }
6277 : // compute index of the best lane (highest length and least offset from the best next lane)
6278 : int bestThisIndex = 0;
6279 : int bestThisMaxIndex = 0;
6280 49191457 : if (bestConnectedLength > 0) {
6281 : index = 0;
6282 123105293 : for (LaneQ& j : clanes) {
6283 : const LaneQ* bestConnectedNext = nullptr;
6284 73926427 : if (j.allowsContinuation) {
6285 175699173 : for (const LaneQ& m : nextLanes) {
6286 121131734 : if ((m.lane->allowsVehicleClass(getVClass()) || m.lane->hadPermissionChanges())
6287 111736633 : && m.lane->isApproachedFrom(j.lane, getVClass())) {
6288 66135789 : if (betterContinuation(bestConnectedNext, m)) {
6289 : bestConnectedNext = &m;
6290 : }
6291 : }
6292 : }
6293 64019832 : if (bestConnectedNext != nullptr) {
6294 64019824 : if (bestConnectedNext->length == bestConnectedLength && abs(bestConnectedNext->bestLaneOffset) < 2) {
6295 62288057 : j.length += bestLength;
6296 : } else {
6297 1731767 : j.length += bestConnectedNext->length;
6298 : }
6299 64019824 : j.bestLaneOffset = bestConnectedNext->bestLaneOffset;
6300 : }
6301 : }
6302 64019824 : if (bestConnectedNext != nullptr && (bestConnectedNext->allowsContinuation || bestConnectedNext->length > 0)) {
6303 63981825 : copy(bestConnectedNext->bestContinuations.begin(), bestConnectedNext->bestContinuations.end(), back_inserter(j.bestContinuations));
6304 : } else {
6305 9944602 : j.allowsContinuation = false;
6306 : }
6307 73926427 : if (clanes[bestThisIndex].length < j.length
6308 66828253 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) > abs(j.bestLaneOffset))
6309 203280264 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset) &&
6310 62663007 : nextLinkPriority(clanes[bestThisIndex].bestContinuations) < nextLinkPriority(j.bestContinuations))
6311 : ) {
6312 : bestThisIndex = index;
6313 : bestThisMaxIndex = index;
6314 66678961 : } else if (clanes[bestThisIndex].length == j.length
6315 62651270 : && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset)
6316 129330099 : && nextLinkPriority(clanes[bestThisIndex].bestContinuations) == nextLinkPriority(j.bestContinuations)) {
6317 : bestThisMaxIndex = index;
6318 : }
6319 73926427 : index++;
6320 : }
6321 :
6322 : //vehicle with elecHybrid device prefers running under an overhead wire
6323 49178866 : if (getDevice(typeid(MSDevice_ElecHybrid)) != nullptr) {
6324 : index = 0;
6325 491 : for (const LaneQ& j : clanes) {
6326 339 : std::string overheadWireSegmentID = MSNet::getInstance()->getStoppingPlaceID(j.lane, j.currentLength / 2., SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6327 339 : if (overheadWireSegmentID != "") {
6328 : bestThisIndex = index;
6329 : bestThisMaxIndex = index;
6330 : }
6331 339 : index++;
6332 : }
6333 : }
6334 :
6335 : } else {
6336 : // only needed in case of disconnected routes
6337 : int bestNextIndex = 0;
6338 12591 : int bestDistToNeeded = (int) clanes.size();
6339 : index = 0;
6340 35535 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6341 22944 : if ((*j).allowsContinuation) {
6342 : int nextIndex = 0;
6343 56729 : for (std::vector<LaneQ>::const_iterator m = nextLanes.begin(); m != nextLanes.end(); ++m, ++nextIndex) {
6344 34534 : if ((*m).lane->isApproachedFrom((*j).lane, getVClass())) {
6345 5023 : if (bestDistToNeeded > abs((*m).bestLaneOffset)) {
6346 : bestDistToNeeded = abs((*m).bestLaneOffset);
6347 : bestThisIndex = index;
6348 : bestThisMaxIndex = index;
6349 : bestNextIndex = nextIndex;
6350 : }
6351 : }
6352 : }
6353 : }
6354 : }
6355 12591 : clanes[bestThisIndex].length += nextLanes[bestNextIndex].length;
6356 12591 : copy(nextLanes[bestNextIndex].bestContinuations.begin(), nextLanes[bestNextIndex].bestContinuations.end(), back_inserter(clanes[bestThisIndex].bestContinuations));
6357 :
6358 : }
6359 : // set bestLaneOffset for all lanes
6360 : index = 0;
6361 : bool requiredChangeRightForbidden = false;
6362 : int requireChangeToLeftForbidden = -1;
6363 123140828 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6364 73949371 : if ((*j).length < clanes[bestThisIndex].length
6365 62328556 : || ((*j).length == clanes[bestThisIndex].length && abs((*j).bestLaneOffset) > abs(clanes[bestThisIndex].bestLaneOffset))
6366 136277695 : || (nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)
6367 : ) {
6368 11797758 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6369 750865 : (*j).bestLaneOffset = bestThisIndex - index;
6370 : } else {
6371 11046893 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6372 : }
6373 11797758 : if ((nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)) {
6374 : // try to move away from the lower-priority lane before it ends
6375 10112039 : (*j).length = (*j).currentLength;
6376 : }
6377 11797758 : if (!(*j).allowsContinuation) {
6378 9930646 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6379 2540779 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6380 2526582 : || requiredChangeRightForbidden)) {
6381 : // this lane and all further lanes to the left cannot be used
6382 : requiredChangeRightForbidden = true;
6383 28511 : if ((*j).length == (*j).currentLength) {
6384 28511 : (*j).length = 0;
6385 : }
6386 9902135 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6387 7332515 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6388 : // this lane and all previous lanes to the right cannot be used
6389 114116 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6390 : }
6391 : }
6392 : } else {
6393 62151613 : (*j).bestLaneOffset = 0;
6394 : }
6395 : }
6396 49323816 : for (int idx = requireChangeToLeftForbidden; idx >= 0; idx--) {
6397 132359 : if (clanes[idx].length == clanes[idx].currentLength) {
6398 132359 : clanes[idx].length = 0;
6399 : };
6400 : }
6401 :
6402 : //vehicle with elecHybrid device prefers running under an overhead wire
6403 49191457 : if (static_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid))) != 0) {
6404 : index = 0;
6405 152 : std::string overheadWireID = MSNet::getInstance()->getStoppingPlaceID(clanes[bestThisIndex].lane, (clanes[bestThisIndex].currentLength) / 2, SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6406 152 : if (overheadWireID != "") {
6407 373 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6408 261 : (*j).bestLaneOffset = bestThisIndex - index;
6409 : }
6410 : }
6411 : }
6412 :
6413 : #ifdef DEBUG_BESTLANES
6414 : if (DEBUG_COND) {
6415 : std::cout << " edge=" << cE->getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6416 : std::vector<LaneQ>& laneQs = clanes;
6417 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6418 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << " allowCont=" << (*j).allowsContinuation << "\n";
6419 : }
6420 : }
6421 : #endif
6422 :
6423 : }
6424 16096029 : if (myBestLanes.front().front().lane->isInternal()) {
6425 : // route starts on an internal lane
6426 28 : if (myLane != nullptr) {
6427 : startLane = myLane;
6428 : } else {
6429 : // vehicle not yet departed
6430 12 : startLane = myBestLanes.front().front().lane;
6431 : }
6432 : }
6433 16096029 : updateOccupancyAndCurrentBestLane(startLane);
6434 : #ifdef DEBUG_BESTLANES
6435 : if (DEBUG_COND) {
6436 : std::cout << SIMTIME << " veh=" << getID() << " bestCont=" << toString(getBestLanesContinuation()) << "\n";
6437 : }
6438 : #endif
6439 : }
6440 :
6441 : void
6442 236 : MSVehicle::updateLaneBruttoSum() {
6443 236 : if (myLane != nullptr) {
6444 236 : myLane->markRecalculateBruttoSum();
6445 : }
6446 236 : }
6447 :
6448 : bool
6449 66135789 : MSVehicle::betterContinuation(const LaneQ* bestConnectedNext, const LaneQ& m) const {
6450 66135789 : if (bestConnectedNext == nullptr) {
6451 : return true;
6452 2115965 : } else if (m.lane->getBidiLane() != nullptr && bestConnectedNext->lane->getBidiLane() == nullptr) {
6453 : return false;
6454 2115173 : } else if (bestConnectedNext->lane->getBidiLane() != nullptr && m.lane->getBidiLane() == nullptr) {
6455 : return true;
6456 2115173 : } else if (bestConnectedNext->length < m.length) {
6457 : return true;
6458 1752602 : } else if (bestConnectedNext->length == m.length) {
6459 1227457 : if (abs(bestConnectedNext->bestLaneOffset) > abs(m.bestLaneOffset)) {
6460 : return true;
6461 : }
6462 1061259 : const double contRight = getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_CONTRIGHT, 1);
6463 : if (contRight < 1
6464 : // if we don't check for adjacency, the rightmost line will get
6465 : // multiple chances to be better which leads to an uninituitve distribution
6466 1008 : && (m.lane->getIndex() - bestConnectedNext->lane->getIndex()) == 1
6467 1062040 : && RandHelper::rand(getRNG()) > contRight) {
6468 : return true;
6469 : }
6470 : }
6471 : return false;
6472 : }
6473 :
6474 :
6475 : int
6476 398880454 : MSVehicle::nextLinkPriority(const std::vector<MSLane*>& conts) {
6477 398880454 : if (conts.size() < 2) {
6478 : return -1;
6479 : } else {
6480 363244855 : const MSLink* const link = conts[0]->getLinkTo(conts[1]);
6481 363244855 : if (link != nullptr) {
6482 363223190 : return link->havePriority() ? 1 : 0;
6483 : } else {
6484 : // disconnected route
6485 : return -1;
6486 : }
6487 : }
6488 : }
6489 :
6490 :
6491 : void
6492 1866169635 : MSVehicle::updateOccupancyAndCurrentBestLane(const MSLane* startLane) {
6493 : std::vector<LaneQ>& currLanes = *myBestLanes.begin();
6494 : std::vector<LaneQ>::iterator i;
6495 : #ifdef _DEBUG
6496 : bool found = false;
6497 : #endif
6498 5337432920 : for (i = currLanes.begin(); i != currLanes.end(); ++i) {
6499 : double nextOccupation = 0;
6500 7643292237 : for (std::vector<MSLane*>::const_iterator j = (*i).bestContinuations.begin() + 1; j != (*i).bestContinuations.end(); ++j) {
6501 4172028952 : nextOccupation += (*j)->getBruttoVehLenSum();
6502 : }
6503 3471263285 : (*i).nextOccupation = nextOccupation;
6504 : #ifdef DEBUG_BESTLANES
6505 : if (DEBUG_COND) {
6506 : std::cout << " lane=" << (*i).lane->getID() << " nextOccupation=" << nextOccupation << "\n";
6507 : }
6508 : #endif
6509 3471263285 : if ((*i).lane == startLane) {
6510 1860901994 : myCurrentLaneInBestLanes = i;
6511 : #ifdef _DEBUG
6512 : found = true;
6513 : #endif
6514 : }
6515 : }
6516 : #ifdef _DEBUG
6517 : assert(found || startLane->isInternal());
6518 : #endif
6519 1866169635 : }
6520 :
6521 :
6522 : const std::vector<MSLane*>&
6523 2044938741 : MSVehicle::getBestLanesContinuation() const {
6524 2044938741 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6525 : return myEmptyLaneVector;
6526 : }
6527 2044938741 : return (*myCurrentLaneInBestLanes).bestContinuations;
6528 : }
6529 :
6530 :
6531 : const std::vector<MSLane*>&
6532 69418210 : MSVehicle::getBestLanesContinuation(const MSLane* const l) const {
6533 : const MSLane* lane = l;
6534 : // XXX: shouldn't this be a "while" to cover more than one internal lane? (Leo) Refs. #2575
6535 69418210 : if (lane->getEdge().isInternal()) {
6536 : // internal edges are not kept inside the bestLanes structure
