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 3554479 : MSVehicle::State::operator=(const State& state) {
153 3554479 : myPos = state.myPos;
154 3554479 : mySpeed = state.mySpeed;
155 3554479 : myPosLat = state.myPosLat;
156 3554479 : myBackPos = state.myBackPos;
157 3554479 : myPreviousSpeed = state.myPreviousSpeed;
158 3554479 : myLastCoveredDist = state.myLastCoveredDist;
159 3554479 : 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 8088562 : MSVehicle::State::State(double pos, double speed, double posLat, double backPos, double previousSpeed) :
175 8088562 : myPos(pos), mySpeed(speed), myPosLat(posLat), myBackPos(backPos), myPreviousSpeed(previousSpeed), myLastCoveredDist(SPEED2DIST(speed)) {}
176 :
177 :
178 :
179 : /* -------------------------------------------------------------------------
180 : * methods of MSVehicle::WaitingTimeCollector
181 : * ----------------------------------------------------------------------- */
182 4534083 : MSVehicle::WaitingTimeCollector::WaitingTimeCollector(SUMOTime memory) : myMemorySize(memory) {}
183 :
184 :
185 : SUMOTime
186 1428911 : MSVehicle::WaitingTimeCollector::cumulatedWaitingTime(SUMOTime memorySpan) const {
187 : assert(memorySpan <= myMemorySize);
188 1428911 : if (memorySpan == -1) {
189 0 : memorySpan = myMemorySize;
190 : }
191 : SUMOTime totalWaitingTime = 0;
192 5944953 : 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 1428911 : return totalWaitingTime;
204 : }
205 :
206 :
207 : void
208 705038181 : MSVehicle::WaitingTimeCollector::passTime(SUMOTime dt, bool waiting) {
209 : auto i = myWaitingIntervals.begin();
210 : const auto end = myWaitingIntervals.end();
211 705038181 : const bool startNewInterval = i == end || (i->first != 0);
212 1164923511 : while (i != end) {
213 462286267 : i->first += dt;
214 462286267 : if (i->first >= myMemorySize) {
215 : break;
216 : }
217 459885330 : i->second += dt;
218 : i++;
219 : }
220 :
221 : // remove intervals beyond memorySize
222 : auto d = std::distance(i, end);
223 707439118 : while (d > 0) {
224 2400937 : myWaitingIntervals.pop_back();
225 2400937 : d--;
226 : }
227 :
228 705038181 : if (!waiting) {
229 : return;
230 95442158 : } else if (!startNewInterval) {
231 91654101 : myWaitingIntervals.begin()->first = 0;
232 : } else {
233 7576114 : myWaitingIntervals.push_front(std::make_pair(0, dt));
234 : }
235 : return;
236 : }
237 :
238 :
239 : const std::string
240 2625 : MSVehicle::WaitingTimeCollector::getState() const {
241 2625 : std::ostringstream state;
242 2625 : state << myMemorySize << " " << myWaitingIntervals.size();
243 3545 : for (const auto& interval : myWaitingIntervals) {
244 1840 : state << " " << interval.first << " " << interval.second;
245 : }
246 2625 : return state.str();
247 2625 : }
248 :
249 :
250 : void
251 3483 : MSVehicle::WaitingTimeCollector::setState(const std::string& state) {
252 3483 : std::istringstream is(state);
253 : int numIntervals;
254 : SUMOTime begin, end;
255 3483 : is >> myMemorySize >> numIntervals;
256 5185 : while (numIntervals-- > 0) {
257 : is >> begin >> end;
258 1702 : myWaitingIntervals.emplace_back(begin, end);
259 : }
260 3483 : }
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 35339 : MSVehicle::Influencer::GapControlState::cleanup() {
319 35339 : if (myVehStateListener != nullptr) {
320 58 : MSNet::getInstance()->removeVehicleStateListener(myVehStateListener);
321 58 : delete myVehStateListener;
322 58 : myVehStateListener = nullptr;
323 : }
324 35339 : }
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 3487 : MSVehicle::Influencer::Influencer() :
371 : myGapControlState(nullptr),
372 3487 : myOriginalSpeed(-1),
373 3487 : myLatDist(0),
374 3487 : mySpeedAdaptationStarted(true),
375 3487 : myConsiderSafeVelocity(true),
376 3487 : myConsiderSpeedLimit(true),
377 3487 : myConsiderMaxAcceleration(true),
378 3487 : myConsiderMaxDeceleration(true),
379 3487 : myRespectJunctionPriority(true),
380 3487 : myEmergencyBrakeRedLight(true),
381 3487 : myRespectJunctionLeaderPriority(true),
382 3487 : myLastRemoteAccess(-TIME2STEPS(20)),
383 3487 : myStrategicLC(LC_NOCONFLICT),
384 3487 : myCooperativeLC(LC_NOCONFLICT),
385 3487 : mySpeedGainLC(LC_NOCONFLICT),
386 3487 : myRightDriveLC(LC_NOCONFLICT),
387 3487 : mySublaneLC(LC_NOCONFLICT),
388 3487 : myTraciLaneChangePriority(LCP_URGENT),
389 3487 : myTraCISignals(-1)
390 3487 : {}
391 :
392 :
393 10461 : MSVehicle::Influencer::~Influencer() {}
394 :
395 : void
396 58 : MSVehicle::Influencer::init() {
397 58 : GapControlState::init();
398 58 : }
399 :
400 : void
401 35339 : MSVehicle::Influencer::cleanup() {
402 35339 : GapControlState::cleanup();
403 35339 : }
404 :
405 : void
406 43462 : MSVehicle::Influencer::setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine) {
407 43462 : mySpeedAdaptationStarted = true;
408 43462 : mySpeedTimeLine = speedTimeLine;
409 43462 : }
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 7341 : MSVehicle::Influencer::setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine) {
429 7341 : myLaneTimeLine = laneTimeLine;
430 7341 : }
431 :
432 :
433 : void
434 9042 : MSVehicle::Influencer::adaptLaneTimeLine(int indexShift) {
435 19192 : for (auto& item : myLaneTimeLine) {
436 10150 : item.second += indexShift;
437 : }
438 9042 : }
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 989018 : MSVehicle::Influencer::influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax) {
494 : // remove leading commands which are no longer valid
495 990376 : while (mySpeedTimeLine.size() == 1 || (mySpeedTimeLine.size() > 1 && currentTime > mySpeedTimeLine[1].first)) {
496 : mySpeedTimeLine.erase(mySpeedTimeLine.begin());
497 : }
498 :
499 989018 : if (!(mySpeedTimeLine.size() < 2 || currentTime < mySpeedTimeLine[0].first)) {
500 : // Speed advice is active -> compute new speed according to speedTimeLine
501 53670 : if (!mySpeedAdaptationStarted) {
502 0 : mySpeedTimeLine[0].second = speed;
503 0 : mySpeedAdaptationStarted = true;
504 : }
505 53670 : 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 107002 : const double td = MIN2(1.0, STEPS2TIME(currentTime - mySpeedTimeLine[0].first) / MAX2(TS, STEPS2TIME(mySpeedTimeLine[1].first - mySpeedTimeLine[0].first)));
507 :
508 53670 : speed = mySpeedTimeLine[0].second - (mySpeedTimeLine[0].second - mySpeedTimeLine[1].second) * td;
509 53670 : if (myConsiderSafeVelocity) {
510 : speed = MIN2(speed, vSafe);
511 : }
512 53670 : if (myConsiderMaxAcceleration) {
513 : speed = MIN2(speed, vMax);
514 : }
515 53670 : if (myConsiderMaxDeceleration) {
516 : speed = MAX2(speed, vMin);
517 : }
518 : }
519 989018 : return speed;
520 : }
521 :
522 : double
523 491830 : 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 491830 : 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 497188 : MSVehicle::Influencer::setOriginalSpeed(double speed) {
682 497188 : myOriginalSpeed = speed;
683 497188 : }
684 :
685 :
686 : int
687 2829460 : MSVehicle::Influencer::influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state) {
688 : // remove leading commands which are no longer valid
689 2829712 : 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 2829460 : 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 2829460 : if ((state & LCA_WANTS_LANECHANGE_OR_STAY) != 0) {
711 : // flags for the current reason
712 : LaneChangeMode mode = LC_NEVER;
713 1603041 : 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 1600661 : } else if ((state & LCA_STRATEGIC) != 0) {
722 486038 : mode = myStrategicLC;
723 1114623 : } else if ((state & LCA_COOPERATIVE) != 0) {
724 78 : mode = myCooperativeLC;
725 1114545 : } else if ((state & LCA_SPEEDGAIN) != 0) {
726 42175 : mode = mySpeedGainLC;
727 1072370 : } else if ((state & LCA_KEEPRIGHT) != 0) {
728 5994 : mode = myRightDriveLC;
729 1066376 : } else if ((state & LCA_SUBLANE) != 0) {
730 1066374 : 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 1600659 : if (mode == LC_NEVER) {
737 : // cancel all lcModel requests
738 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
739 42510 : state &= ~LCA_URGENT;
740 42510 : if (changeRequest == REQUEST_NONE) {
741 : // also remove all reasons except TRACI
742 42043 : state &= ~LCA_CHANGE_REASONS | LCA_TRACI;
743 : }
744 1558151 : } 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 1552528 : } else if (mode == LC_ALWAYS) {
754 : // ignore any TraCI requests
755 : return state;
756 : }
757 : }
758 : // apply traci requests
759 2821879 : if (changeRequest == REQUEST_NONE) {
760 2654035 : 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 5622 : MSVehicle::Influencer::setSpeedMode(int speedMode) {
795 5622 : myConsiderSafeVelocity = ((speedMode & 1) != 0);
796 5622 : myConsiderMaxAcceleration = ((speedMode & 2) != 0);
797 5622 : myConsiderMaxDeceleration = ((speedMode & 4) != 0);
798 5622 : myRespectJunctionPriority = ((speedMode & 8) != 0);
799 5622 : myEmergencyBrakeRedLight = ((speedMode & 16) != 0);
800 5622 : myRespectJunctionLeaderPriority = ((speedMode & 32) == 0); // inverted!
801 5622 : myConsiderSpeedLimit = ((speedMode & 64) == 0); // inverted!
802 5622 : }
803 :
804 :
805 : void
806 18534 : MSVehicle::Influencer::setLaneChangeMode(int value) {
807 18534 : myStrategicLC = (LaneChangeMode)(value & (1 + 2));
808 18534 : myCooperativeLC = (LaneChangeMode)((value & (4 + 8)) >> 2);
809 18534 : mySpeedGainLC = (LaneChangeMode)((value & (16 + 32)) >> 4);
810 18534 : myRightDriveLC = (LaneChangeMode)((value & (64 + 128)) >> 6);
811 18534 : myTraciLaneChangePriority = (TraciLaneChangePriority)((value & (256 + 512)) >> 8);
812 18534 : mySublaneLC = (LaneChangeMode)((value & (1024 + 2048)) >> 10);
813 18534 : }
814 :
815 :
816 : void
817 7359 : MSVehicle::Influencer::setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t) {
818 7359 : myRemoteXYPos = xyPos;
819 7359 : myRemoteLane = l;
820 7359 : myRemotePos = pos;
821 7359 : myRemotePosLat = posLat;
822 7359 : myRemoteAngle = angle;
823 7359 : myRemoteEdgeOffset = edgeOffset;
824 7359 : myRemoteRoute = route;
825 7359 : myLastRemoteAccess = t;
826 7359 : }
827 :
828 :
829 : bool
830 1017800 : MSVehicle::Influencer::isRemoteControlled() const {
831 1017800 : return myLastRemoteAccess == MSNet::getInstance()->getCurrentTimeStep();
832 : }
833 :
834 :
835 : bool
836 482926 : MSVehicle::Influencer::isRemoteAffected(SUMOTime t) const {
837 482926 : return myLastRemoteAccess >= t - TIME2STEPS(10);
838 : }
839 :
840 :
841 : void
842 491830 : MSVehicle::Influencer::updateRemoteControlRoute(MSVehicle* v) {
843 491830 : 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 491830 : }
855 :
856 :
857 : void
858 7339 : MSVehicle::Influencer::postProcessRemoteControl(MSVehicle* v) {
859 7339 : const bool wasOnRoad = v->isOnRoad();
860 7339 : const bool withinLane = myRemoteLane != nullptr && fabs(myRemotePosLat) < 0.5 * (myRemoteLane->getWidth() + v->getVehicleType().getWidth());
861 7339 : const bool keepLane = wasOnRoad && v->getLane() == myRemoteLane;
862 7339 : if (v->isOnRoad() && !(keepLane && withinLane)) {
863 154 : if (myRemoteLane != nullptr && &v->getLane()->getEdge() == &myRemoteLane->getEdge()) {
864 : // correct odometer which gets incremented via onRemovalFromNet->leaveLane
865 64 : v->myOdometer -= v->getLane()->getLength();
866 : }
867 154 : v->onRemovalFromNet(MSMoveReminder::NOTIFICATION_TELEPORT);
868 154 : v->getMutableLane()->removeVehicle(v, MSMoveReminder::NOTIFICATION_TELEPORT, false);
869 : }
870 7339 : 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 7339 : v->myCurrEdge = v->getRoute().begin() + myRemoteEdgeOffset;
887 7339 : if (myRemoteLane != nullptr && myRemotePos > myRemoteLane->getLength()) {
888 0 : myRemotePos = myRemoteLane->getLength();
889 : }
890 7339 : if (myRemoteLane != nullptr && withinLane) {
891 7193 : if (keepLane) {
892 : // TODO this handles only the case when the new vehicle is completely on the edge
893 7016 : const bool needFurtherUpdate = v->myState.myPos < v->getVehicleType().getLength() && myRemotePos >= v->getVehicleType().getLength();
894 7016 : v->myState.myPos = myRemotePos;
895 7016 : v->myState.myPosLat = myRemotePosLat;
896 7016 : if (needFurtherUpdate) {
897 4 : v->myState.myBackPos = v->updateFurtherLanes(v->myFurtherLanes, v->myFurtherLanesPosLat, std::vector<MSLane*>());
898 : }
899 : } else {
900 177 : MSMoveReminder::Notification notify = v->getDeparture() == NOT_YET_DEPARTED
901 177 : ? MSMoveReminder::NOTIFICATION_DEPARTED
902 : : MSMoveReminder::NOTIFICATION_TELEPORT_ARRIVED;
903 177 : if (!v->isOnRoad()) {
904 177 : MSVehicleTransfer::getInstance()->remove(v); // TODO may need optimization, this is linear in the number of vehicles in transfer
905 : }
906 177 : myRemoteLane->forceVehicleInsertion(v, myRemotePos, notify, myRemotePosLat);
907 177 : v->updateBestLanes();
908 : }
909 7193 : if (!wasOnRoad) {
910 53 : v->drawOutsideNetwork(false);
911 : }
912 : //std::cout << "on road network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << " pos=" << myRemotePos << " posLat=" << myRemotePosLat << "\n";
913 7193 : myRemoteLane->requireCollisionCheck();
914 : } else {
915 146 : if (v->getDeparture() == NOT_YET_DEPARTED) {
916 4 : v->onDepart();
917 : }
918 146 : v->drawOutsideNetwork(true);
919 : // see updateState
920 146 : double vNext = v->processTraCISpeedControl(
921 146 : v->getMaxSpeed(), v->getSpeed());
922 146 : v->setBrakingSignals(vNext);
923 146 : v->myState.myPreviousSpeed = v->getSpeed();
924 146 : v->myAcceleration = SPEED2ACCEL(vNext - v->getSpeed());
925 146 : v->myState.mySpeed = vNext;
926 146 : v->updateWaitingTime(vNext);
927 : //std::cout << "outside network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << "\n";
928 : }
929 : // ensure that the position is correct (i.e. when the lanePosition is ambiguous at corners)
930 7339 : v->setRemoteState(myRemoteXYPos);
931 7339 : v->setAngle(GeomHelper::fromNaviDegree(myRemoteAngle));
932 7339 : }
933 :
934 :
935 : double
936 7320 : MSVehicle::Influencer::implicitSpeedRemote(const MSVehicle* veh, double oldSpeed) {
937 7320 : if (veh->getPosition() == Position::INVALID) {
938 8 : return oldSpeed;
939 : }
940 7312 : double dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
941 7312 : 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 7198 : const double distAlongRoute = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
947 7198 : 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 7312 : const double minSpeed = myConsiderMaxDeceleration ?