6537 5085169 : lane = lane->getLinkCont()[0]->getLane();
6538 : }
6539 69418210 : if (myBestLanes.size() == 0) {
6540 : return myEmptyLaneVector;
6541 : }
6542 114590794 : for (std::vector<LaneQ>::const_iterator i = myBestLanes[0].begin(); i != myBestLanes[0].end(); ++i) {
6543 114578171 : if ((*i).lane == lane) {
6544 69405587 : return (*i).bestContinuations;
6545 : }
6546 : }
6547 : return myEmptyLaneVector;
6548 : }
6549 :
6550 : const std::vector<const MSLane*>
6551 286963 : MSVehicle::getUpcomingLanesUntil(double distance) const {
6552 : std::vector<const MSLane*> lanes;
6553 :
6554 286963 : if (distance <= 0. || hasArrived()) {
6555 : // WRITE_WARNINGF(TL("MSVehicle::getUpcomingLanesUntil(): distance ('%') should be greater than 0."), distance);
6556 : return lanes;
6557 : }
6558 :
6559 286759 : if (!myLaneChangeModel->isOpposite()) {
6560 283433 : distance += getPositionOnLane();
6561 : } else {
6562 3326 : distance += myLane->getOppositePos(getPositionOnLane());
6563 : }
6564 286759 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6565 294787 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6566 8028 : lanes.insert(lanes.end(), lane);
6567 8028 : distance -= lane->getLength();
6568 13504 : lane = lane->getLinkCont().front()->getViaLaneOrLane();
6569 : }
6570 :
6571 286759 : const std::vector<MSLane*>& contLanes = getBestLanesContinuation();
6572 286759 : if (contLanes.empty()) {
6573 : return lanes;
6574 : }
6575 : auto contLanesIt = contLanes.begin();
6576 286759 : MSRouteIterator routeIt = myCurrEdge; // keep track of covered edges in myRoute
6577 613931 : while (distance > 0.) {
6578 334947 : MSLane* l = nullptr;
6579 334947 : if (contLanesIt != contLanes.end()) {
6580 319097 : l = *contLanesIt;
6581 : if (l != nullptr) {
6582 : assert(l->getEdge().getID() == (*routeIt)->getLanes().front()->getEdge().getID());
6583 : }
6584 : ++contLanesIt;
6585 319097 : if (l != nullptr || myLane->isInternal()) {
6586 : ++routeIt;
6587 : }
6588 319097 : if (l == nullptr) {
6589 5472 : continue;
6590 : }
6591 15850 : } else if (routeIt != myRoute->end()) { // bestLanes didn't get us far enough
6592 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6593 8962 : l = (*routeIt)->getLanes().back();
6594 : ++routeIt;
6595 : } else { // the search distance goes beyond our route
6596 : break;
6597 : }
6598 :
6599 : assert(l != nullptr);
6600 :
6601 : // insert internal lanes if applicable
6602 322587 : const MSLane* internalLane = lanes.size() > 0 ? lanes.back()->getInternalFollowingLane(l) : nullptr;
6603 366673 : while ((internalLane != nullptr) && internalLane->isInternal() && (distance > 0.)) {
6604 44086 : lanes.insert(lanes.end(), internalLane);
6605 44086 : distance -= internalLane->getLength();
6606 70464 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6607 : }
6608 322587 : if (distance <= 0.) {
6609 : break;
6610 : }
6611 :
6612 321700 : lanes.insert(lanes.end(), l);
6613 321700 : distance -= l->getLength();
6614 : }
6615 :
6616 : return lanes;
6617 0 : }
6618 :
6619 : const std::vector<const MSLane*>
6620 6699 : MSVehicle::getPastLanesUntil(double distance) const {
6621 : std::vector<const MSLane*> lanes;
6622 :
6623 6699 : if (distance <= 0.) {
6624 : // WRITE_WARNINGF(TL("MSVehicle::getPastLanesUntil(): distance ('%') should be greater than 0."), distance);
6625 : return lanes;
6626 : }
6627 :
6628 6591 : MSRouteIterator routeIt = myCurrEdge;
6629 6591 : if (!myLaneChangeModel->isOpposite()) {
6630 6567 : distance += myLane->getLength() - getPositionOnLane();
6631 : } else {
6632 24 : distance += myLane->getParallelOpposite()->getLength() - myLane->getOppositePos(getPositionOnLane());
6633 : }
6634 6591 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6635 6612 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6636 21 : lanes.insert(lanes.end(), lane);
6637 21 : distance -= lane->getLength();
6638 21 : lane = lane->getLogicalPredecessorLane();
6639 : }
6640 :
6641 10151 : while (distance > 0.) {
6642 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6643 8809 : MSLane* l = (*routeIt)->getLanes().back();
6644 :
6645 : // insert internal lanes if applicable
6646 8809 : const MSEdge* internalEdge = lanes.size() > 0 ? (*routeIt)->getInternalFollowingEdge(&(lanes.back()->getEdge()), getVClass()) : nullptr;
6647 8830 : const MSLane* internalLane = internalEdge != nullptr ? internalEdge->getLanes().front() : nullptr;
6648 : std::vector<const MSLane*> internalLanes;
6649 11034 : while ((internalLane != nullptr) && internalLane->isInternal()) { // collect all internal successor lanes
6650 2225 : internalLanes.insert(internalLanes.begin(), internalLane);
6651 4443 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6652 : }
6653 11034 : for (auto it = internalLanes.begin(); (it != internalLanes.end()) && (distance > 0.); ++it) { // check remaining distance in correct order
6654 2225 : lanes.insert(lanes.end(), *it);
6655 2225 : distance -= (*it)->getLength();
6656 : }
6657 8809 : if (distance <= 0.) {
6658 : break;
6659 : }
6660 :
6661 8793 : lanes.insert(lanes.end(), l);
6662 8793 : distance -= l->getLength();
6663 :
6664 : // NOTE: we're going backwards with the (bi-directional) Iterator
6665 : // TODO: consider make reverse_iterator() when moving on to C++14 or later
6666 8793 : if (routeIt != myRoute->begin()) {
6667 : --routeIt;
6668 : } else { // we went backwards to begin() and already processed the first and final element
6669 : break;
6670 : }
6671 8809 : }
6672 :
6673 : return lanes;
6674 0 : }
6675 :
6676 :
6677 : const std::vector<MSLane*>
6678 6363 : MSVehicle::getUpstreamOppositeLanes() const {
6679 6363 : const std::vector<const MSLane*> routeLanes = getPastLanesUntil(myLane->getMaximumBrakeDist());
6680 : std::vector<MSLane*> result;
6681 15555 : for (const MSLane* lane : routeLanes) {
6682 9924 : MSLane* opposite = lane->getOpposite();
6683 9924 : if (opposite != nullptr) {
6684 9192 : result.push_back(opposite);
6685 : } else {
6686 : break;
6687 : }
6688 : }
6689 6363 : return result;
6690 6363 : }
6691 :
6692 :
6693 : int
6694 307026677 : MSVehicle::getBestLaneOffset() const {
6695 307026677 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6696 : return 0;
6697 : } else {
6698 306729658 : return (*myCurrentLaneInBestLanes).bestLaneOffset;
6699 : }
6700 : }
6701 :
6702 : double
6703 23437 : MSVehicle::getBestLaneDist() const {
6704 23437 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6705 : return -1;
6706 : } else {
6707 23437 : return (*myCurrentLaneInBestLanes).length;
6708 : }
6709 : }
6710 :
6711 :
6712 :
6713 : void
6714 646489383 : MSVehicle::adaptBestLanesOccupation(int laneIndex, double density) {
6715 : std::vector<MSVehicle::LaneQ>& preb = myBestLanes.front();
6716 : assert(laneIndex < (int)preb.size());
6717 646489383 : preb[laneIndex].occupation = density + preb[laneIndex].nextOccupation;
6718 646489383 : }
6719 :
6720 :
6721 : void
6722 71272 : MSVehicle::fixPosition() {
6723 71272 : if (MSGlobals::gLaneChangeDuration > 0 && !myLaneChangeModel->isChangingLanes()) {
6724 39640 : myState.myPosLat = 0;
6725 : }
6726 71272 : }
6727 :
6728 : std::pair<const MSLane*, double>
6729 303 : MSVehicle::getLanePosAfterDist(double distance) const {
6730 303 : if (distance == 0) {
6731 255 : return std::make_pair(myLane, getPositionOnLane());
6732 : }
6733 48 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(distance);
6734 48 : distance += getPositionOnLane();
6735 48 : for (const MSLane* lane : lanes) {
6736 48 : if (lane->getLength() > distance) {
6737 : return std::make_pair(lane, distance);
6738 : }
6739 0 : distance -= lane->getLength();
6740 : }
6741 0 : return std::make_pair(nullptr, -1);
6742 48 : }
6743 :
6744 :
6745 : double
6746 16093 : MSVehicle::getDistanceToPosition(double destPos, const MSLane* destLane) const {
6747 16093 : if (isOnRoad() && destLane != nullptr) {
6748 16060 : return myRoute->getDistanceBetween(getPositionOnLane(), destPos, myLane, destLane);
6749 : }
6750 : return std::numeric_limits<double>::max();
6751 : }
6752 :
6753 :
6754 : std::pair<const MSVehicle* const, double>
6755 76423867 : MSVehicle::getLeader(double dist, bool considerCrossingFoes) const {
6756 76423867 : if (myLane == nullptr) {
6757 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6758 : }
6759 76423867 : if (dist == 0) {
6760 2460 : dist = getCarFollowModel().brakeGap(getSpeed()) + getVehicleType().getMinGap();
6761 : }
6762 : const MSVehicle* lead = nullptr;
6763 76423867 : const MSLane* lane = myLane; // ensure lane does not change between getVehiclesSecure and releaseVehicles;
6764 76423867 : const MSLane::VehCont& vehs = lane->getVehiclesSecure();
6765 : // vehicle might be outside the road network
6766 76423867 : MSLane::VehCont::const_iterator it = std::find(vehs.begin(), vehs.end(), this);
6767 76423867 : if (it != vehs.end() && it + 1 != vehs.end()) {
6768 72701612 : lead = *(it + 1);
6769 : }
6770 72701612 : if (lead != nullptr) {
6771 : std::pair<const MSVehicle* const, double> result(
6772 72701612 : lead, lead->getBackPositionOnLane(myLane) - getPositionOnLane() - getVehicleType().getMinGap());
6773 72701612 : lane->releaseVehicles();
6774 72701612 : return result;
6775 : }
6776 3722255 : const double seen = myLane->getLength() - getPositionOnLane();
6777 3722255 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(myLane);
6778 3722255 : std::pair<const MSVehicle* const, double> result = myLane->getLeaderOnConsecutive(dist, seen, getSpeed(), *this, bestLaneConts, considerCrossingFoes);
6779 3722252 : lane->releaseVehicles();
6780 3722252 : return result;
6781 : }
6782 :
6783 :
6784 : std::pair<const MSVehicle* const, double>
6785 2269650 : MSVehicle::getFollower(double dist) const {
6786 2269650 : if (myLane == nullptr) {
6787 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6788 : }
6789 2269650 : if (dist == 0) {
6790 810945 : dist = getCarFollowModel().brakeGap(myLane->getEdge().getSpeedLimit() * 2, 4.5, 0);
6791 : }
6792 2269650 : return myLane->getFollower(this, getPositionOnLane(), dist, MSLane::MinorLinkMode::FOLLOW_NEVER);
6793 : }
6794 :
6795 :
6796 : double
6797 0 : MSVehicle::getTimeGapOnLane() const {
6798 : // calling getLeader with 0 would induce a dist calculation but we only want to look for the leaders on the current lane
6799 0 : std::pair<const MSVehicle* const, double> leaderInfo = getLeader(-1);
6800 0 : if (leaderInfo.first == nullptr || getSpeed() == 0) {
6801 0 : return -1;
6802 : }
6803 0 : return (leaderInfo.second + getVehicleType().getMinGap()) / getSpeed();
6804 : }
6805 :
6806 :
6807 : void
6808 3855195 : MSVehicle::addTransportable(MSTransportable* transportable) {
6809 3855195 : MSBaseVehicle::addTransportable(transportable);
6810 40994 : if (myStops.size() > 0 && myStops.front().reached) {
6811 37798 : if (transportable->isPerson()) {
6812 37219 : if (myStops.front().triggered && myStops.front().numExpectedPerson > 0) {