953 4044 : veh->getCarFollowModel().minNextSpeedEmergency(oldSpeed, veh) : 0;
954 7312 : const double maxSpeed = (myRemoteLane != nullptr
955 7312 : ? myRemoteLane->getVehicleMaxSpeed(veh)
956 114 : : (veh->getLane() != nullptr
957 114 : ? veh->getLane()->getVehicleMaxSpeed(veh)
958 4 : : veh->getMaxSpeed()));
959 7312 : return MIN2(maxSpeed, MAX2(minSpeed, DIST2SPEED(dist)));
960 : }
961 :
962 :
963 : double
964 7182 : MSVehicle::Influencer::implicitDeltaPosRemote(const MSVehicle* veh) {
965 : double dist = 0;
966 7182 : 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 7177 : dist = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
975 : }
976 7182 : if (dist == std::numeric_limits<double>::max()) {
977 : return 0;
978 : } else {
979 6961 : 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 6961 : return dist;
986 : }
987 : }
988 :
989 :
990 : /* -------------------------------------------------------------------------
991 : * MSVehicle-methods
992 : * ----------------------------------------------------------------------- */
993 4534083 : MSVehicle::MSVehicle(SUMOVehicleParameter* pars, ConstMSRoutePtr route,
994 4534083 : MSVehicleType* type, const double speedFactor) :
995 : MSBaseVehicle(pars, route, type, speedFactor),
996 4534083 : myWaitingTime(0),
997 4534083 : myWaitingTimeCollector(),
998 4534083 : myTimeLoss(0),
999 4534083 : myState(0, 0, 0, 0, 0),
1000 4534083 : myDriverState(nullptr),
1001 4534083 : myActionStep(true),
1002 4534083 : myLastActionTime(0),
1003 4534083 : myLane(nullptr),
1004 4534083 : myLaneChangeModel(nullptr),
1005 4534083 : myLastBestLanesEdge(nullptr),
1006 4534083 : myLastBestLanesInternalLane(nullptr),
1007 4534083 : myAcceleration(0),
1008 : myNextTurn(0., nullptr),
1009 4534083 : mySignals(0),
1010 4534083 : myAmOnNet(false),
1011 4534083 : myAmIdling(false),
1012 4534083 : myHaveToWaitOnNextLink(false),
1013 4534083 : myAngle(0),
1014 4534083 : myRawAngle(0),
1015 4534083 : myLastAngle(INVALID_DOUBLE),
1016 4534083 : myStopDist(std::numeric_limits<double>::max()),
1017 4534083 : myStopSpeed(std::numeric_limits<double>::max()),
1018 4534083 : myCollisionImmunity(-1),
1019 4534083 : myCachedPosition(Position::INVALID),
1020 4534083 : myJunctionEntryTime(SUMOTime_MAX),
1021 4534083 : myJunctionEntryTimeNeverYield(SUMOTime_MAX),
1022 4534083 : myJunctionConflictEntryTime(SUMOTime_MAX),
1023 4534083 : myTimeSinceStartup(TIME2STEPS(3600 * 24)),
1024 4534083 : myHaveStoppedFor(nullptr),
1025 13602249 : myInfluencer(nullptr) {
1026 4534083 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
1027 4534083 : myNextDriveItem = myLFLinkLanes.begin();
1028 4534083 : }
1029 :
1030 :
1031 8418472 : MSVehicle::~MSVehicle() {
1032 4534006 : cleanupParkingReservation();
1033 4534006 : cleanupFurtherLanes();
1034 4534006 : delete myLaneChangeModel;
1035 4534006 : if (myType->isVehicleSpecific()) {
1036 314 : MSNet::getInstance()->getVehicleControl().removeVType(myType);
1037 : }
1038 4534006 : delete myInfluencer;
1039 4534006 : delete myCFVariables;
1040 12952478 : }
1041 :
1042 :
1043 : void
1044 4534568 : MSVehicle::cleanupFurtherLanes() {
1045 4537083 : for (MSLane* further : myFurtherLanes) {
1046 2515 : further->resetPartialOccupation(this);
1047 2515 : if (further->getBidiLane() != nullptr
1048 2515 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
1049 0 : further->getBidiLane()->resetPartialOccupation(this);
1050 : }
1051 : }
1052 4534568 : if (myLaneChangeModel != nullptr) {
1053 4534534 : removeApproachingInformation(myLFLinkLanes);
1054 4534534 : myLaneChangeModel->cleanupShadowLane();
1055 4534534 : 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 4534568 : }
1062 :
1063 :
1064 : void
1065 3379247 : 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 3379247 : MSVehicleTransfer::getInstance()->remove(this);
1072 3379247 : removeApproachingInformation(myLFLinkLanes);
1073 3379247 : leaveLane(reason);
1074 3379247 : if (reason == MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION) {
1075 562 : cleanupFurtherLanes();
1076 : }
1077 3379247 : }
1078 :
1079 :
1080 : void
1081 4534083 : MSVehicle::initDevices() {
1082 4534083 : MSBaseVehicle::initDevices();
1083 4534071 : myLaneChangeModel = MSAbstractLaneChangeModel::build(myType->getLaneChangeModel(), *this);
1084 4534049 : myDriverState = static_cast<MSDevice_DriverState*>(getDevice(typeid(MSDevice_DriverState)));
1085 4534049 : myFrictionDevice = static_cast<MSDevice_Friction*>(getDevice(typeid(MSDevice_Friction)));
1086 4534049 : }
1087 :
1088 :
1089 : // ------------ interaction with the route
1090 : bool
1091 2238252825 : MSVehicle::hasValidRouteStart(std::string& msg) {
1092 : // note: not a const method because getDepartLane may call updateBestLanes
1093 2238252825 : if (!(*myCurrEdge)->isTazConnector()) {
1094 2237924467 : if (myParameter->departLaneProcedure == DepartLaneDefinition::GIVEN
1095 2237924467 : || (myParameter->departLaneProcedure == DepartLaneDefinition::DEFAULT && MSEdge::getDefaultDepartLaneDefinition() == DepartLaneDefinition::GIVEN)) {
1096 60880006 : 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 2177044461 : 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 2237924329 : 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 2238252668 : myRouteValidity &= ~(ROUTE_START_INVALID_LANE | ROUTE_START_INVALID_PERMISSIONS);
1119 2238252668 : return true;
1120 : }
1121 :
1122 :
1123 : bool
1124 718308357 : MSVehicle::hasArrived() const {
1125 718308357 : return hasArrivedInternal(false);
1126 : }
1127 :
1128 :
1129 : bool
1130 1446011707 : MSVehicle::hasArrivedInternal(bool oppositeTransformed) const {
1131 2355140537 : return ((myCurrEdge == myRoute->end() - 1 || (myParameter->arrivalEdge >= 0 && getRoutePosition() >= myParameter->arrivalEdge))
1132 536932150 : && (myStops.empty() || myStops.front().edge != myCurrEdge || myStops.front().getSpeed() > 0)
1133 1004504918 : && ((myLaneChangeModel->isOpposite() && !oppositeTransformed) ? myLane->getLength() - myState.myPos : myState.myPos) > MIN2(myLane->getLength(), myArrivalPos) - POSITION_EPS
1134 1457444455 : && !isRemoteControlled());
1135 : }
1136 :
1137 :
1138 : bool
1139 1573818 : MSVehicle::replaceRoute(ConstMSRoutePtr newRoute, const std::string& info, bool onInit, int offset, bool addRouteStops, bool removeStops, std::string* msgReturn) {
1140 3147636 : if (MSBaseVehicle::replaceRoute(newRoute, info, onInit, offset, addRouteStops, removeStops, msgReturn)) {
1141 : // update best lanes (after stops were added)
1142 1573800 : myLastBestLanesEdge = nullptr;
1143 1573800 : myLastBestLanesInternalLane = nullptr;
1144 1573800 : updateBestLanes(true, onInit ? (*myCurrEdge)->getLanes().front() : 0);
1145 : assert(!removeStops || haveValidStopEdges());
1146 1573800 : if (myStops.size() == 0) {
1147 1529535 : myStopDist = std::numeric_limits<double>::max();
1148 : }
1149 1573800 : return true;
1150 : }
1151 : return false;
1152 : }
1153 :
1154 :
1155 : // ------------ Interaction with move reminders
1156 : void
1157 705189714 : 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 1871612204 : 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 2332844982 : 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 705189713 : if (myEnergyParams != nullptr) {
1182 : // TODO make the vehicle energy params a derived class which is a move reminder
1183 141458279 : myEnergyParams->setDynamicValues(isStopped() ? getNextStop().duration : -1, isParking(), getWaitingTime(), getAngleDiff());
1184 : }
1185 705189713 : }
1186 :
1187 :
1188 : void
1189 66796 : MSVehicle::workOnIdleReminders() {
1190 66796 : updateWaitingTime(0.); // cf issue 2233
1191 :
1192 : // vehicle move reminders
1193 80324 : for (const auto& rem : myMoveReminders) {
1194 13528 : rem.first->notifyIdle(*this);
1195 : }
1196 :
1197 : // lane move reminders - for aggregated values
1198 166721 : for (MSMoveReminder* rem : getLane()->getMoveReminders()) {
1199 99925 : rem->notifyIdle(*this);
1200 : }
1201 66796 : }
1202 :
1203 : // XXX: consider renaming...
1204 : void
1205 19616430 : 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 19616430 : const double oldLaneLength = myLane->getLength();
1209 55521625 : for (auto& rem : myMoveReminders) {
1210 35905195 : 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 32897495 : for (MSMoveReminder* const rem : enteredLane.getMoveReminders()) {
1220 13281065 : addReminder(rem);
1221 : }
1222 19616430 : }
1223 :
1224 :
1225 : // ------------ Other getter methods
1226 : double
1227 164824264 : MSVehicle::getSlope() const {
1228 164824264 : if (isParking() && getStops().begin()->parkingarea != nullptr) {
1229 3881 : return getStops().begin()->parkingarea->getVehicleSlope(*this);
1230 : }
1231 164820383 : if (myLane == nullptr) {
1232 : return 0;
1233 : }
1234 164820383 : if (MSGlobals::gSlopeCentered) {
1235 : MSLane* centerLane = myLane;
1236 248 : double centerPos = getPositionOnLane() - getLength() / 2;
1237 : int furtherIndex = 0;
1238 280 : while (centerPos < 0 && furtherIndex < (int)myFurtherLanes.size()) {
1239 32 : centerLane = myFurtherLanes[furtherIndex];
1240 32 : centerPos += centerLane->getLength();
1241 32 : furtherIndex++;
1242 : }
1243 248 : return centerLane->getShape().slopeDegreeAtOffset(centerLane->interpolateLanePosToGeometryPos(centerPos));
1244 : }
1245 164820135 : const double posLat = myState.myPosLat; // @todo get rid of the '-'
1246 164820135 : Position p1 = getPosition();
1247 164820135 : Position p2 = getBackPosition();
1248 : if (p2 == Position::INVALID) {
1249 : // Handle special case of vehicle's back reaching out of the network
1250 6 : if (myFurtherLanes.size() > 0) {
1251 6 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1252 : if (p2 == Position::INVALID) {
1253 : // unsuitable lane geometry
1254 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1255 : }
1256 : } else {
1257 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1258 : }
1259 : }
1260 164820135 : return (p1 != p2 ? RAD2DEG(p2.slopeTo2D(p1)) : myLane->getShape().slopeDegreeAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1261 : }
1262 :
1263 :
1264 : Position
1265 942381228 : MSVehicle::getPosition(const double offset) const {
1266 942381228 : if (myLane == nullptr) {
1267 : // when called in the context of GUI-Drawing, the simulation step is already incremented
1268 146 : if (myInfluencer != nullptr && myInfluencer->isRemoteAffected(MSNet::getInstance()->getCurrentTimeStep())) {
1269 40 : return myCachedPosition;
1270 : } else {
1271 106 : return Position::INVALID;
1272 : }
1273 : }
1274 942381082 : if (isParking()) {
1275 3729012 : if (myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() > getNextStopParameter()->started) {
1276 123 : return myCachedPosition;
1277 : }
1278 3728889 : if (myStops.begin()->parkingarea != nullptr) {
1279 23582 : return myStops.begin()->parkingarea->getVehiclePosition(*this);
1280 : } else {
1281 : // position beside the road
1282 3705307 : PositionVector shp = myLane->getEdge().getLanes()[0]->getShape();
1283 7410493 : shp.move2side(SUMO_const_laneWidth * (MSGlobals::gLefthand ? -1 : 1));
1284 3705307 : return shp.positionAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane() + offset));
1285 3705307 : }
1286 : }
1287 938652070 : const bool changingLanes = myLaneChangeModel->isChangingLanes();
1288 1867157392 : const double posLat = (MSGlobals::gLefthand ? 1 : -1) * getLateralPositionOnLane();
1289 938652070 : if (offset == 0. && !changingLanes) {
1290 : if (myCachedPosition == Position::INVALID) {
1291 709769576 : myCachedPosition = validatePosition(myLane->geometryPositionAtOffset(myState.myPos, posLat));
1292 709769576 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1293 61155 : interpolateLateralZ(myCachedPosition, myState.myPos, posLat);
1294 : }
1295 : }
1296 931883156 : return myCachedPosition;
1297 : }
1298 6768914 : Position result = validatePosition(myLane->geometryPositionAtOffset(getPositionOnLane() + offset, posLat), offset);
1299 6768914 : interpolateLateralZ(result, getPositionOnLane() + offset, posLat);
1300 6768914 : return result;
1301 : }
1302 :
1303 :
1304 : void
1305 7115353 : MSVehicle::interpolateLateralZ(Position& pos, double offset, double posLat) const {
1306 7115353 : const MSLane* shadow = myLaneChangeModel->getShadowLane();
1307 7115353 : if (shadow != nullptr && pos != Position::INVALID) {
1308 : // ignore negative offset
1309 : const Position shadowPos = shadow->geometryPositionAtOffset(MAX2(0.0, offset));
1310 60205 : if (shadowPos != Position::INVALID && pos.z() != shadowPos.z()) {
1311 325 : const double centerDist = (myLane->getWidth() + shadow->getWidth()) * 0.5;
1312 325 : double relOffset = fabs(posLat) / centerDist;
1313 325 : double newZ = (1 - relOffset) * pos.z() + relOffset * shadowPos.z();
1314 : pos.setz(newZ);
1315 : }
1316 : }
1317 7115353 : }
1318 :
1319 :
1320 : double
1321 1110508 : MSVehicle::getDistanceToLeaveJunction() const {
1322 1110508 : double result = getLength() - getPositionOnLane();
1323 1110508 : if (myLane->isNormal()) {
1324 : return MAX2(0.0, result);
1325 : }
1326 5088 : const MSLane* lane = myLane;
1327 10176 : while (lane->isInternal()) {
1328 5088 : result += lane->getLength();
1329 5088 : lane = lane->getCanonicalSuccessorLane();
1330 : }
1331 : return result;
1332 : }
1333 :
1334 :
1335 : Position
1336 103033 : MSVehicle::getPositionAlongBestLanes(double offset) const {
1337 : assert(MSGlobals::gUsingInternalLanes);
1338 103033 : if (!isOnRoad()) {
1339 0 : return Position::INVALID;
1340 : }
1341 103033 : const std::vector<MSLane*>& bestLanes = getBestLanesContinuation();
1342 : auto nextBestLane = bestLanes.begin();
1343 103033 : const bool opposite = myLaneChangeModel->isOpposite();
1344 103033 : double pos = opposite ? myLane->getLength() - myState.myPos : myState.myPos;
1345 103033 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : getLane();
1346 : assert(lane != 0);
1347 : bool success = true;
1348 :
1349 304195 : while (offset > 0) {
1350 : // take into account lengths along internal lanes
1351 307565 : while (lane->isInternal() && offset > 0) {
1352 106403 : if (offset > lane->getLength() - pos) {
1353 3561 : offset -= lane->getLength() - pos;
1354 3561 : lane = lane->getLinkCont()[0]->getViaLaneOrLane();
1355 : pos = 0.;
1356 3561 : if (lane == nullptr) {
1357 : success = false;
1358 : offset = 0.;
1359 : }
1360 : } else {
1361 102842 : pos += offset;
1362 : offset = 0;
1363 : }
1364 : }
1365 : // set nextBestLane to next non-internal lane
1366 206290 : while (nextBestLane != bestLanes.end() && *nextBestLane == nullptr) {
1367 : ++nextBestLane;
1368 : }
1369 201162 : if (offset > 0) {
1370 : assert(!lane->isInternal());
1371 : assert(lane == *nextBestLane);
1372 98320 : if (offset > lane->getLength() - pos) {
1373 98137 : offset -= lane->getLength() - pos;
1374 : ++nextBestLane;
1375 : assert(nextBestLane == bestLanes.end() || *nextBestLane != 0);
1376 98137 : if (nextBestLane == bestLanes.end()) {
1377 : success = false;
1378 : offset = 0.;
1379 : } else {
1380 98137 : const MSLink* link = lane->getLinkTo(*nextBestLane);
1381 : assert(link != nullptr);
1382 : lane = link->getViaLaneOrLane();
1383 : pos = 0.;
1384 : }
1385 : } else {
1386 183 : pos += offset;
1387 : offset = 0;
1388 : }
1389 : }
1390 :
1391 : }
1392 :
1393 103033 : if (success) {
1394 103033 : return lane->geometryPositionAtOffset(pos, -getLateralPositionOnLane());
1395 : } else {
1396 0 : return Position::INVALID;
1397 : }
1398 : }
1399 :
1400 :
1401 : double
1402 709059 : MSVehicle::getMaxSpeedOnLane() const {
1403 709059 : if (myLane != nullptr) {
1404 709059 : return myLane->getVehicleMaxSpeed(this);
1405 : }
1406 0 : return myType->getMaxSpeed();
1407 : }
1408 :
1409 :
1410 : Position
1411 716538490 : MSVehicle::validatePosition(Position result, double offset) const {
1412 : int furtherIndex = 0;
1413 716538490 : double lastLength = getPositionOnLane();
1414 716538490 : while (result == Position::INVALID) {
1415 210686 : if (furtherIndex >= (int)myFurtherLanes.size()) {
1416 : //WRITE_WARNINGF(TL("Could not compute position for vehicle '%', time=%."), getID(), time2string(MSNet::getInstance()->getCurrentTimeStep()));
1417 : break;
1418 : }
1419 : //std::cout << SIMTIME << " veh=" << getID() << " lane=" << myLane->getID() << " pos=" << getPositionOnLane() << " posLat=" << getLateralPositionOnLane() << " offset=" << offset << " result=" << result << " i=" << furtherIndex << " further=" << myFurtherLanes.size() << "\n";
1420 192663 : MSLane* further = myFurtherLanes[furtherIndex];
1421 192663 : offset += lastLength;
1422 192663 : result = further->geometryPositionAtOffset(further->getLength() + offset, -getLateralPositionOnLane());
1423 : lastLength = further->getLength();
1424 192663 : furtherIndex++;
1425 : //std::cout << SIMTIME << " newResult=" << result << "\n";
1426 : }