6813 1831 : myStops.front().numExpectedPerson -= (int)myStops.front().pars.awaitedPersons.count(transportable->getID());
6814 : }
6815 : } else {
6816 579 : if (myStops.front().pars.containerTriggered && myStops.front().numExpectedContainer > 0) {
6817 20 : myStops.front().numExpectedContainer -= (int)myStops.front().pars.awaitedContainers.count(transportable->getID());
6818 : }
6819 : }
6820 : }
6821 40994 : }
6822 :
6823 :
6824 : void
6825 697113268 : MSVehicle::setBlinkerInformation() {
6826 : switchOffSignal(VEH_SIGNAL_BLINKER_RIGHT | VEH_SIGNAL_BLINKER_LEFT);
6827 697113268 : int state = myLaneChangeModel->getOwnState();
6828 : // do not set blinker for sublane changes or when blocked from changing to the right
6829 697113268 : const bool blinkerManoeuvre = (((state & LCA_SUBLANE) == 0) && (
6830 606759842 : (state & LCA_KEEPRIGHT) == 0 || (state & LCA_BLOCKED) == 0));
6831 : Signalling left = VEH_SIGNAL_BLINKER_LEFT;
6832 : Signalling right = VEH_SIGNAL_BLINKER_RIGHT;
6833 697113268 : if (MSGlobals::gLefthand) {
6834 : // lane indices increase from left to right
6835 : std::swap(left, right);
6836 : }
6837 697113268 : if ((state & LCA_LEFT) != 0 && blinkerManoeuvre) {
6838 20068184 : switchOnSignal(left);
6839 677045084 : } else if ((state & LCA_RIGHT) != 0 && blinkerManoeuvre) {
6840 5554091 : switchOnSignal(right);
6841 671490993 : } else if (myLaneChangeModel->isChangingLanes()) {
6842 254915 : if (myLaneChangeModel->getLaneChangeDirection() == 1) {
6843 165402 : switchOnSignal(left);
6844 : } else {
6845 89513 : switchOnSignal(right);
6846 : }
6847 : } else {
6848 671236078 : const MSLane* lane = getLane();
6849 671236078 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, 1, *lane, getBestLanesContinuation());
6850 671236078 : if (link != lane->getLinkCont().end() && lane->getLength() - getPositionOnLane() < lane->getVehicleMaxSpeed(this) * (double) 7.) {
6851 169168694 : switch ((*link)->getDirection()) {
6852 : case LinkDirection::TURN:
6853 : case LinkDirection::LEFT:
6854 : case LinkDirection::PARTLEFT:
6855 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT);
6856 : break;
6857 : case LinkDirection::RIGHT:
6858 : case LinkDirection::PARTRIGHT:
6859 : switchOnSignal(VEH_SIGNAL_BLINKER_RIGHT);
6860 : break;
6861 : default:
6862 : break;
6863 : }
6864 : }
6865 : }
6866 : // stopping related signals
6867 697113268 : if (hasStops()
6868 697113268 : && (myStops.begin()->reached ||
6869 15592790 : (myStopDist < (myLane->getLength() - getPositionOnLane())
6870 4396170 : && myStopDist < getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this), getCarFollowModel().getMaxDecel(), 3)))) {
6871 17302801 : if (myStops.begin()->lane->getIndex() > 0 && myStops.begin()->lane->getParallelLane(-1)->allowsVehicleClass(getVClass())) {
6872 : // not stopping on the right. Activate emergency blinkers
6873 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT | VEH_SIGNAL_BLINKER_RIGHT);
6874 17046850 : } else if (!myStops.begin()->reached && (myStops.begin()->pars.parking == ParkingType::OFFROAD)) {
6875 : // signal upcoming parking stop on the current lane when within braking distance (~2 seconds before braking)
6876 1632532 : switchOnSignal(MSGlobals::gLefthand ? VEH_SIGNAL_BLINKER_LEFT : VEH_SIGNAL_BLINKER_RIGHT);
6877 : }
6878 : }
6879 697113268 : if (myInfluencer != nullptr && myInfluencer->getSignals() >= 0) {
6880 14 : mySignals = myInfluencer->getSignals();
6881 : myInfluencer->setSignals(-1); // overwrite computed signals only once
6882 : }
6883 697113268 : }
6884 :
6885 : void
6886 85511 : MSVehicle::setEmergencyBlueLight(SUMOTime currentTime) {
6887 :
6888 : //TODO look if timestep ist SIMSTEP
6889 85511 : if (currentTime % 1000 == 0) {
6890 25719 : if (signalSet(VEH_SIGNAL_EMERGENCY_BLUE)) {
6891 : switchOffSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6892 : } else {
6893 : switchOnSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6894 : }
6895 : }
6896 85511 : }
6897 :
6898 :
6899 : int
6900 22411930 : MSVehicle::getLaneIndex() const {
6901 22411930 : return myLane == nullptr ? -1 : myLane->getIndex();
6902 : }
6903 :
6904 :
6905 : void
6906 14725573 : MSVehicle::setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat) {
6907 14725573 : myLane = lane;
6908 14725573 : myState.myPos = pos;
6909 14725573 : myState.myPosLat = posLat;
6910 14725573 : myState.myBackPos = pos - getVehicleType().getLength();
6911 14725573 : }
6912 :
6913 :
6914 : double
6915 390783077 : MSVehicle::getRightSideOnLane() const {
6916 390783077 : return myState.myPosLat + 0.5 * myLane->getWidth() - 0.5 * getVehicleType().getWidth();
6917 : }
6918 :
6919 :
6920 : double
6921 385500279 : MSVehicle::getLeftSideOnLane() const {
6922 385500279 : return myState.myPosLat + 0.5 * myLane->getWidth() + 0.5 * getVehicleType().getWidth();
6923 : }
6924 :
6925 :
6926 : double
6927 311307831 : MSVehicle::getRightSideOnLane(const MSLane* lane) const {
6928 311307831 : return myState.myPosLat + 0.5 * lane->getWidth() - 0.5 * getVehicleType().getWidth();
6929 : }
6930 :
6931 :
6932 : double
6933 310818619 : MSVehicle::getLeftSideOnLane(const MSLane* lane) const {
6934 310818619 : return myState.myPosLat + 0.5 * lane->getWidth() + 0.5 * getVehicleType().getWidth();
6935 : }
6936 :
6937 :
6938 : double
6939 249636194 : MSVehicle::getRightSideOnEdge(const MSLane* lane) const {
6940 249636194 : return getCenterOnEdge(lane) - 0.5 * getVehicleType().getWidth();
6941 : }
6942 :
6943 :
6944 : double
6945 31192948 : MSVehicle::getLeftSideOnEdge(const MSLane* lane) const {
6946 31192948 : return getCenterOnEdge(lane) + 0.5 * getVehicleType().getWidth();
6947 : }
6948 :
6949 :
6950 : double
6951 728881569 : MSVehicle::getCenterOnEdge(const MSLane* lane) const {
6952 728881569 : if (lane == nullptr || &lane->getEdge() == &myLane->getEdge()) {
6953 728417187 : return myLane->getRightSideOnEdge() + myState.myPosLat + 0.5 * myLane->getWidth();
6954 464382 : } else if (lane == myLaneChangeModel->getShadowLane()) {
6955 13742 : if (myLaneChangeModel->isOpposite() && &lane->getEdge() != &myLane->getEdge()) {
6956 13734 : return lane->getRightSideOnEdge() + lane->getWidth() - myState.myPosLat + 0.5 * myLane->getWidth();
6957 : }
6958 8 : if (myLaneChangeModel->getShadowDirection() == -1) {
6959 0 : return lane->getRightSideOnEdge() + lane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6960 : } else {
6961 8 : return lane->getRightSideOnEdge() - myLane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6962 : }
6963 450640 : } else if (lane == myLane->getBidiLane()) {
6964 17033 : return lane->getRightSideOnEdge() - myState.myPosLat + 0.5 * lane->getWidth();
6965 : } else {
6966 : assert(myFurtherLanes.size() == myFurtherLanesPosLat.size());
6967 510421 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6968 484432 : if (myFurtherLanes[i] == lane) {
6969 : #ifdef DEBUG_FURTHER
6970 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat=" << myFurtherLanesPosLat[i]
6971 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6972 : << "\n";
6973 : #endif
6974 407539 : return lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6975 76893 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6976 : #ifdef DEBUG_FURTHER
6977 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat(bidi)=" << myFurtherLanesPosLat[i]
6978 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6979 : << "\n";
6980 : #endif
6981 79 : return lane->getRightSideOnEdge() - myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6982 : }
6983 : }
6984 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6985 25989 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6986 26261 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6987 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
6988 26261 : if (shadowFurther[i] == lane) {
6989 : assert(myLaneChangeModel->getShadowLane() != 0);
6990 25989 : return (lane->getRightSideOnEdge() + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] + 0.5 * lane->getWidth()
6991 25989 : + (myLane->getCenterOnEdge() - myLaneChangeModel->getShadowLane()->getCenterOnEdge()));
6992 : }
6993 : }
6994 : assert(false);
6995 0 : throw ProcessError("Request lateral pos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
6996 : }
6997 : }
6998 :
6999 :
7000 : double
7001 3383662500 : MSVehicle::getLatOffset(const MSLane* lane) const {
7002 : assert(lane != 0);
7003 3383662500 : if (&lane->getEdge() == &myLane->getEdge()) {
7004 3333721134 : return myLane->getRightSideOnEdge() - lane->getRightSideOnEdge();
7005 49941366 : } else if (myLane->getParallelOpposite() == lane) {
7006 2133940 : return (myLane->getWidth() + lane->getWidth()) * 0.5 - 2 * getLateralPositionOnLane();
7007 47807426 : } else if (myLane->getBidiLane() == lane) {
7008 811119 : return -2 * getLateralPositionOnLane();
7009 : } else {
7010 : // Check whether the lane is a further lane for the vehicle
7011 52990992 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
7012 52050508 : if (myFurtherLanes[i] == lane) {
7013 : #ifdef DEBUG_FURTHER
7014 : if (DEBUG_COND) {
7015 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherLat=" << myFurtherLanesPosLat[i] << "\n";
7016 : }
7017 : #endif
7018 46022467 : return myFurtherLanesPosLat[i] - myState.myPosLat;
7019 6028041 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
7020 : #ifdef DEBUG_FURTHER
7021 : if (DEBUG_COND) {
7022 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
7023 : }
7024 : #endif
7025 33356 : return -2 * (myFurtherLanesPosLat[i] - myState.myPosLat);
7026 : }
7027 : }
7028 : #ifdef DEBUG_FURTHER
7029 : if (DEBUG_COND) {
7030 : std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
7031 : }
7032 : #endif
7033 : // Check whether the lane is a "shadow further lane" for the vehicle
7034 940484 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
7035 951733 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
7036 947756 : if (shadowFurther[i] == lane) {
7037 : #ifdef DEBUG_FURTHER
7038 : if (DEBUG_COND) std::cout << " getLatOffset veh=" << getID()
7039 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
7040 : << " lane=" << lane->getID()
7041 : << " i=" << i
7042 : << " posLat=" << myState.myPosLat
7043 : << " shadowPosLat=" << getLatOffset(myLaneChangeModel->getShadowLane())
7044 : << " shadowFurtherLat=" << myLaneChangeModel->getShadowFurtherLanesPosLat()[i]
7045 : << "\n";
7046 : #endif
7047 935833 : return getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
7048 11923 : } else if (shadowFurther[i]->getBidiLane() == lane) {
7049 : #ifdef DEBUG_FURTHER
7050 : if (DEBUG_COND) {
7051 : std::cout << " getLatOffset veh=" << getID() << " shadowbidilane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
7052 : }
7053 : #endif
7054 674 : return -2 * getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
7055 : }
7056 : }
7057 : // Check whether the vehicle issued a maneuverReservation on the lane.