1427 716538490 : return result;
1428 : }
1429 :
1430 :
1431 : ConstMSEdgeVector::const_iterator
1432 283043 : MSVehicle::getRerouteOrigin() const {
1433 : // too close to the next junction, so avoid an emergency brake here
1434 283043 : if (myLane != nullptr && (myCurrEdge + 1) != myRoute->end() && !isRailway(getVClass())) {
1435 220647 : if (myLane->isInternal()) {
1436 : return myCurrEdge + 1;
1437 : }
1438 213573 : if (myState.myPos > myLane->getLength() - getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)) {
1439 : return myCurrEdge + 1;
1440 : }
1441 211169 : if (myLane->getEdge().hasChangeProhibitions(getVClass(), myLane->getIndex())) {
1442 : return myCurrEdge + 1;
1443 : }
1444 : }
1445 273453 : return myCurrEdge;
1446 : }
1447 :
1448 :
1449 : double
1450 141458921 : MSVehicle::getAngleDiff() const {
1451 141458921 : return myLastAngle == INVALID_DOUBLE ? 0. : GeomHelper::angleDiff(myLastAngle, myAngle);
1452 : }
1453 :
1454 : double
1455 642 : MSVehicle::getCurveRadius() const {
1456 642 : const double angleDiff = getAngleDiff();
1457 : return angleDiff == 0
1458 642 : ? std::numeric_limits<double>::max()
1459 0 : : SPEED2DIST(getSpeed()) / fabs(angleDiff);
1460 : }
1461 :
1462 :
1463 : void
1464 5340092 : MSVehicle::setAngle(double angle, bool straightenFurther) {
1465 : #ifdef DEBUG_FURTHER
1466 : if (DEBUG_COND) {
1467 : std::cout << SIMTIME << " veh '" << getID() << " setAngle(" << angle << ") straightenFurther=" << straightenFurther << std::endl;
1468 : }
1469 : #endif
1470 5340092 : myAngle = angle;
1471 5340092 : MSLane* next = myLane;
1472 5340092 : if (straightenFurther && myFurtherLanesPosLat.size() > 0) {
1473 202132 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
1474 103861 : MSLane* further = myFurtherLanes[i];
1475 103861 : const MSLink* link = further->getLinkTo(next);
1476 103861 : if (link != nullptr) {
1477 103432 : myFurtherLanesPosLat[i] = getLateralPositionOnLane() - link->getLateralShift();
1478 : next = further;
1479 : } else {
1480 : break;
1481 : }
1482 : }
1483 : }
1484 5340092 : }
1485 :
1486 :
1487 : void
1488 451368 : MSVehicle::setActionStepLength(double actionStepLength, bool resetOffset) {
1489 451368 : SUMOTime actionStepLengthMillisecs = SUMOVehicleParserHelper::processActionStepLength(actionStepLength);
1490 : SUMOTime previousActionStepLength = getActionStepLength();
1491 : const bool newActionStepLength = actionStepLengthMillisecs != previousActionStepLength;
1492 451368 : if (newActionStepLength) {
1493 7 : getSingularType().setActionStepLength(actionStepLengthMillisecs, resetOffset);
1494 7 : if (!resetOffset) {
1495 1 : updateActionOffset(previousActionStepLength, actionStepLengthMillisecs);
1496 : }
1497 : }
1498 451362 : if (resetOffset) {
1499 6 : resetActionOffset();
1500 : }
1501 451368 : }
1502 :
1503 :
1504 : bool
1505 299760458 : MSVehicle::congested() const {
1506 299760458 : return myState.mySpeed < (60.0 / 3.6) || myLane->getSpeedLimit() < (60.1 / 3.6);
1507 : }
1508 :
1509 :
1510 : double
1511 712502103 : MSVehicle::computeAngle() const {
1512 : Position p1;
1513 712502103 : const double posLat = -myState.myPosLat; // @todo get rid of the '-'
1514 712502103 : const double lefthandSign = (MSGlobals::gLefthand ? -1 : 1);
1515 :
1516 : // if parking manoeuvre is happening then rotate vehicle on each step
1517 712502103 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
1518 450 : return getAngle() + myManoeuvre.getGUIIncrement();
1519 : }
1520 :
1521 712501653 : if (isParking()) {
1522 29059 : if (myStops.begin()->parkingarea != nullptr) {
1523 15761 : return myStops.begin()->parkingarea->getVehicleAngle(*this);
1524 : } else {
1525 13298 : return myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane()));
1526 : }
1527 : }
1528 712472594 : if (myLaneChangeModel->isChangingLanes()) {
1529 : // cannot use getPosition() because it already includes the offset to the side and thus messes up the angle
1530 1147030 : p1 = myLane->geometryPositionAtOffset(myState.myPos, lefthandSign * posLat);
1531 9 : if (p1 == Position::INVALID && myLane->getShape().length2D() == 0. && myLane->isInternal()) {
1532 : // workaround: extrapolate the preceding lane shape
1533 9 : MSLane* predecessorLane = myLane->getCanonicalPredecessorLane();
1534 9 : p1 = predecessorLane->geometryPositionAtOffset(predecessorLane->getLength() + myState.myPos, lefthandSign * posLat);
1535 : }
1536 : } else {
1537 711325564 : p1 = getPosition();
1538 : }
1539 :
1540 : Position p2;
1541 712472594 : if (getVehicleType().getParameter().locomotiveLength > 0) {
1542 : // articulated vehicle should use the heading of the first part
1543 1878490 : const double locoLength = MIN2(getVehicleType().getParameter().locomotiveLength, getLength());
1544 1878490 : p2 = getPosition(-locoLength);
1545 : } else {
1546 710594104 : p2 = getBackPosition();
1547 : }
1548 : if (p2 == Position::INVALID) {
1549 : // Handle special case of vehicle's back reaching out of the network
1550 2134 : if (myFurtherLanes.size() > 0) {
1551 120 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1552 : if (p2 == Position::INVALID) {
1553 : // unsuitable lane geometry
1554 75 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1555 : }
1556 : } else {
1557 2014 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1558 : }
1559 : }
1560 : double result = (p1 != p2 ? p2.angleTo2D(p1) :
1561 104665 : myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1562 :
1563 712472594 : result += lefthandSign * myLaneChangeModel->calcAngleOffset();
1564 :
1565 : #ifdef DEBUG_FURTHER
1566 : if (DEBUG_COND) {
1567 : std::cout << SIMTIME << " computeAngle veh=" << getID() << " p1=" << p1 << " p2=" << p2 << " angle=" << RAD2DEG(result) << " naviDegree=" << GeomHelper::naviDegree(result) << "\n";
1568 : }
1569 : #endif
1570 712472594 : return result;
1571 : }
1572 :
1573 :
1574 : const Position
1575 882561686 : MSVehicle::getBackPosition() const {
1576 882561686 : const double posLat = MSGlobals::gLefthand ? myState.myPosLat : -myState.myPosLat;
1577 : Position result;
1578 882561686 : if (myState.myPos >= myType->getLength()) {
1579 : // vehicle is fully on the new lane
1580 864905273 : result = myLane->geometryPositionAtOffset(myState.myPos - myType->getLength(), posLat);
1581 : } else {
1582 17656413 : if (myLaneChangeModel->isChangingLanes() && myFurtherLanes.size() > 0 && myLaneChangeModel->getShadowLane(myFurtherLanes.back()) == nullptr) {
1583 : // special case where the target lane has no predecessor
1584 : #ifdef DEBUG_FURTHER
1585 : if (DEBUG_COND) {
1586 : std::cout << " getBackPosition veh=" << getID() << " specialCase using myLane=" << myLane->getID() << " pos=0 posLat=" << myState.myPosLat << " result=" << myLane->geometryPositionAtOffset(0, posLat) << "\n";
1587 : }
1588 : #endif
1589 1906 : result = myLane->geometryPositionAtOffset(0, posLat);
1590 : } else {
1591 : #ifdef DEBUG_FURTHER
1592 : if (DEBUG_COND) {
1593 : std::cout << " getBackPosition veh=" << getID() << " myLane=" << myLane->getID() << " further=" << toString(myFurtherLanes) << " myFurtherLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
1594 : }
1595 : #endif
1596 17654507 : if (myFurtherLanes.size() > 0 && !myLaneChangeModel->isChangingLanes()) {
1597 : // truncate to 0 if vehicle starts on an edge that is shorter than its length
1598 17278473 : const double backPos = MAX2(0.0, getBackPositionOnLane(myFurtherLanes.back()));
1599 34257861 : result = myFurtherLanes.back()->geometryPositionAtOffset(backPos, -myFurtherLanesPosLat.back() * (MSGlobals::gLefthand ? -1 : 1));
1600 : } else {
1601 376034 : result = myLane->geometryPositionAtOffset(0, posLat);
1602 : }
1603 : }
1604 : }
1605 882561686 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1606 285284 : interpolateLateralZ(result, myState.myPos - myType->getLength(), posLat);
1607 : }
1608 882561686 : return result;
1609 : }
1610 :
1611 :
1612 : bool
1613 454440 : MSVehicle::willStop() const {
1614 454440 : return !isStopped() && !myStops.empty() && myLane != nullptr && &myStops.front().lane->getEdge() == &myLane->getEdge();
1615 : }
1616 :
1617 : bool
1618 371569077 : MSVehicle::isStoppedOnLane() const {
1619 371569077 : return isStopped() && myStops.front().lane == myLane;
1620 : }
1621 :
1622 : bool
1623 31129204 : MSVehicle::keepStopping(bool afterProcessing) const {
1624 31129204 : if (isStopped()) {
1625 : // when coming out of vehicleTransfer we must shift the time forward
1626 37183790 : return (myStops.front().duration - (afterProcessing ? DELTA_T : 0) > 0 || isStoppedTriggered() || myStops.front().pars.collision
1627 30857803 : || myStops.front().pars.breakDown || (myStops.front().getSpeed() > 0
1628 35771 : && (myState.myPos < MIN2(myStops.front().pars.endPos, myStops.front().lane->getLength() - POSITION_EPS))
1629 29918 : && (myStops.front().pars.parking == ParkingType::ONROAD || getSpeed() >= SUMO_const_haltingSpeed)));
1630 : } else {
1631 : return false;
1632 : }
1633 : }
1634 :
1635 :
1636 : SUMOTime
1637 16149 : MSVehicle::remainingStopDuration() const {
1638 16149 : if (isStopped()) {
1639 16149 : return myStops.front().duration;
1640 : }
1641 : return 0;
1642 : }
1643 :
1644 :
1645 : SUMOTime
1646 684886730 : MSVehicle::collisionStopTime() const {
1647 684886730 : return (myStops.empty() || !myStops.front().pars.collision) ? myCollisionImmunity : MAX2((SUMOTime)0, myStops.front().duration);
1648 : }
1649 :
1650 :
1651 : bool
1652 684749491 : MSVehicle::brokeDown() const {
1653 684749491 : return isStopped() && !myStops.empty() && myStops.front().pars.breakDown;
1654 : }
1655 :
1656 :
1657 : bool
1658 169772 : MSVehicle::ignoreCollision() const {
1659 169772 : return myCollisionImmunity > 0;
1660 : }
1661 :
1662 :
1663 : double
1664 648511732 : MSVehicle::processNextStop(double currentVelocity) {
1665 648511732 : if (myStops.empty()) {
1666 : // no stops; pass
1667 : return currentVelocity;
1668 : }
1669 :
1670 : #ifdef DEBUG_STOPS
1671 : if (DEBUG_COND) {
1672 : std::cout << "\nPROCESS_NEXT_STOP\n" << SIMTIME << " vehicle '" << getID() << "'" << std::endl;
1673 : }
1674 : #endif
1675 :
1676 : MSStop& stop = myStops.front();
1677 41386333 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1678 41386333 : if (stop.reached) {
1679 25967051 : stop.duration -= getActionStepLength();
1680 25967051 : if (getSpeed() > 0) {
1681 : // re-enter stopping places to correct waiting position (except for parkingArea since it's place-based)
1682 3734095 : if (stop.busstop != nullptr) {
1683 : // let the bus stop know the vehicle
1684 12979 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1685 : }
1686 3734095 : if (stop.containerstop != nullptr) {
1687 : // let the container stop know the vehicle
1688 3688548 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1689 : }
1690 3734095 : if (stop.chargingStation != nullptr) {
1691 : // let the container stop know the vehicle
1692 3057 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1693 : }
1694 3734095 : if (stop.getSpeed() <= 0) {
1695 3716925 : stop.entryPos = getPositionOnLane();
1696 : }
1697 : }
1698 :
1699 : #ifdef DEBUG_STOPS
1700 : if (DEBUG_COND) {
1701 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached stop.\n"
1702 : << "Remaining duration: " << STEPS2TIME(stop.duration) << std::endl;
1703 : if (stop.getSpeed() > 0) {
1704 : std::cout << " waypointSpeed=" << stop.getSpeed() << " vehPos=" << myState.myPos << " endPos=" << stop.pars.endPos << "\n";
1705 : }
1706 : }
1707 : #endif
1708 25967051 : if (stop.duration <= 0 && stop.pars.join != "") {
1709 : // join this train (part) to another one
1710 37478 : MSVehicle* joinVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.join));
1711 969 : if (joinVeh && joinVeh->hasDeparted() && (joinVeh->joinTrainPart(this) || joinVeh->joinTrainPartFront(this))) {
1712 36 : stop.joinTriggered = false;
1713 36 : if (myAmRegisteredAsWaiting) {
1714 21 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1715 21 : myAmRegisteredAsWaiting = false;
1716 : }
1717 : // avoid collision warning before this vehicle is removed (joinVeh was already made longer)
1718 36 : myCollisionImmunity = TIME2STEPS(100);
1719 : // mark this vehicle as arrived
1720 36 : myArrivalPos = getPositionOnLane();
1721 36 : const_cast<SUMOVehicleParameter*>(myParameter)->arrivalEdge = getRoutePosition();
1722 : // handle transportables that want to continue in the other vehicle
1723 36 : if (myPersonDevice != nullptr) {
1724 3 : myPersonDevice->transferAtSplitOrJoin(joinVeh);
1725 : }
1726 36 : if (myContainerDevice != nullptr) {
1727 3 : myContainerDevice->transferAtSplitOrJoin(joinVeh);
1728 : }
1729 : }
1730 : }
1731 25967051 : boardTransportables(stop);
1732 22278909 : if (time > stop.endBoarding) {
1733 : // for taxi: cancel customers
1734 198308 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1735 : if (taxiDevice != nullptr) {
1736 : // may invalidate stops including the current reference
1737 64 : taxiDevice->cancelCurrentCustomers();
1738 64 : resumeFromStopping();
1739 64 : return currentVelocity;
1740 : }
1741 : }
1742 22278845 : if (!keepStopping() && isOnRoad()) {
1743 : #ifdef DEBUG_STOPS
1744 : if (DEBUG_COND) {
1745 : std::cout << SIMTIME << " vehicle '" << getID() << "' resumes from stopping." << std::endl;
1746 : }
1747 : #endif
1748 44723 : resumeFromStopping();
1749 44723 : if (isRail() && hasStops()) {
1750 : // stay on the current lane in case of a double stop
1751 3132 : const MSStop& nextStop = getNextStop();
1752 3132 : if (nextStop.edge == myCurrEdge) {
1753 1079 : const double stopSpeed = getCarFollowModel().stopSpeed(this, getSpeed(), nextStop.pars.endPos - myState.myPos);
1754 : //std::cout << SIMTIME << " veh=" << getID() << " resumedFromStopping currentVelocity=" << currentVelocity << " stopSpeed=" << stopSpeed << "\n";
1755 1079 : return stopSpeed;
1756 : }
1757 : }
1758 : } else {
1759 22234122 : if (stop.triggered) {
1760 3239471 : if (getVehicleType().getPersonCapacity() == getPersonNumber()) {
1761 30 : WRITE_WARNINGF(TL("Vehicle '%' ignores triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1762 10 : stop.triggered = false;
1763 3239461 : } else if (!myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1764 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1765 4344 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1766 4344 : myAmRegisteredAsWaiting = true;
1767 : #ifdef DEBUG_STOPS
1768 : if (DEBUG_COND) {
1769 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for person." << std::endl;
1770 : }
1771 : #endif
1772 : }
1773 : }
1774 22234122 : if (stop.containerTriggered) {
1775 39500 : if (getVehicleType().getContainerCapacity() == getContainerNumber()) {
1776 1332 : WRITE_WARNINGF(TL("Vehicle '%' ignores container triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1777 444 : stop.containerTriggered = false;
1778 39056 : } else if (stop.containerTriggered && !myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1779 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1780 92 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1781 92 : myAmRegisteredAsWaiting = true;
1782 : #ifdef DEBUG_STOPS
1783 : if (DEBUG_COND) {
1784 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for container." << std::endl;
1785 : }
1786 : #endif
1787 : }
1788 : }
1789 : // joining only takes place after stop duration is over
1790 22234122 : if (stop.joinTriggered && !myAmRegisteredAsWaiting
1791 7199 : && stop.duration <= (stop.pars.extension >= 0 ? -stop.pars.extension : 0)) {
1792 101 : if (stop.pars.extension >= 0) {
1793 108 : WRITE_WARNINGF(TL("Vehicle '%' aborts joining after extension of %s at time %."), getID(), STEPS2TIME(stop.pars.extension), time2string(SIMSTEP));
1794 36 : stop.joinTriggered = false;
1795 : } else {
1796 : // keep stopping indefinitely but ensure that simulation terminates
1797 65 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1798 65 : myAmRegisteredAsWaiting = true;
1799 : }
1800 : }
1801 22234122 : if (stop.getSpeed() > 0) {
1802 : //waypoint mode
1803 219665 : if (stop.duration == 0) {
1804 243 : return stop.getSpeed();
1805 : } else {
1806 : // stop for 'until' (computed in planMove)
1807 : return currentVelocity;
1808 : }
1809 : } else {
1810 : // brake
1811 22014457 : if (MSGlobals::gSemiImplicitEulerUpdate || stop.getSpeed() > 0) {
1812 21745360 : return 0;
1813 : } else {
1814 : // ballistic:
1815 269097 : return getSpeed() - getCarFollowModel().getMaxDecel();
1816 : }
1817 : }
1818 : }
1819 : } else {
1820 :
1821 : #ifdef DEBUG_STOPS
1822 : if (DEBUG_COND) {
1823 : std::cout << SIMTIME << " vehicle '" << getID() << "' hasn't reached next stop." << std::endl;
1824 : }
1825 : #endif
1826 : //std::cout << SIMTIME << " myStopDist=" << myStopDist << " bGap=" << getBrakeGap(myLane->getVehicleMaxSpeed(this)) << "\n";
1827 15481810 : if (stop.pars.onDemand && !stop.skipOnDemand && myStopDist <= getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this))) {
1828 577 : MSNet* const net = MSNet::getInstance();
1829 44 : const bool noExits = ((myPersonDevice == nullptr || !myPersonDevice->anyLeavingAtStop(stop))
1830 587 : && (myContainerDevice == nullptr || !myContainerDevice->anyLeavingAtStop(stop)));
1831 83 : const bool noEntries = ((!net->hasPersons() || !net->getPersonControl().hasAnyWaiting(stop.getEdge(), this))
1832 626 : && (!net->hasContainers() || !net->getContainerControl().hasAnyWaiting(stop.getEdge(), this)));
1833 577 : if (noExits && noEntries) {
1834 : //std::cout << " skipOnDemand\n";
1835 509 : stop.skipOnDemand = true;
1836 : // bestLanes must be extended past this stop
1837 509 : updateBestLanes(true);
1838 : }
1839 : }
1840 : // is the next stop on the current lane?