7058 3977 : const std::vector<MSLane*>& furtherTargets = myLaneChangeModel->getFurtherTargetLanes();
7059 5808 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
7060 : // Further target lanes are just neighboring lanes of the vehicle's further lanes, @see MSAbstractLaneChangeModel::updateTargetLane()
7061 5805 : MSLane* targetLane = furtherTargets[i];
7062 5805 : if (targetLane == lane) {
7063 3974 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
7064 3974 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
7065 : #ifdef DEBUG_TARGET_LANE
7066 : if (DEBUG_COND) {
7067 : std::cout << " getLatOffset veh=" << getID()
7068 : << " wrt targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
7069 : << "\n i=" << i
7070 : << " posLat=" << myState.myPosLat
7071 : << " furtherPosLat=" << myFurtherLanesPosLat[i]
7072 : << " maneuverDist=" << myLaneChangeModel->getManeuverDist()
7073 : << " targetDir=" << targetDir
7074 : << " latOffset=" << latOffset
7075 : << std::endl;
7076 : }
7077 : #endif
7078 3974 : return latOffset;
7079 1831 : } else if (targetLane != nullptr && targetLane->getBidiLane() == lane) {
7080 0 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
7081 0 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
7082 : #ifdef DEBUG_FURTHER
7083 : if (DEBUG_COND) {
7084 : std::cout << " getLatOffset veh=" << getID() << " furthertargetbidilane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
7085 : }
7086 : #endif
7087 0 : return -2 * latOffset;
7088 : }
7089 : }
7090 : assert(false);
7091 18 : throw ProcessError("Request lateral offset of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
7092 : }
7093 : }
7094 :
7095 :
7096 : double
7097 36495943 : MSVehicle::lateralDistanceToLane(const int offset) const {
7098 : // compute the distance when changing to the neighboring lane
7099 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
7100 : assert(offset == 0 || offset == 1 || offset == -1);
7101 : assert(myLane != nullptr);
7102 : assert(myLane->getParallelLane(offset) != nullptr || myLane->getParallelOpposite() != nullptr);
7103 36495943 : const double halfCurrentLaneWidth = 0.5 * myLane->getWidth();
7104 36495943 : const double halfVehWidth = 0.5 * (getWidth() + NUMERICAL_EPS);
7105 36495943 : const double latPos = getLateralPositionOnLane();
7106 36495943 : const double oppositeSign = getLaneChangeModel().isOpposite() ? -1 : 1;
7107 36495943 : double leftLimit = halfCurrentLaneWidth - halfVehWidth - oppositeSign * latPos;
7108 36495943 : double rightLimit = -halfCurrentLaneWidth + halfVehWidth - oppositeSign * latPos;
7109 : double latLaneDist = 0; // minimum distance to move the vehicle fully onto the new lane
7110 36495943 : if (offset == 0) {
7111 8 : if (latPos + halfVehWidth > halfCurrentLaneWidth) {
7112 : // correct overlapping left
7113 4 : latLaneDist = halfCurrentLaneWidth - latPos - halfVehWidth;
7114 4 : } else if (latPos - halfVehWidth < -halfCurrentLaneWidth) {
7115 : // correct overlapping right
7116 4 : latLaneDist = -halfCurrentLaneWidth - latPos + halfVehWidth;
7117 : }
7118 8 : latLaneDist *= oppositeSign;
7119 36495935 : } else if (offset == -1) {
7120 16840355 : latLaneDist = rightLimit - (getWidth() + NUMERICAL_EPS);
7121 19655580 : } else if (offset == 1) {
7122 19655580 : latLaneDist = leftLimit + (getWidth() + NUMERICAL_EPS);
7123 : }
7124 : #ifdef DEBUG_ACTIONSTEPS
7125 : if (DEBUG_COND) {
7126 : std::cout << SIMTIME
7127 : << " veh=" << getID()
7128 : << " halfCurrentLaneWidth=" << halfCurrentLaneWidth
7129 : << " halfVehWidth=" << halfVehWidth
7130 : << " latPos=" << latPos
7131 : << " latLaneDist=" << latLaneDist
7132 : << " leftLimit=" << leftLimit
7133 : << " rightLimit=" << rightLimit
7134 : << "\n";
7135 : }
7136 : #endif
7137 36495943 : return latLaneDist;
7138 : }
7139 :
7140 :
7141 : double
7142 5129424648 : MSVehicle::getLateralOverlap(double posLat, const MSLane* lane) const {
7143 5129424648 : return (fabs(posLat) + 0.5 * getVehicleType().getWidth()
7144 5129424648 : - 0.5 * lane->getWidth());
7145 : }
7146 :
7147 : double
7148 0 : MSVehicle::getLateralOverlap(const MSLane* lane) const {
7149 0 : return getLateralOverlap(getLateralPositionOnLane(), lane);
7150 : }
7151 :
7152 : double
7153 4936071204 : MSVehicle::getLateralOverlap() const {
7154 4936071204 : return getLateralOverlap(getLateralPositionOnLane(), myLane);
7155 : }
7156 :
7157 :
7158 : void
7159 640555229 : MSVehicle::removeApproachingInformation(const DriveItemVector& lfLinks) const {
7160 1860930051 : for (const DriveProcessItem& dpi : lfLinks) {
7161 1220374822 : if (dpi.myLink != nullptr) {
7162 864044181 : dpi.myLink->removeApproaching(this);
7163 : }
7164 : }
7165 : // unregister on all shadow links
7166 640555229 : myLaneChangeModel->removeShadowApproachingInformation();
7167 640555229 : }
7168 :
7169 :
7170 : bool
7171 844881 : MSVehicle::unsafeLinkAhead(const MSLane* lane, double zipperDist) const {
7172 : // the following links are unsafe:
7173 : // - zipper links if they are close enough and have approaching vehicles in the relevant time range
7174 : // - unprioritized links if the vehicle is currently approaching a prioritzed link and unable to stop in time
7175 844881 : double seen = myLane->getLength() - getPositionOnLane();
7176 844881 : const double dist = MAX2(zipperDist, getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0));
7177 844881 : if (seen < dist) {
7178 71169 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(lane);
7179 : int view = 1;
7180 71169 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7181 : DriveItemVector::const_iterator di = myLFLinkLanes.begin();
7182 118315 : while (!lane->isLinkEnd(link) && seen <= dist) {
7183 71762 : if ((!lane->isInternal()
7184 49123 : && (((*link)->getState() == LINKSTATE_ZIPPER && seen < (*link)->getFoeVisibilityDistance())
7185 26540 : || !(*link)->havePriority()))
7186 98073 : || (lane->isInternal() && zipperDist > 0)) {
7187 : // find the drive item corresponding to this link
7188 : bool found = false;
7189 52242 : while (di != myLFLinkLanes.end() && !found) {
7190 27063 : if ((*di).myLink != nullptr) {
7191 : const MSLane* diPredLane = (*di).myLink->getLaneBefore();
7192 27059 : if (diPredLane != nullptr) {
7193 27059 : if (&diPredLane->getEdge() == &lane->getEdge()) {
7194 : found = true;
7195 : }
7196 : }
7197 : }
7198 27063 : if (!found) {
7199 : di++;
7200 : }
7201 : }
7202 25179 : if (found) {
7203 25175 : const SUMOTime leaveTime = (*link)->getLeaveTime((*di).myArrivalTime, (*di).myArrivalSpeed,
7204 25175 : (*di).getLeaveSpeed(), getVehicleType().getLength());
7205 25175 : const MSLink* entry = (*link)->getCorrespondingEntryLink();
7206 : //if (DEBUG_COND) {
7207 : // 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";
7208 : //}
7209 25175 : if (entry->hasApproachingFoe((*di).myArrivalTime, leaveTime, (*di).myArrivalSpeed, getCarFollowModel().getMaxDecel())) {
7210 : //std::cout << SIMTIME << " veh=" << getID() << " aborting changeTo=" << Named::getIDSecure(bestLaneConts.front()) << " linkState=" << toString((*link)->getState()) << " seen=" << seen << " dist=" << dist << "\n";
7211 : return true;
7212 : }
7213 : }
7214 : // no drive item is found if the vehicle aborts its request within dist
7215 : }
7216 47146 : lane = (*link)->getViaLaneOrLane();
7217 47146 : if (!lane->getEdge().isInternal()) {
7218 24642 : view++;
7219 : }
7220 47146 : seen += lane->getLength();
7221 47146 : link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7222 : }
7223 : }
7224 : return false;
7225 : }
7226 :
7227 :
7228 : PositionVector
7229 6906570 : MSVehicle::getBoundingBox(double offset) const {
7230 6906570 : PositionVector centerLine;
7231 6906570 : Position pos = getPosition();
7232 6906570 : centerLine.push_back(pos);
7233 6906570 : switch (myType->getGuiShape()) {
7234 29069 : case SUMOVehicleShape::BUS_FLEXIBLE:
7235 : case SUMOVehicleShape::RAIL:
7236 : case SUMOVehicleShape::RAIL_CAR:
7237 : case SUMOVehicleShape::RAIL_CARGO:
7238 : case SUMOVehicleShape::TRUCK_SEMITRAILER:
7239 : case SUMOVehicleShape::TRUCK_1TRAILER: {
7240 60781 : for (MSLane* lane : myFurtherLanes) {
7241 31712 : centerLine.push_back(lane->getShape().back());
7242 : }
7243 : break;
7244 : }
7245 : default:
7246 : break;
7247 : }
7248 6906570 : double l = getLength();
7249 6906570 : Position backPos = getBackPosition();
7250 6906570 : if (pos.distanceTo2D(backPos) > l + NUMERICAL_EPS) {
7251 : // getBackPosition may not match the visual back in networks without internal lanes
7252 369172 : double a = getAngle() + M_PI; // angle pointing backwards
7253 369172 : backPos = pos + Position(l * cos(a), l * sin(a));
7254 : }
7255 6906570 : centerLine.push_back(backPos);
7256 6906570 : if (offset != 0) {
7257 6543 : centerLine.extrapolate2D(offset);
7258 : }
7259 : PositionVector result = centerLine;
7260 13808850 : result.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7261 13808850 : centerLine.move2side(MIN2(0.0, -0.5 * myType->getWidth() - offset));
7262 6906570 : result.append(centerLine.reverse(), POSITION_EPS);
7263 6906570 : return result;
7264 6906570 : }
7265 :
7266 :
7267 : PositionVector
7268 73266 : MSVehicle::getBoundingPoly(double offset) const {
7269 73266 : switch (myType->getGuiShape()) {
7270 72786 : case SUMOVehicleShape::PASSENGER:
7271 : case SUMOVehicleShape::PASSENGER_SEDAN:
7272 : case SUMOVehicleShape::PASSENGER_HATCHBACK:
7273 : case SUMOVehicleShape::PASSENGER_WAGON:
7274 : case SUMOVehicleShape::PASSENGER_VAN: {
7275 : // box with corners cut off
7276 72786 : PositionVector result;
7277 72786 : PositionVector centerLine;
7278 72786 : centerLine.push_back(getPosition());
7279 72786 : centerLine.push_back(getBackPosition());
7280 72786 : if (offset != 0) {
7281 1600 : centerLine.extrapolate2D(offset);
7282 : }
7283 : PositionVector line1 = centerLine;
7284 : PositionVector line2 = centerLine;
7285 145572 : line1.move2side(MAX2(0.0, 0.3 * myType->getWidth() + offset));
7286 145572 : line2.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7287 72786 : line2.scaleRelative(0.8);
7288 72786 : result.push_back(line1[0]);
7289 72786 : result.push_back(line2[0]);
7290 72786 : result.push_back(line2[1]);
7291 72786 : result.push_back(line1[1]);
7292 145572 : line1.move2side(MIN2(0.0, -0.6 * myType->getWidth() - offset));
7293 145572 : line2.move2side(MIN2(0.0, -1.0 * myType->getWidth() - offset));
7294 72786 : result.push_back(line1[1]);
7295 72786 : result.push_back(line2[1]);
7296 72786 : result.push_back(line2[0]);
7297 72786 : result.push_back(line1[0]);
7298 : return result;
7299 72786 : }
7300 480 : default:
7301 480 : return getBoundingBox();
7302 : }
7303 : }
7304 :
7305 :
7306 : bool
7307 12747702 : MSVehicle::onFurtherEdge(const MSEdge* edge) const {
7308 13766107 : for (std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
7309 1606922 : if (&(*i)->getEdge() == edge) {
7310 : return true;
7311 : }
7312 : }
7313 : return false;
7314 : }
7315 :
7316 :
7317 : bool
7318 7730555524 : MSVehicle::isBidiOn(const MSLane* lane) const {
7319 7746689449 : return lane->getBidiLane() != nullptr && (
7320 16133925 : myLane == lane->getBidiLane()
7321 12747702 : || onFurtherEdge(&lane->getBidiLane()->getEdge()));
7322 : }
7323 :
7324 :
7325 : bool
7326 16 : MSVehicle::rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg) {
7327 : // this function is based on MSTriggeredRerouter::rerouteParkingArea in order to keep
7328 : // consistency in the behaviour.
7329 :
7330 : // get vehicle params
7331 16 : MSParkingArea* destParkArea = getNextParkingArea();
7332 16 : const MSRoute& route = getRoute();
7333 16 : const MSEdge* lastEdge = route.getLastEdge();
7334 :
7335 16 : if (destParkArea == nullptr) {
7336 : // not driving towards a parking area
7337 0 : errorMsg = "Vehicle " + getID() + " is not driving to a parking area so it cannot be rerouted.";
7338 0 : return false;
7339 : }
7340 :
7341 : // if the current route ends at the parking area, the new route will also and at the new area
7342 16 : bool newDestination = (&destParkArea->getLane().getEdge() == route.getLastEdge()
7343 8 : && getArrivalPos() >= destParkArea->getBeginLanePosition()
7344 24 : && getArrivalPos() <= destParkArea->getEndLanePosition());
7345 :
7346 : // retrieve info on the new parking area
7347 16 : MSParkingArea* newParkingArea = (MSParkingArea*) MSNet::getInstance()->getStoppingPlace(
7348 : parkingAreaID, SumoXMLTag::SUMO_TAG_PARKING_AREA);
7349 :
7350 16 : if (newParkingArea == nullptr) {
7351 0 : errorMsg = "Parking area ID " + toString(parkingAreaID) + " not found in the network.";
7352 0 : return false;
7353 : }
7354 :
7355 16 : const MSEdge* newEdge = &(newParkingArea->getLane().getEdge());
7356 16 : SUMOAbstractRouter<MSEdge, SUMOVehicle>& router = getRouterTT();
7357 :
7358 : // Compute the route from the current edge to the parking area edge
7359 : ConstMSEdgeVector edgesToPark;
7360 16 : router.compute(getEdge(), getPositionOnLane(), newEdge, newParkingArea->getEndLanePosition(), this, MSNet::getInstance()->getCurrentTimeStep(), edgesToPark);
7361 :
7362 : // Compute the route from the parking area edge to the end of the route
7363 : ConstMSEdgeVector edgesFromPark;
7364 16 : if (!newDestination) {
7365 12 : router.compute(newEdge, lastEdge, this, MSNet::getInstance()->getCurrentTimeStep(), edgesFromPark);
7366 : } else {
7367 : // adapt plans of any riders
7368 8 : for (MSTransportable* p : getPersons()) {
7369 4 : p->rerouteParkingArea(getNextParkingArea(), newParkingArea);
7370 : }
7371 : }
7372 :
7373 : // we have a new destination, let's replace the vehicle route
7374 16 : ConstMSEdgeVector edges = edgesToPark;
7375 16 : if (edgesFromPark.size() > 0) {
7376 12 : edges.insert(edges.end(), edgesFromPark.begin() + 1, edgesFromPark.end());
7377 : }
7378 :
7379 16 : if (newDestination && getParameter().arrivalPosProcedure != ArrivalPosDefinition::DEFAULT) {
7380 4 : SUMOVehicleParameter* newParameter = new SUMOVehicleParameter();
7381 4 : *newParameter = getParameter();
7382 4 : newParameter->arrivalPosProcedure = ArrivalPosDefinition::GIVEN;
7383 4 : newParameter->arrivalPos = newParkingArea->getEndLanePosition();
7384 4 : replaceParameter(newParameter);
7385 : }
7386 16 : const double routeCost = router.recomputeCosts(edges, this, MSNet::getInstance()->getCurrentTimeStep());
7387 16 : ConstMSEdgeVector prevEdges(myCurrEdge, myRoute->end());
7388 16 : const double savings = router.recomputeCosts(prevEdges, this, MSNet::getInstance()->getCurrentTimeStep());
7389 16 : if (replaceParkingArea(newParkingArea, errorMsg)) {
7390 16 : const bool onInit = myLane == nullptr;
7391 32 : replaceRouteEdges(edges, routeCost, savings, "TraCI:" + toString(SUMO_TAG_PARKING_AREA_REROUTE), onInit, false, false);
7392 : } else {
7393 0 : WRITE_WARNINGF("Vehicle '%' could not reroute to new parkingArea '%' reason=%, time=%.",
7394 : getID(), newParkingArea->getID(), errorMsg, time2string(SIMSTEP));
7395 0 : return false;
7396 : }
7397 16 : return true;
7398 16 : }
7399 :
7400 :
7401 : bool
7402 43549 : MSVehicle::addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) {
7403 43549 : const int numStops = (int)myStops.size();
7404 43549 : const bool result = MSBaseVehicle::addTraciStop(stop, errorMsg);
7405 43549 : if (myLane != nullptr && numStops != (int)myStops.size()) {
7406 42004 : updateBestLanes(true);
7407 : }
7408 43549 : return result;
7409 : }
7410 :
7411 :
7412 : bool
7413 3248 : MSVehicle::handleCollisionStop(MSStop& stop, const double distToStop) {
7414 3248 : if (myCurrEdge == stop.edge && distToStop + POSITION_EPS < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0)) {
7415 1504 : if (distToStop < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)) {
7416 1088 : double vNew = getCarFollowModel().maximumSafeStopSpeed(distToStop, getCarFollowModel().getMaxDecel(), getSpeed(), false, 0);
7417 : //std::cout << SIMTIME << " veh=" << getID() << " v=" << myState.mySpeed << " distToStop=" << distToStop
7418 : // << " vMinNex=" << getCarFollowModel().minNextSpeed(getSpeed(), this)
7419 : // << " bg1=" << getCarFollowModel().brakeGap(myState.mySpeed)
7420 : // << " bg2=" << getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)
7421 : // << " vNew=" << vNew
7422 : // << "\n";
7423 1088 : myState.mySpeed = MIN2(myState.mySpeed, vNew + ACCEL2SPEED(getCarFollowModel().getEmergencyDecel()));
7424 1088 : myState.myPos = MIN2(myState.myPos, stop.pars.endPos);
7425 1088 : myCachedPosition = Position::INVALID;
7426 1088 : if (myState.myPos < myType->getLength()) {
7427 456 : computeFurtherLanes(myLane, myState.myPos, true);
7428 456 : myAngle = computeAngle();
7429 456 : if (myLaneChangeModel->isOpposite()) {
7430 0 : myAngle += M_PI;
7431 : }
7432 : }
7433 : }
7434 : }
7435 3248 : return true;
7436 : }
7437 :
7438 :
7439 : bool
7440 24054703 : MSVehicle::resumeFromStopping() {
7441 24054703 : if (isStopped()) {
7442 49287 : if (myAmRegisteredAsWaiting) {
7443 750 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
7444 750 : myAmRegisteredAsWaiting = false;
7445 : }
7446 : MSStop& stop = myStops.front();
7447 : // we have waited long enough and fulfilled any passenger-requirements
7448 49287 : if (stop.busstop != nullptr) {
7449 : // inform bus stop about leaving it
7450 18566 : stop.busstop->leaveFrom(this);
7451 : }
7452 : // we have waited long enough and fulfilled any container-requirements
7453 49287 : if (stop.containerstop != nullptr) {
7454 : // inform container stop about leaving it
7455 530 : stop.containerstop->leaveFrom(this);
7456 : }
7457 49287 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
7458 : // inform parking area about leaving it
7459 8446 : stop.parkingarea->leaveFrom(this);
7460 : }
7461 49287 : if (stop.chargingStation != nullptr) {
7462 : // inform charging station about leaving it
7463 3571 : stop.chargingStation->leaveFrom(this);
7464 : }
7465 : // the current stop is no longer valid
7466 49287 : myLane->getEdge().removeWaiting(this);
7467 : // MSStopOut needs to know whether the stop had a loaded 'ended' value so we call this before replacing the value
7468 49287 : if (stop.pars.started == -1) {
7469 : // waypoint edge was passed in a single step
7470 334 : stop.pars.started = MSNet::getInstance()->getCurrentTimeStep();
7471 : }
7472 49287 : if (MSStopOut::active()) {
7473 4248 : MSStopOut::getInstance()->stopEnded(this, stop);
7474 : }
7475 49287 : stop.pars.ended = MSNet::getInstance()->getCurrentTimeStep();
7476 112188 : for (const auto& rem : myMoveReminders) {
7477 62901 : rem.first->notifyStopEnded();
7478 : }
7479 49287 : if (stop.pars.collision && MSLane::getCollisionAction() == MSLane::COLLISION_ACTION_WARN) {
7480 425 : myCollisionImmunity = TIME2STEPS(5); // leave the conflict area
7481 : }
7482 49287 : if (stop.pars.posLat != INVALID_DOUBLE && MSGlobals::gLateralResolution <= 0) {
7483 : // reset lateral position to default
7484 194 : myState.myPosLat = 0;
7485 : }
7486 49287 : const bool wasWaypoint = stop.getSpeed() > 0;
7487 49287 : myPastStops.push_back(stop.pars);
7488 49287 : myPastStops.back().routeIndex = (int)(stop.edge - myRoute->begin());
7489 49287 : myStops.pop_front();
7490 49287 : myStopDist = std::numeric_limits<double>::max();
7491 : // do not count the stopping time towards gridlock time.
7492 : // Other outputs use an independent counter and are not affected.
7493 49287 : myWaitingTime = 0;
7494 49287 : myStopSpeed = getCarFollowModel().maxNextSpeed(getSpeed(), this);
7495 : // maybe the next stop is on the same edge; let's rebuild best lanes
7496 49287 : updateBestLanes(true);
7497 : // continue as wished...
7498 49287 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::ENDING_STOP);
7499 49287 : MSNet::getInstance()->getVehicleControl().registerStopEnded();
7500 49287 : return !wasWaypoint;
7501 : }
7502 : return false;
7503 : }
7504 :
7505 :
7506 : MSVehicle::Influencer&
7507 4510820 : MSVehicle::getInfluencer() {
7508 4510820 : if (myInfluencer == nullptr) {
7509 3437 : myInfluencer = new Influencer();
7510 : }
7511 4510820 : return *myInfluencer;
7512 : }
7513 :
7514 : MSVehicle::BaseInfluencer&
7515 24 : MSVehicle::getBaseInfluencer() {
7516 24 : return getInfluencer();
7517 : }
7518 :
7519 :
7520 : const MSVehicle::Influencer*
7521 0 : MSVehicle::getInfluencer() const {
7522 0 : return myInfluencer;
7523 : }
7524 :
7525 : const MSVehicle::BaseInfluencer*
7526 236572 : MSVehicle::getBaseInfluencer() const {
7527 236572 : return myInfluencer;
7528 : }
7529 :
7530 :
7531 : double
7532 4078 : MSVehicle::getSpeedWithoutTraciInfluence() const {
7533 4078 : if (myInfluencer != nullptr && myInfluencer->getOriginalSpeed() >= 0) {
7534 : // influencer original speed is -1 on initialization
7535 1655 : return myInfluencer->getOriginalSpeed();
7536 : }
7537 2423 : return myState.mySpeed;
7538 : }
7539 :
7540 :
7541 : int
7542 997918075 : MSVehicle::influenceChangeDecision(int state) {
7543 997918075 : if (hasInfluencer()) {
7544 2800329 : state = getInfluencer().influenceChangeDecision(
7545 : MSNet::getInstance()->getCurrentTimeStep(),
7546 2800329 : myLane->getEdge(),
7547 : getLaneIndex(),
7548 : state);
7549 : }
7550 997918075 : return state;
7551 : }
7552 :
7553 :
7554 : void
7555 7327 : MSVehicle::setRemoteState(Position xyPos) {
7556 7327 : myCachedPosition = xyPos;
7557 7327 : }
7558 :
7559 :
7560 : bool
7561 792139063 : MSVehicle::isRemoteControlled() const {
7562 792139063 : return myInfluencer != nullptr && myInfluencer->isRemoteControlled();
7563 : }
7564 :
7565 :
7566 : bool
7567 20629 : MSVehicle::wasRemoteControlled(SUMOTime lookBack) const {
7568 20629 : return myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() + lookBack >= MSNet::getInstance()->getCurrentTimeStep();
7569 : }
7570 :
7571 :
7572 : bool
7573 523458896 : MSVehicle::keepClear(const MSLink* link) const {
7574 523458896 : if (link->hasFoes() && link->keepClear() /* && item.myLink->willHaveBlockedFoe()*/) {
7575 174599773 : const double keepClearTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_KEEPCLEAR_TIME, -1);
7576 : //std::cout << SIMTIME << " veh=" << getID() << " keepClearTime=" << keepClearTime << " accWait=" << getAccumulatedWaitingSeconds() << " keepClear=" << (keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime) << "\n";
7577 176021955 : return keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime;
7578 : } else {
7579 : return false;
7580 : }
7581 : }
7582 :
7583 :
7584 : bool
7585 725605579 : MSVehicle::ignoreRed(const MSLink* link, bool canBrake) const {
7586 725605579 : if ((myInfluencer != nullptr && !myInfluencer->getEmergencyBrakeRedLight())) {
7587 : return true;
7588 : }
7589 725298809 : const double ignoreRedTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME, -1);
7590 : #ifdef DEBUG_IGNORE_RED
7591 : if (DEBUG_COND) {
7592 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID() << " state=" << toString(link->getState()) << "\n";
7593 : }
7594 : #endif
7595 725298809 : if (ignoreRedTime < 0) {