1841 15419282 : if (stop.edge == myCurrEdge) {
1842 : // get the stopping position
1843 5582830 : bool useStoppingPlace = stop.busstop != nullptr || stop.containerstop != nullptr || stop.parkingarea != nullptr;
1844 : bool fitsOnStoppingPlace = true;
1845 5582830 : if (!stop.skipOnDemand) { // no need to check available space if we skip it anyway
1846 5577038 : if (stop.busstop != nullptr) {
1847 1711648 : fitsOnStoppingPlace &= stop.busstop->fits(myState.myPos, *this);
1848 : }
1849 5577038 : if (stop.containerstop != nullptr) {
1850 21791 : fitsOnStoppingPlace &= stop.containerstop->fits(myState.myPos, *this);
1851 : }
1852 : // if the stop is a parking area we check if there is a free position on the area
1853 5577038 : if (stop.parkingarea != nullptr) {
1854 683604 : fitsOnStoppingPlace &= myState.myPos > stop.parkingarea->getBeginLanePosition();
1855 683604 : if (stop.parkingarea->getOccupancy() >= stop.parkingarea->getCapacity()) {
1856 : fitsOnStoppingPlace = false;
1857 : // trigger potential parkingZoneReroute
1858 434958 : MSParkingArea* oldParkingArea = stop.parkingarea;
1859 476126 : for (MSMoveReminder* rem : myLane->getMoveReminders()) {
1860 41168 : if (rem->isParkingRerouter()) {
1861 19940 : rem->notifyEnter(*this, MSMoveReminder::NOTIFICATION_PARKING_REROUTE, myLane);
1862 : }
1863 : }
1864 434958 : if (myStops.empty() || myStops.front().parkingarea != oldParkingArea) {
1865 : // rerouted, keep driving
1866 : return currentVelocity;
1867 : }
1868 248646 : } else if (stop.parkingarea->getOccupancyIncludingReservations(this) >= stop.parkingarea->getCapacity()) {
1869 : fitsOnStoppingPlace = false;
1870 117238 : } else if (stop.parkingarea->parkOnRoad() && stop.parkingarea->getLotIndex(this) < 0) {
1871 : fitsOnStoppingPlace = false;
1872 : }
1873 : }
1874 : }
1875 5581050 : const double targetPos = myState.myPos + myStopDist + (stop.getSpeed() > 0 ? (stop.pars.startPos - stop.pars.endPos) : 0);
1876 5581050 : double reachedThreshold = (useStoppingPlace ? targetPos - STOPPING_PLACE_OFFSET : stop.getReachedThreshold()) - NUMERICAL_EPS;
1877 5581050 : if (stop.busstop != nullptr && stop.getSpeed() <= 0 && getWaitingTime() > DELTA_T && myLane == stop.lane) {
1878 : // count (long) busStop as reached when fully within and jammed before the designated spot
1879 818773 : reachedThreshold = MIN2(reachedThreshold, stop.pars.startPos + getLength());
1880 : }
1881 5581050 : const bool posReached = myState.pos() >= reachedThreshold && currentVelocity <= stop.getSpeed() + SUMO_const_haltingSpeed && myLane == stop.lane;
1882 : #ifdef DEBUG_STOPS
1883 : if (DEBUG_COND) {
1884 : std::cout << " pos=" << myState.pos() << " speed=" << currentVelocity << " targetPos=" << targetPos << " fits=" << fitsOnStoppingPlace
1885 : << " reachedThresh=" << reachedThreshold
1886 : << " posReached=" << posReached
1887 : << " myLane=" << Named::getIDSecure(myLane)
1888 : << " stopLane=" << Named::getIDSecure(stop.lane)
1889 : << "\n";
1890 : }
1891 : #endif
1892 5581050 : if (posReached && !fitsOnStoppingPlace && MSStopOut::active()) {
1893 5890 : MSStopOut::getInstance()->stopBlocked(this, time);
1894 : }
1895 5581050 : if (fitsOnStoppingPlace && posReached && (!MSGlobals::gModelParkingManoeuver || myManoeuvre.entryManoeuvreIsComplete(this))) {
1896 : // ok, we may stop (have reached the stop) and either we are not modelling maneuvering or have completed entry
1897 56854 : stop.reached = true;
1898 56854 : if (!stop.startedFromState) {
1899 56620 : stop.pars.started = time;
1900 : }
1901 : #ifdef DEBUG_STOPS
1902 : if (DEBUG_COND) {
1903 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached next stop." << std::endl;
1904 : }
1905 : #endif
1906 56854 : if (MSStopOut::active()) {
1907 5635 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), time);
1908 : }
1909 56854 : myLane->getEdge().addWaiting(this);
1910 56854 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::STARTING_STOP);
1911 56854 : MSNet::getInstance()->getVehicleControl().registerStopStarted();
1912 : // compute stopping time
1913 56854 : stop.duration = stop.getMinDuration(time);
1914 56854 : stop.endBoarding = stop.pars.extension >= 0 ? time + stop.duration + stop.pars.extension : SUMOTime_MAX;
1915 56854 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1916 4153 : if (taxiDevice != nullptr && stop.pars.extension >= 0) {
1917 : // earliestPickupTime is set with waitUntil
1918 84 : stop.endBoarding = MAX2(time, stop.pars.waitUntil) + stop.pars.extension;
1919 : }
1920 56854 : if (stop.getSpeed() > 0) {
1921 : // ignore duration parameter in waypoint mode unless 'until' or 'ended' are set
1922 3429 : if (stop.getUntil() > time) {
1923 348 : stop.duration = stop.getUntil() - time;
1924 : } else {
1925 3081 : stop.duration = 0;
1926 : }
1927 : } else {
1928 53425 : stop.entryPos = getPositionOnLane();
1929 : }
1930 56854 : if (stop.busstop != nullptr) {
1931 : // let the bus stop know the vehicle
1932 18782 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1933 : }
1934 56854 : if (stop.containerstop != nullptr) {
1935 : // let the container stop know the vehicle
1936 571 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1937 : }
1938 56854 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
1939 : // let the parking area know the vehicle
1940 9867 : stop.parkingarea->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1941 : }
1942 56854 : if (stop.chargingStation != nullptr) {
1943 : // let the container stop know the vehicle
1944 3567 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1945 : }
1946 :
1947 56854 : if (stop.pars.tripId != "") {
1948 2922 : ((SUMOVehicleParameter&)getParameter()).setParameter("tripId", stop.pars.tripId);
1949 : }
1950 56854 : if (stop.pars.line != "") {
1951 1464 : ((SUMOVehicleParameter&)getParameter()).line = stop.pars.line;
1952 : }
1953 56854 : if (stop.pars.split != "") {
1954 : // split the train
1955 1240 : MSVehicle* splitVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.split));
1956 24 : if (splitVeh == nullptr) {
1957 3648 : WRITE_WARNINGF(TL("Vehicle '%' to split from vehicle '%' is not known. time=%."), stop.pars.split, getID(), SIMTIME)
1958 : } else {
1959 24 : MSNet::getInstance()->getInsertionControl().add(splitVeh);
1960 24 : splitVeh->getRoute().getEdges()[0]->removeWaiting(splitVeh);
1961 24 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1962 24 : const double newLength = MAX2(myType->getLength() - splitVeh->getVehicleType().getLength(),
1963 24 : myType->getParameter().locomotiveLength);
1964 24 : getSingularType().setLength(newLength);
1965 : // handle transportables that want to continue in the split part
1966 24 : if (myPersonDevice != nullptr) {
1967 0 : myPersonDevice->transferAtSplitOrJoin(splitVeh);
1968 : }
1969 24 : if (myContainerDevice != nullptr) {
1970 6 : myContainerDevice->transferAtSplitOrJoin(splitVeh);
1971 : }
1972 24 : if (splitVeh->getParameter().departPosProcedure == DepartPosDefinition::SPLIT_FRONT) {
1973 3 : const double backShift = splitVeh->getLength() + getVehicleType().getMinGap();
1974 3 : myState.myPos -= backShift;
1975 3 : myState.myBackPos -= backShift;
1976 : }
1977 : }
1978 : }
1979 :
1980 56854 : boardTransportables(stop);
1981 56850 : if (stop.pars.posLat != INVALID_DOUBLE) {
1982 231 : myState.myPosLat = stop.pars.posLat;
1983 : }
1984 : }
1985 : }
1986 : }
1987 : return currentVelocity;
1988 : }
1989 :
1990 :
1991 : void
1992 26023905 : MSVehicle::boardTransportables(MSStop& stop) {
1993 26023905 : if (stop.skipOnDemand) {
1994 : return;
1995 : }
1996 : // we have reached the stop
1997 : // any waiting persons may board now
1998 25820697 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1999 25820697 : MSNet* const net = MSNet::getInstance();