7596 725293410 : const double ignoreYellowTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_YELLOW_TIME, 0);
7597 725293410 : if (ignoreYellowTime > 0 && link->haveYellow()) {
7598 : assert(link->getTLLogic() != 0);
7599 52 : const double yellowDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7600 : // when activating ignoreYellow behavior, vehicles will drive if they cannot brake
7601 92 : return !canBrake || ignoreYellowTime > yellowDuration;
7602 : } else {
7603 : return false;
7604 : }
7605 5399 : } else if (link->haveYellow()) {
7606 : // always drive at yellow when ignoring red
7607 : return true;
7608 5243 : } else if (link->haveRed()) {
7609 : assert(link->getTLLogic() != 0);
7610 3832 : const double redDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7611 : #ifdef DEBUG_IGNORE_RED
7612 : if (DEBUG_COND) {
7613 : std::cout
7614 : // << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID()
7615 : << " ignoreRedTime=" << ignoreRedTime
7616 : << " spentRed=" << redDuration
7617 : << " canBrake=" << canBrake << "\n";
7618 : }
7619 : #endif
7620 : // when activating ignoreRed behavior, vehicles will always drive if they cannot brake
7621 6356 : return !canBrake || ignoreRedTime > redDuration;
7622 : } else {
7623 : return false;
7624 : }
7625 : }
7626 :
7627 : bool
7628 1314515126 : MSVehicle::ignoreFoe(const SUMOTrafficObject* foe) const {
7629 1314515126 : if (!getParameter().wasSet(VEHPARS_CFMODEL_PARAMS_SET)) {
7630 : return false;
7631 : }
7632 2548 : for (const std::string& typeID : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_TYPES), "")).getVector()) {
7633 398 : if (typeID == foe->getVehicleType().getID()) {
7634 : return true;
7635 : }
7636 1274 : }
7637 2161 : for (const std::string& id : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_IDS), "")).getVector()) {
7638 876 : if (id == foe->getID()) {
7639 : return true;
7640 : }
7641 876 : }
7642 409 : return false;
7643 : }
7644 :
7645 : bool
7646 549981867 : MSVehicle::passingMinor() const {
7647 : // either on an internal lane that was entered via minor link
7648 : // or on approach to minor link below visibility distance
7649 549981867 : if (myLane == nullptr) {
7650 : return false;
7651 : }
7652 549981867 : if (myLane->getEdge().isInternal()) {
7653 10304676 : return !myLane->getIncomingLanes().front().viaLink->havePriority();
7654 539677191 : } else if (myLFLinkLanes.size() > 0 && myLFLinkLanes.front().myLink != nullptr) {
7655 : MSLink* link = myLFLinkLanes.front().myLink;
7656 281222398 : return !link->havePriority() && myLFLinkLanes.front().myDistance <= link->getFoeVisibilityDistance();
7657 : }
7658 : return false;
7659 : }
7660 :
7661 : bool
7662 21433691 : MSVehicle::isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const {
7663 : assert(link->fromInternalLane());
7664 21433691 : if (veh == nullptr) {
7665 : return false;
7666 : }
7667 21433691 : if (!myLane->isInternal() || myLane->getEdge().getToJunction() != link->getJunction()) {
7668 : // if this vehicle is not yet on the junction, every vehicle is a leader
7669 : return true;
7670 : }
7671 1900346 : if (veh->getLaneChangeModel().hasBlueLight()) {
7672 : // blue light device automatically gets right of way
7673 : return true;
7674 : }
7675 1900078 : const MSLane* foeLane = veh->getLane();
7676 1900078 : if (foeLane->isInternal()) {
7677 1411996 : if (foeLane->getEdge().getFromJunction() == link->getJunction()) {
7678 1393544 : SUMOTime egoET = myJunctionConflictEntryTime;
7679 1393544 : SUMOTime foeET = veh->myJunctionEntryTime;
7680 : // check relationship between link and foeLane
7681 1393544 : if (foeLane->getNormalPredecessorLane() == link->getInternalLaneBefore()->getNormalPredecessorLane()) {
7682 : // we are entering the junction from the same lane
7683 451114 : egoET = myJunctionEntryTimeNeverYield;
7684 451114 : foeET = veh->myJunctionEntryTimeNeverYield;
7685 451114 : if (link->isExitLinkAfterInternalJunction() && link->getInternalLaneBefore()->getLogicalPredecessorLane()->getEntryLink()->isIndirect()) {
7686 91633 : egoET = myJunctionConflictEntryTime;
7687 : }
7688 : } else {
7689 942430 : const MSLink* foeLink = foeLane->getIncomingLanes()[0].viaLink;
7690 942430 : const MSJunctionLogic* logic = link->getJunction()->getLogic();
7691 : assert(logic != nullptr);
7692 : // determine who has right of way
7693 : bool response; // ego response to foe
7694 : bool response2; // foe response to ego
7695 : // attempt 1: tlLinkState
7696 942430 : const MSLink* entry = link->getCorrespondingEntryLink();
7697 942430 : const MSLink* foeEntry = foeLink->getCorrespondingEntryLink();
7698 942430 : if (entry->haveRed() || foeEntry->haveRed()) {
7699 : // ensure that vehicles which are stuck on the intersection may exit
7700 116645 : if (!foeEntry->haveRed() && veh->getSpeed() > SUMO_const_haltingSpeed && gap < 0) {
7701 : // foe might be oncoming, don't drive unless foe can still brake safely
7702 11901 : const double foeNextSpeed = veh->getSpeed() + ACCEL2SPEED(veh->getCarFollowModel().getMaxAccel());
7703 11901 : const double foeBrakeGap = veh->getCarFollowModel().brakeGap(
7704 11901 : foeNextSpeed, veh->getCarFollowModel().getMaxDecel(), veh->getCarFollowModel().getHeadwayTime());
7705 : // the minGap was subtracted from gap in MSLink::getLeaderInfo (enlarging the negative gap)
7706 : // so the -2* makes it point in the right direction
7707 11901 : const double foeGap = -gap - veh->getLength() - 2 * getVehicleType().getMinGap();
7708 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7709 : if (DEBUG_COND) {
7710 : std::cout << " foeGap=" << foeGap << " foeBGap=" << foeBrakeGap << "\n";
7711 :
7712 : }
7713 : #endif
7714 11901 : if (foeGap < foeBrakeGap) {
7715 : response = true;
7716 : response2 = false;
7717 : } else {
7718 : response = false;
7719 : response2 = true;
7720 : }
7721 : } else {
7722 : // let conflict entry time decide
7723 : response = true;
7724 : response2 = true;
7725 : }
7726 825785 : } else if (entry->havePriority() != foeEntry->havePriority()) {
7727 612431 : response = !entry->havePriority();
7728 612431 : response2 = !foeEntry->havePriority();
7729 213354 : } else if (entry->haveYellow() && foeEntry->haveYellow()) {
7730 : // let the faster vehicle keep moving
7731 5756 : response = veh->getSpeed() >= getSpeed();
7732 5756 : response2 = getSpeed() >= veh->getSpeed();
7733 : } else {
7734 : // fallback if pedestrian crossings are involved
7735 207598 : response = logic->getResponseFor(link->getIndex()).test(foeLink->getIndex());
7736 207598 : response2 = logic->getResponseFor(foeLink->getIndex()).test(link->getIndex());
7737 : }
7738 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7739 : if (DEBUG_COND) {
7740 : std::cout << SIMTIME
7741 : << " foeLane=" << foeLane->getID()
7742 : << " foeLink=" << foeLink->getViaLaneOrLane()->getID()
7743 : << " linkIndex=" << link->getIndex()
7744 : << " foeLinkIndex=" << foeLink->getIndex()
7745 : << " entryState=" << toString(entry->getState())
7746 : << " entryState2=" << toString(foeEntry->getState())
7747 : << " response=" << response
7748 : << " response2=" << response2
7749 : << "\n";
7750 : }
7751 : #endif
7752 942430 : if (!response) {
7753 : // if we have right of way over the foe, entryTime does not matter
7754 80175 : foeET = veh->myJunctionConflictEntryTime;
7755 80175 : egoET = myJunctionEntryTime;
7756 862255 : } else if (response && response2) {
7757 : // in a mutual conflict scenario, use entry time to avoid deadlock
7758 128034 : foeET = veh->myJunctionConflictEntryTime;
7759 128034 : egoET = myJunctionConflictEntryTime;
7760 : }
7761 : }
7762 1393544 : if (egoET == foeET) {
7763 : // try to use speed as tie braker
7764 105497 : if (getSpeed() == veh->getSpeed()) {
7765 : // use ID as tie braker
7766 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7767 : if (DEBUG_COND) {
7768 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7769 : << " foeIsLeaderByID=" << (getID() < veh->getID()) << "\n";
7770 : }
7771 : #endif
7772 56101 : return getID() < veh->getID();
7773 : } else {
7774 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7775 : if (DEBUG_COND) {
7776 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7777 : << " foeIsLeaderBySpeed=" << (getSpeed() < veh->getSpeed())
7778 : << " v=" << getSpeed() << " foeV=" << veh->getSpeed()
7779 : << "\n";
7780 : }
7781 : #endif
7782 49396 : return getSpeed() < veh->getSpeed();
7783 : }
7784 : } else {
7785 : // leader was on the junction first
7786 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7787 : if (DEBUG_COND) {
7788 : std::cout << SIMTIME << " veh=" << getID() << " egoET " << egoET << " with foe " << veh->getID()
7789 : << " foeET=" << foeET << " isLeader=" << (egoET > foeET) << "\n";
7790 : }
7791 : #endif
7792 1288047 : return egoET > foeET;
7793 : }
7794 : } else {
7795 : // vehicle can only be partially on the junction. Must be a leader
7796 : return true;
7797 : }
7798 : } else {
7799 : // vehicle can only be partially on the junction. Must be a leader
7800 : return true;
7801 : }
7802 : }
7803 :
7804 : void
7805 2615 : MSVehicle::saveState(OutputDevice& out) {
7806 2615 : MSBaseVehicle::saveState(out);
7807 : // here starts the vehicle internal part (see loading)
7808 : std::vector<std::string> internals;
7809 2615 : internals.push_back(toString(myParameter->parametersSet));
7810 2615 : internals.push_back(toString(myDeparture));
7811 2615 : internals.push_back(toString(distance(myRoute->begin(), myCurrEdge)));
7812 2615 : internals.push_back(toString(myDepartPos));
7813 2615 : internals.push_back(toString(myWaitingTime));
7814 2615 : internals.push_back(toString(myTimeLoss));
7815 2615 : internals.push_back(toString(myLastActionTime));
7816 2615 : internals.push_back(toString(isStopped()));
7817 2615 : internals.push_back(toString(isStopped() ? myStops.front().duration : 0));
7818 2615 : internals.push_back(toString(myPastStops.size()));
7819 2615 : out.writeAttr(SUMO_ATTR_STATE, internals);
7820 2615 : out.writeAttr(SUMO_ATTR_POSITION, std::vector<double> { myState.myPos, myState.myBackPos, myState.myLastCoveredDist });
7821 2615 : out.writeAttr(SUMO_ATTR_SPEED, std::vector<double> { myState.mySpeed, myState.myPreviousSpeed });
7822 2615 : out.writeAttr(SUMO_ATTR_ANGLE, GeomHelper::naviDegree(myAngle));
7823 2615 : out.writeAttr(SUMO_ATTR_POSITION_LAT, myState.myPosLat);
7824 2615 : out.writeAttr(SUMO_ATTR_WAITINGTIME, myWaitingTimeCollector.getState());
7825 2615 : if (isStopped() && myStops.front().entryPos != getPositionOnLane()) {
7826 2 : out.writeAttr(SUMO_ATTR_ENTRYPOS, myStops.front().entryPos);
7827 : }
7828 2615 : myLaneChangeModel->saveState(out);
7829 : // save past stops
7830 5678 : for (SUMOVehicleParameter::Stop stop : myPastStops) {
7831 3063 : stop.write(out, false);
7832 : // do not write started and ended twice
7833 3063 : if ((stop.parametersSet & STOP_STARTED_SET) == 0) {
7834 3058 : out.writeAttr(SUMO_ATTR_STARTED, time2string(stop.started));
7835 : }
7836 3063 : if ((stop.parametersSet & STOP_ENDED_SET) == 0) {
7837 3058 : out.writeAttr(SUMO_ATTR_ENDED, time2string(stop.ended));
7838 : }
7839 3063 : stop.writeParams(out);
7840 3063 : out.closeTag();
7841 3063 : }
7842 : // save upcoming stops
7843 3115 : for (MSStop& stop : myStops) {
7844 500 : stop.write(out);
7845 : }
7846 : // save parameters and device states
7847 2615 : myParameter->writeParams(out);
7848 6599 : for (MSVehicleDevice* const dev : myDevices) {
7849 3984 : dev->saveState(out);
7850 : }
7851 2615 : if (myCFVariables != nullptr) {
7852 100 : myCFVariables->saveState(out, getCarFollowModel());
7853 : }
7854 2615 : out.closeTag();
7855 2615 : }
7856 :
7857 : void
7858 3472 : MSVehicle::loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) {
7859 3472 : if (!attrs.hasAttribute(SUMO_ATTR_POSITION)) {
7860 0 : throw ProcessError(TL("Error: Invalid vehicles in state (may be a meso state)!"));
7861 : }
7862 : bool ok;
7863 : int routeOffset;
7864 : bool stopped;
7865 : SUMOTime stopDuration;
7866 : int pastStops;
7867 :
7868 3472 : std::istringstream bis(attrs.getString(SUMO_ATTR_STATE));
7869 3472 : bis >> myParameter->parametersSet;
7870 3472 : bis >> myDeparture;
7871 3472 : bis >> routeOffset;
7872 3472 : bis >> myDepartPos;
7873 3472 : bis >> myWaitingTime;
7874 3472 : bis >> myTimeLoss;
7875 3472 : bis >> myLastActionTime;
7876 : bis >> stopped;
7877 : bis >> stopDuration;
7878 3472 : bis >> pastStops;
7879 :
7880 3472 : if (attrs.hasAttribute(SUMO_ATTR_ARRIVALPOS_RANDOMIZED)) {
7881 4 : myArrivalPos = attrs.get<double>(SUMO_ATTR_ARRIVALPOS_RANDOMIZED, getID().c_str(), ok);
7882 : }
7883 : // load stops
7884 : myStops.clear();
7885 3472 : addStops(!MSGlobals::gCheckRoutes, &myCurrEdge, false);
7886 :
7887 3472 : if (hasDeparted()) {
7888 1667 : myCurrEdge = myRoute->begin() + routeOffset;
7889 1667 : myDeparture -= offset;
7890 : // fix stops
7891 4706 : while (pastStops > 0) {
7892 : SUMOVehicleParameter::Stop& pars = const_cast<SUMOVehicleParameter::Stop&>(myStops.front().pars);
7893 : // assumed these attributes were only added to restore vehroute-output.exit-times
7894 3039 : if (!MSGlobals::gUseStopEnded) {
7895 3039 : pars.parametersSet &= ~STOP_ENDED_SET;
7896 : }
7897 3039 : if (!MSGlobals::gUseStopStarted) {
7898 3039 : pars.parametersSet &= ~STOP_STARTED_SET;
7899 : }
7900 6103 : for (const auto& rem : myMoveReminders) {
7901 3064 : rem.first->notifyStopEnded();
7902 : }
7903 3039 : myPastStops.push_back(myStops.front().pars);
7904 3039 : myPastStops.back().routeIndex = (int)(myStops.front().edge - myRoute->begin());
7905 3039 : myStops.pop_front();
7906 3039 : pastStops--;
7907 : }
7908 : // see MSBaseVehicle constructor
7909 1667 : if (myParameter->wasSet(VEHPARS_FORCE_REROUTE)) {
7910 1147 : calculateArrivalParams(true);
7911 : }
7912 : // a (tentative lane is needed for calling hasArrivedInternal
7913 1667 : myLane = (*myCurrEdge)->getLanes()[0];
7914 : }
7915 3472 : if (getActionStepLength() == DELTA_T && !isActionStep(SIMSTEP)) {
7916 1 : myLastActionTime -= (myLastActionTime - SIMSTEP) % DELTA_T;
7917 3 : WRITE_WARNINGF(TL("Action steps are out of sync for loaded vehicle '%'."), getID());
7918 : }
7919 3472 : std::istringstream pis(attrs.getString(SUMO_ATTR_POSITION));
7920 3472 : pis >> myState.myPos >> myState.myBackPos >> myState.myLastCoveredDist;
7921 3472 : std::istringstream sis(attrs.getString(SUMO_ATTR_SPEED));
7922 3472 : sis >> myState.mySpeed >> myState.myPreviousSpeed;
7923 3472 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7924 3472 : myAngle = GeomHelper::fromNaviDegree(attrs.getFloat(SUMO_ATTR_ANGLE));
7925 3472 : myRawAngle = myAngle;
7926 3472 : myState.myPosLat = attrs.getFloat(SUMO_ATTR_POSITION_LAT);
7927 3472 : std::istringstream dis(attrs.getString(SUMO_ATTR_DISTANCE));
7928 3472 : dis >> myOdometer >> myNumberReroutes;
7929 3472 : myWaitingTimeCollector.setState(attrs.getString(SUMO_ATTR_WAITINGTIME));
7930 3472 : if (stopped) {
7931 221 : double realPos = getPositionOnLane();
7932 221 : double entryPos = attrs.getOpt<double>(SUMO_ATTR_ENTRYPOS, getID().c_str(), ok, realPos);
7933 221 : myStops.front().startedFromState = true;
7934 221 : if (entryPos != realPos) {
7935 2 : myStops.front().entryPos = entryPos;
7936 : }
7937 221 : myLane = const_cast<MSLane*>(myStops.front().lane);
7938 221 : myStopDist = 0;
7939 221 : myState.myPos = entryPos; // fake position for replication stop entry which happened before the position was updated
7940 221 : processNextStop(getSpeed());
7941 221 : myState.myPos = realPos; // reset fake position
7942 221 : if (myStops.front().pars.parking != ParkingType::ONROAD) {
7943 : // processNextStop is called again during MSVehicleTransfer::loadState
7944 203 : stopDuration += getActionStepLength();
7945 : }
7946 221 : myStops.front().duration = stopDuration;
7947 221 : if (!MSGlobals::gUseStopStarted) {
7948 : SUMOVehicleParameter::Stop& pars = const_cast<SUMOVehicleParameter::Stop&>(myStops.front().pars);
7949 221 : pars.parametersSet &= ~STOP_STARTED_SET;
7950 : }
7951 : }
7952 3472 : myLaneChangeModel->loadState(attrs);
7953 : // no need to reset myCachedPosition here since state loading happens directly after creation
7954 3472 : }
7955 :
7956 : void
7957 32 : MSVehicle::loadPreviousApproaching(MSLink* link, bool setRequest,
7958 : SUMOTime arrivalTime, double arrivalSpeed,
7959 : double arrivalSpeedBraking,
7960 : double dist, double leaveSpeed) {
7961 : // ensure that approach information is reset on the next call to setApproachingForAllLinks
7962 32 : myLFLinkLanes.push_back(DriveProcessItem(link, 0, 0, setRequest,
7963 : arrivalTime, arrivalSpeed, arrivalSpeedBraking, dist, leaveSpeed));
7964 :
7965 32 : }
7966 :
7967 :
7968 : std::shared_ptr<MSSimpleDriverState>
7969 2564956 : MSVehicle::getDriverState() const {
7970 2564956 : return myDriverState->getDriverState();
7971 : }
7972 :
7973 :
7974 : double
7975 623098030 : MSVehicle::getFriction() const {
7976 623098030 : return myFrictionDevice == nullptr ? 1. : myFrictionDevice->getMeasuredFriction();
7977 : }
7978 :
7979 :
7980 : void
7981 196 : MSVehicle::setPreviousSpeed(double prevSpeed, double prevAcceleration) {
7982 196 : myState.mySpeed = MAX2(0., prevSpeed);
7983 : // also retcon acceleration
7984 196 : if (prevAcceleration != std::numeric_limits<double>::min()) {
7985 8 : myAcceleration = prevAcceleration;
7986 : } else {
7987 188 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7988 : }
7989 196 : }
7990 :
7991 :
7992 : double
7993 1871251018 : MSVehicle::getCurrentApparentDecel() const {
7994 : //return MAX2(-myAcceleration, getCarFollowModel().getApparentDecel());
7995 1871251018 : return getCarFollowModel().getApparentDecel();
7996 : }
7997 :
7998 : /****************************************************************************/
7999 : bool
8000 32 : MSVehicle::setExitManoeuvre() {
8001 32 : return (myManoeuvre.configureExitManoeuvre(this));
8002 : }
8003 :
8004 : /* -------------------------------------------------------------------------
8005 : * methods of MSVehicle::manoeuvre
8006 : * ----------------------------------------------------------------------- */
8007 :
8008 4504622 : MSVehicle::Manoeuvre::Manoeuvre() : myManoeuvreStop(""), myManoeuvreStartTime(0), myManoeuvreCompleteTime(0), myManoeuvreType(MSVehicle::MANOEUVRE_NONE), myGUIIncrement(0) {}
8009 :
8010 :
8011 0 : MSVehicle::Manoeuvre::Manoeuvre(const Manoeuvre& manoeuvre) {
8012 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
8013 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
8014 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
8015 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
8016 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
8017 0 : }
8018 :
8019 :
8020 : MSVehicle::Manoeuvre&
8021 0 : MSVehicle::Manoeuvre::operator=(const Manoeuvre& manoeuvre) {
8022 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
8023 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
8024 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
8025 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
8026 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
8027 0 : return *this;
8028 : }
8029 :
8030 :
8031 : bool
8032 0 : MSVehicle::Manoeuvre::operator!=(const Manoeuvre& manoeuvre) {
8033 0 : return (myManoeuvreStop != manoeuvre.myManoeuvreStop ||
8034 0 : myManoeuvreStartTime != manoeuvre.myManoeuvreStartTime ||
8035 0 : myManoeuvreCompleteTime != manoeuvre.myManoeuvreCompleteTime ||
8036 0 : myManoeuvreType != manoeuvre.myManoeuvreType ||
8037 0 : myGUIIncrement != manoeuvre.myGUIIncrement
8038 0 : );
8039 : }
8040 :
8041 :
8042 : double
8043 450 : MSVehicle::Manoeuvre::getGUIIncrement() const {
8044 450 : return (myGUIIncrement);
8045 : }
8046 :
8047 :
8048 : MSVehicle::ManoeuvreType
8049 2971 : MSVehicle::Manoeuvre::getManoeuvreType() const {
8050 2971 : return (myManoeuvreType);
8051 : }
8052 :
8053 :
8054 : MSVehicle::ManoeuvreType
8055 2971 : MSVehicle::getManoeuvreType() const {
8056 2971 : return (myManoeuvre.getManoeuvreType());
8057 : }
8058 :
8059 :
8060 : void
8061 30 : MSVehicle::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
8062 30 : myManoeuvre.setManoeuvreType(mType);
8063 30 : }
8064 :
8065 :
8066 : void
8067 30 : MSVehicle::Manoeuvre::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
8068 30 : myManoeuvreType = mType;
8069 30 : }
8070 :
8071 :
8072 : bool
8073 30 : MSVehicle::Manoeuvre::configureEntryManoeuvre(MSVehicle* veh) {
8074 30 : if (!veh->hasStops()) {
8075 : return false; // should never happen - checked before call
8076 : }
8077 :
8078 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
8079 30 : const MSStop& stop = veh->getNextStop();
8080 :
8081 30 : int manoeuverAngle = stop.parkingarea->getLastFreeLotAngle();
8082 30 : double GUIAngle = stop.parkingarea->getLastFreeLotGUIAngle();
8083 30 : if (abs(GUIAngle) < 0.1) {
8084 : GUIAngle = -0.1; // Wiggle vehicle on parallel entry
8085 : }
8086 30 : myManoeuvreVehicleID = veh->getID();
8087 30 : myManoeuvreStop = stop.parkingarea->getID();
8088 30 : myManoeuvreType = MSVehicle::MANOEUVRE_ENTRY;
8089 30 : myManoeuvreStartTime = currentTime;
8090 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getEntryManoeuvreTime(manoeuverAngle);
8091 30 : myGUIIncrement = GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
8092 :
8093 : #ifdef DEBUG_STOPS
8094 : if (veh->isSelected()) {
8095 : 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 <<
8096 : " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
8097 : }
8098 : #endif
8099 :
8100 30 : return (true);
8101 : }
8102 :
8103 :
8104 : bool
8105 32 : MSVehicle::Manoeuvre::configureExitManoeuvre(MSVehicle* veh) {
8106 : // At the moment we only want to set for parking areas
8107 32 : if (!veh->hasStops()) {
8108 : return true;
8109 : }
8110 32 : if (veh->getNextStop().parkingarea == nullptr) {
8111 : return true;
8112 : }
8113 :
8114 30 : if (myManoeuvreType != MSVehicle::MANOEUVRE_NONE) {
8115 : return (false);
8116 : }
8117 :
8118 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
8119 :
8120 30 : int manoeuverAngle = veh->getCurrentParkingArea()->getManoeuverAngle(*veh);
8121 30 : double GUIAngle = veh->getCurrentParkingArea()->getGUIAngle(*veh);
8122 30 : if (abs(GUIAngle) < 0.1) {
8123 : GUIAngle = 0.1; // Wiggle vehicle on parallel exit
8124 : }
8125 :
8126 30 : myManoeuvreVehicleID = veh->getID();
8127 30 : myManoeuvreStop = veh->getCurrentParkingArea()->getID();
8128 30 : myManoeuvreType = MSVehicle::MANOEUVRE_EXIT;
8129 30 : myManoeuvreStartTime = currentTime;
8130 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getExitManoeuvreTime(manoeuverAngle);
8131 30 : myGUIIncrement = -GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
8132 30 : if (veh->remainingStopDuration() > 0) {
8133 20 : myManoeuvreCompleteTime += veh->remainingStopDuration();
8134 : }
8135 :
8136 : #ifdef DEBUG_STOPS
8137 : if (veh->isSelected()) {
8138 : std::cout << "EXIT manoeuvre start: vehicle=" << veh->getID() << " Manoeuvre Angle=" << manoeuverAngle << " increment=" << RAD2DEG(myGUIIncrement) << " currentTime=" << currentTime
8139 : << " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
8140 : }
8141 : #endif
8142 :
8143 : return (true);
8144 : }
8145 :
8146 :
8147 : bool
8148 222 : MSVehicle::Manoeuvre::entryManoeuvreIsComplete(MSVehicle* veh) {
8149 : // At the moment we only want to consider parking areas - need to check because we could be setting up a manoeuvre
8150 222 : if (!veh->hasStops()) {
8151 : return (true);
8152 : }
8153 : MSStop* currentStop = &veh->myStops.front();
8154 222 : if (currentStop->parkingarea == nullptr) {
8155 : return true;
8156 220 : } else if (currentStop->parkingarea->getID() != myManoeuvreStop || MSVehicle::MANOEUVRE_ENTRY != myManoeuvreType) {
8157 30 : if (configureEntryManoeuvre(veh)) {
8158 30 : MSNet::getInstance()->informVehicleStateListener(veh, MSNet::VehicleState::MANEUVERING);
8159 30 : return (false);
8160 : } else { // cannot configure entry so stop trying
8161 : return true;
8162 : }
8163 190 : } else if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8164 : return false;
8165 : } else { // manoeuvre complete
8166 30 : myManoeuvreType = MSVehicle::MANOEUVRE_NONE;
8167 30 : return true;
8168 : }
8169 : }
8170 :
8171 :
8172 : bool
8173 0 : MSVehicle::Manoeuvre::manoeuvreIsComplete(const ManoeuvreType checkType) const {
8174 0 : if (checkType != myManoeuvreType) {
8175 : return true; // we're not maneuvering / wrong manoeuvre
8176 : }
8177 :
8178 0 : if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8179 : return false;
8180 : } else {
8181 : return true;
8182 : }
8183 : }
8184 :
8185 :
8186 : bool
8187 6266 : MSVehicle::Manoeuvre::manoeuvreIsComplete() const {
8188 6266 : return (MSNet::getInstance()->getCurrentTimeStep() >= myManoeuvreCompleteTime);
8189 : }
8190 :
8191 :
8192 : bool
8193 6266 : MSVehicle::manoeuvreIsComplete() const {
8194 6266 : return (myManoeuvre.manoeuvreIsComplete());
8195 : }
8196 :
8197 :
8198 : std::pair<double, double>
8199 7440 : MSVehicle::estimateTimeToNextStop() const {
8200 7440 : if (hasStops()) {
8201 7440 : MSLane* lane = myLane;
8202 7440 : if (lane == nullptr) {
8203 : // not in network
8204 84 : lane = getEdge()->getLanes()[0];
8205 : }
8206 : const MSStop& stop = myStops.front();
8207 : auto it = myCurrEdge + 1;
8208 : // drive to end of current edge
8209 7440 : double dist = (lane->getLength() - getPositionOnLane());
8210 7440 : double travelTime = lane->getEdge().getMinimumTravelTime(this) * dist / lane->getLength();
8211 : // drive until stop edge
8212 8804 : while (it != myRoute->end() && it < stop.edge) {
8213 1364 : travelTime += (*it)->getMinimumTravelTime(this);
8214 1364 : dist += (*it)->getLength();
8215 : it++;
8216 : }
8217 : // drive up to the stop position
8218 7440 : const double stopEdgeDist = stop.pars.endPos - (lane == stop.lane ? lane->getLength() : 0);
8219 7440 : dist += stopEdgeDist;
8220 7440 : travelTime += stop.lane->getEdge().getMinimumTravelTime(this) * (stopEdgeDist / stop.lane->getLength());
8221 : // estimate time loss due to acceleration and deceleration
8222 : // maximum speed is limited by available distance:
8223 : const double a = getCarFollowModel().getMaxAccel();
8224 : const double b = getCarFollowModel().getMaxDecel();
8225 7440 : const double c = getSpeed();
8226 : const double d = dist;
8227 7440 : const double len = getVehicleType().getLength();
8228 7440 : const double vs = MIN2(MAX2(stop.getSpeed(), 0.0), stop.lane->getVehicleMaxSpeed(this));
8229 : // distAccel = (v - c)^2 / (2a)
8230 : // distDecel = (v + vs)*(v - vs) / 2b = (v^2 - vs^2) / (2b)
8231 : // distAccel + distDecel < d
8232 7440 : 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))))
8233 14592 : + pow((a * vs), 2))))) * 0.5) + (c * b)) / (b + a));
8234 7440 : it = myCurrEdge;
8235 : double v0 = c;
8236 7440 : bool v0Stable = getAcceleration() == 0 && v0 > 0;
8237 : double timeLossAccel = 0;
8238 : double timeLossDecel = 0;
8239 : double timeLossLength = 0;
8240 17742 : while (it != myRoute->end() && it <= stop.edge) {
8241 10302 : double v = MIN2(maxVD, (*it)->getVehicleMaxSpeed(this));
8242 10302 : double edgeLength = (it == stop.edge ? stop.pars.endPos : (*it)->getLength()) - (it == myCurrEdge ? getPositionOnLane() : 0);
8243 10302 : if (edgeLength <= len && v0Stable && v0 < v) {
8244 : const double lengthDist = MIN2(len, edgeLength);
8245 20 : const double dTL = lengthDist / v0 - lengthDist / v;
8246 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " el=" << edgeLength << " lDist=" << lengthDist << " newTLL=" << dTL<< "\n";
8247 20 : timeLossLength += dTL;
8248 : }
8249 10302 : if (edgeLength > len) {
8250 9166 : const double dv = v - v0;
8251 9166 : if (dv > 0) {
8252 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8253 6504 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8254 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8255 6504 : timeLossAccel += dTA;
8256 : // time loss from vehicle length
8257 2662 : } else if (dv < 0) {
8258 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8259 540 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8260 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8261 540 : timeLossDecel += dTD;
8262 : }
8263 : v0 = v;
8264 : v0Stable = true;
8265 : }
8266 : it++;
8267 : }
8268 : // final deceleration to stop (may also be acceleration or deceleration to waypoint speed)
8269 : double v = vs;
8270 7440 : const double dv = v - v0;
8271 7440 : if (dv > 0) {
8272 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8273 144 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8274 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8275 144 : timeLossAccel += dTA;
8276 : // time loss from vehicle length
8277 7296 : } else if (dv < 0) {
8278 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8279 7268 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8280 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8281 7268 : timeLossDecel += dTD;
8282 : }
8283 7440 : const double result = travelTime + timeLossAccel + timeLossDecel + timeLossLength;
8284 : //std::cout << SIMTIME << " v=" << c << " a=" << a << " b=" << b << " maxVD=" << maxVD << " tt=" << travelTime
8285 : // << " ta=" << timeLossAccel << " td=" << timeLossDecel << " tl=" << timeLossLength << " res=" << result << "\n";
8286 7440 : return {MAX2(0.0, result), dist};
8287 : } else {
8288 0 : return {INVALID_DOUBLE, INVALID_DOUBLE};
8289 : }
8290 : }
8291 :
8292 :
8293 : double
8294 2457 : MSVehicle::getStopDelay() const {
8295 2457 : if (hasStops() && myStops.front().pars.until >= 0) {
8296 : const MSStop& stop = myStops.front();
8297 1612 : SUMOTime estimatedDepart = MSNet::getInstance()->getCurrentTimeStep() - DELTA_T;
8298 1612 : if (stop.reached) {
8299 802 : return STEPS2TIME(estimatedDepart + stop.duration - stop.pars.until);
8300 : }
8301 810 : if (stop.pars.duration > 0) {
8302 608 : estimatedDepart += stop.pars.duration;
8303 : }
8304 810 : estimatedDepart += TIME2STEPS(estimateTimeToNextStop().first);
8305 810 : const double result = MAX2(0.0, STEPS2TIME(estimatedDepart - stop.pars.until));
8306 810 : return result;
8307 : } else {
8308 : // vehicles cannot drive before 'until' so stop delay can never be
8309 : // negative and we can use -1 to signal "undefined"
8310 : return -1;
8311 : }
8312 : }
8313 :
8314 :
8315 : double
8316 5510 : MSVehicle::getStopArrivalDelay() const {
8317 5510 : if (hasStops() && myStops.front().pars.arrival >= 0) {
8318 : const MSStop& stop = myStops.front();
8319 4334 : if (stop.reached) {
8320 1304 : return STEPS2TIME(stop.pars.started - stop.pars.arrival);
8321 : } else {
8322 3030 : return STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep()) + estimateTimeToNextStop().first - STEPS2TIME(stop.pars.arrival);
8323 : }
8324 : } else {
8325 : // vehicles can arrive earlier than planned so arrival delay can be negative
8326 : return INVALID_DOUBLE;
8327 : }
8328 : }
8329 :
8330 :
8331 : const MSEdge*
8332 3103877583 : MSVehicle::getCurrentEdge() const {
8333 3103877583 : return myLane != nullptr ? &myLane->getEdge() : getEdge();
8334 : }
8335 :
8336 :
8337 : const MSEdge*
8338 3932 : MSVehicle::getNextEdgePtr() const {
8339 3932 : if (myLane == nullptr || (myCurrEdge + 1) == myRoute->end()) {
8340 8 : return nullptr;
8341 : }
8342 3924 : if (myLane->isInternal()) {
8343 568 : return &myLane->getCanonicalSuccessorLane()->getEdge();
8344 : } else {
8345 3356 : const MSEdge* nextNormal = succEdge(1);
8346 3356 : const MSEdge* nextInternal = myLane->getEdge().getInternalFollowingEdge(nextNormal, getVClass());
8347 3356 : return nextInternal ? nextInternal : nextNormal;
8348 : }
8349 : }
8350 :
8351 :
8352 : const MSLane*
8353 1602 : MSVehicle::getPreviousLane(const MSLane* current, int& furtherIndex) const {
8354 1602 : if (furtherIndex < (int)myFurtherLanes.size()) {
8355 1225 : return myFurtherLanes[furtherIndex++];
8356 : } else {
8357 : // try to use route information
8358 377 : int routeIndex = getRoutePosition();
8359 : bool resultInternal;
8360 377 : if (MSGlobals::gUsingInternalLanes && MSNet::getInstance()->hasInternalLinks()) {
8361 0 : if (myLane->isInternal()) {
8362 0 : if (furtherIndex % 2 == 0) {
8363 0 : routeIndex -= (furtherIndex + 0) / 2;
8364 : resultInternal = false;
8365 : } else {
8366 0 : routeIndex -= (furtherIndex + 1) / 2;
8367 : resultInternal = false;
8368 : }
8369 : } else {
8370 0 : if (furtherIndex % 2 != 0) {
8371 0 : routeIndex -= (furtherIndex + 1) / 2;
8372 : resultInternal = false;
8373 : } else {
8374 0 : routeIndex -= (furtherIndex + 2) / 2;
8375 : resultInternal = true;
8376 : }
8377 : }
8378 : } else {
8379 377 : routeIndex -= furtherIndex;
8380 : resultInternal = false;
8381 : }
8382 377 : furtherIndex++;
8383 377 : if (routeIndex >= 0) {
8384 163 : if (resultInternal) {
8385 0 : const MSEdge* prevNormal = myRoute->getEdges()[routeIndex];
8386 0 : for (MSLane* cand : prevNormal->getLanes()) {
8387 0 : for (MSLink* link : cand->getLinkCont()) {
8388 0 : if (link->getLane() == current) {
8389 0 : if (link->getViaLane() != nullptr) {
8390 : return link->getViaLane();
8391 : } else {
8392 0 : return const_cast<MSLane*>(link->getLaneBefore());
8393 : }
8394 : }
8395 : }
8396 : }
8397 : } else {
8398 163 : return myRoute->getEdges()[routeIndex]->getLanes()[0];
8399 : }
8400 : }
8401 : }
8402 : return current;
8403 : }
8404 :
8405 : SUMOTime
8406 1525306668 : MSVehicle::getWaitingTimeFor(const MSLink* link) const {
8407 : // this vehicle currently has the highest priority on the allway_stop
8408 1525306668 : return link == myHaveStoppedFor ? SUMOTime_MAX : getWaitingTime();
8409 : }
8410 :
8411 :
8412 : void
8413 694 : MSVehicle::resetApproachOnReroute() {
8414 : bool diverged = false;
8415 : const ConstMSEdgeVector& route = myRoute->getEdges();
8416 694 : int ri = getRoutePosition();
8417 2926 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
8418 2232 : if (dpi.myLink != nullptr) {
8419 2229 : if (!diverged) {
8420 1996 : const MSEdge* next = route[ri + 1];
8421 1996 : if (&dpi.myLink->getLane()->getEdge() != next) {
8422 : diverged = true;
8423 : } else {
8424 1930 : if (dpi.myLink->getViaLane() == nullptr) {
8425 : ri++;
8426 : }
8427 : }
8428 : }
8429 : if (diverged) {
8430 299 : dpi.myLink->removeApproaching(this);
8431 : }
8432 : }
8433 : }
8434 694 : }
8435 :
8436 :
8437 : bool
8438 15079290 : MSVehicle::instantStopping() const {
8439 15079290 : return myInfluencer && !myInfluencer->considerMaxDeceleration();
8440 : }
8441 :
8442 : /****************************************************************************/
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