2000 25820697 : const bool boarded = (time <= stop.endBoarding
2001 25819112 : && net->hasPersons()
2002 1539952 : && net->getPersonControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToBoardNextPerson, stop.duration)
2003 25828373 : && stop.numExpectedPerson == 0);
2004 : // load containers
2005 25820697 : const bool loaded = (time <= stop.endBoarding
2006 25819112 : && net->hasContainers()
2007 3790580 : && net->getContainerControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToLoadNextContainer, stop.duration)
2008 25821272 : && stop.numExpectedContainer == 0);
2009 :
2010 : bool unregister = false;
2011 22132551 : if (time > stop.endBoarding) {
2012 1585 : stop.triggered = false;
2013 1585 : stop.containerTriggered = false;
2014 1585 : if (myAmRegisteredAsWaiting) {
2015 : unregister = true;
2016 328 : myAmRegisteredAsWaiting = false;
2017 : }
2018 : }
2019 22132551 : if (boarded) {
2020 : // the triggering condition has been fulfilled. Maybe we want to wait a bit longer for additional riders (car pooling)
2021 7537 : if (myAmRegisteredAsWaiting) {
2022 : unregister = true;
2023 : }
2024 7537 : stop.triggered = false;
2025 7537 : myAmRegisteredAsWaiting = false;
2026 : }
2027 22132551 : if (loaded) {
2028 : // the triggering condition has been fulfilled
2029 555 : if (myAmRegisteredAsWaiting) {
2030 : unregister = true;
2031 : }
2032 555 : stop.containerTriggered = false;
2033 555 : myAmRegisteredAsWaiting = false;
2034 : }
2035 :
2036 22132551 : if (unregister) {
2037 412 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2038 : #ifdef DEBUG_STOPS
2039 : if (DEBUG_COND) {
2040 : std::cout << SIMTIME << " vehicle '" << getID() << "' unregisters as waiting for transportable." << std::endl;
2041 : }
2042 : #endif
2043 : }
2044 : }
2045 :
2046 : bool
2047 921 : MSVehicle::joinTrainPart(MSVehicle* veh) {
2048 : // check if veh is close enough to be joined to the rear of this vehicle
2049 921 : MSLane* backLane = myFurtherLanes.size() == 0 ? myLane : myFurtherLanes.back();
2050 921 : double gap = getBackPositionOnLane() - veh->getPositionOnLane();
2051 1144 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == veh->getLane()
2052 951 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2053 15 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2054 15 : getSingularType().setLength(newLength);
2055 15 : myStops.begin()->joinTriggered = false;
2056 15 : if (myAmRegisteredAsWaiting) {
2057 0 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2058 0 : myAmRegisteredAsWaiting = false;
2059 : }
2060 : return true;
2061 : } else {
2062 906 : return false;
2063 : }
2064 : }
2065 :
2066 :
2067 : bool
2068 906 : MSVehicle::joinTrainPartFront(MSVehicle* veh) {
2069 : // check if veh is close enough to be joined to the front of this vehicle
2070 906 : MSLane* backLane = veh->myFurtherLanes.size() == 0 ? veh->myLane : veh->myFurtherLanes.back();
2071 906 : double gap = veh->getBackPositionOnLane(backLane) - getPositionOnLane();
2072 1114 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == getLane()
2073 930 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2074 : double skippedLaneLengths = 0;
2075 24 : if (veh->myFurtherLanes.size() > 0) {
2076 9 : skippedLaneLengths += getLane()->getLength();
2077 : // this vehicle must be moved to the lane of veh
2078 : // ensure that lane and furtherLanes of veh match our route
2079 9 : int routeIndex = getRoutePosition();
2080 9 : if (myLane->isInternal()) {
2081 0 : routeIndex++;
2082 : }
2083 27 : for (int i = (int)veh->myFurtherLanes.size() - 1; i >= 0; i--) {
2084 18 : MSEdge* edge = &veh->myFurtherLanes[i]->getEdge();
2085 18 : if (edge->isInternal()) {
2086 9 : continue;
2087 : }
2088 9 : if (!edge->isInternal() && edge != myRoute->getEdges()[routeIndex]) {
2089 0 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2090 0 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2091 : return false;
2092 : }
2093 9 : routeIndex++;
2094 : }
2095 9 : if (veh->getCurrentEdge()->getNormalSuccessor() != myRoute->getEdges()[routeIndex]) {
2096 3 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2097 9 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2098 : return false;
2099 : }
2100 12 : for (int i = (int)veh->myFurtherLanes.size() - 2; i >= 0; i--) {
2101 6 : skippedLaneLengths += veh->myFurtherLanes[i]->getLength();
2102 : }
2103 : }
2104 :
2105 21 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2106 21 : getSingularType().setLength(newLength);
2107 : // lane will be advanced just as for regular movement
2108 21 : myState.myPos = skippedLaneLengths + veh->getPositionOnLane();
2109 21 : myStops.begin()->joinTriggered = false;
2110 21 : if (myAmRegisteredAsWaiting) {
2111 8 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2112 8 : myAmRegisteredAsWaiting = false;
2113 : }
2114 21 : return true;
2115 : } else {
2116 882 : return false;
2117 : }
2118 : }
2119 :
2120 : double
2121 9006605 : MSVehicle::getBrakeGap(bool delayed) const {
2122 9006605 : return getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), delayed ? getCarFollowModel().getHeadwayTime() : 0);
2123 : }
2124 :
2125 :
2126 : bool
2127 708659388 : MSVehicle::checkActionStep(const SUMOTime t) {
2128 708659388 : myActionStep = isActionStep(t);
2129 708659388 : if (myActionStep) {
2130 637097452 : myLastActionTime = t;
2131 : }
2132 708659388 : return myActionStep;
2133 : }
2134 :
2135 :
2136 : void
2137 1470 : MSVehicle::resetActionOffset(const SUMOTime timeUntilNextAction) {
2138 1470 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + timeUntilNextAction;
2139 1470 : }
2140 :
2141 :
2142 : void
2143 1 : MSVehicle::updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength) {
2144 1 : SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2145 1 : SUMOTime timeSinceLastAction = now - myLastActionTime;
2146 1 : if (timeSinceLastAction == 0) {
2147 : // Action was scheduled now, may be delayed be new action step length
2148 : timeSinceLastAction = oldActionStepLength;
2149 : }
2150 1 : if (timeSinceLastAction >= newActionStepLength) {
2151 : // Action point required in this step
2152 0 : myLastActionTime = now;
2153 : } else {
2154 1 : SUMOTime timeUntilNextAction = newActionStepLength - timeSinceLastAction;
2155 1 : resetActionOffset(timeUntilNextAction);
2156 : }
2157 1 : }
2158 :
2159 :
2160 :
2161 : void
2162 708659388 : MSVehicle::planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront) {
2163 : #ifdef DEBUG_PLAN_MOVE
2164 : if (DEBUG_COND) {
2165 : std::cout
2166 : << "\nPLAN_MOVE\n"
2167 : << SIMTIME
2168 : << std::setprecision(gPrecision)
2169 : << " veh=" << getID()
2170 : << " lane=" << myLane->getID()
2171 : << " pos=" << getPositionOnLane()
2172 : << " posLat=" << getLateralPositionOnLane()
2173 : << " speed=" << getSpeed()
2174 : << "\n";
2175 : }
2176 : #endif
2177 : // Update the driver state
2178 708659388 : if (hasDriverState()) {
2179 451354 : myDriverState->update();
2180 902708 : setActionStepLength(myDriverState->getDriverState()->getActionStepLength(), false);
2181 : }
2182 :
2183 708659388 : myStopSpeed = getCarFollowModel().maxNextSpeed(myStopSpeed, this);
2184 708659388 : if (!checkActionStep(t)) {
2185 : #ifdef DEBUG_ACTIONSTEPS
2186 : if (DEBUG_COND) {
2187 : std::cout << STEPS2TIME(t) << " vehicle '" << getID() << "' skips action." << std::endl;
2188 : }
2189 : #endif
2190 : // During non-action passed drive items still need to be removed
2191 : // @todo rather work with updating myCurrentDriveItem (refs #3714)
2192 71561936 : removePassedDriveItems();
2193 71561936 : return;
2194 : } else {
2195 : #ifdef DEBUG_ACTIONSTEPS
2196 : if (DEBUG_COND) {
2197 : std::cout << STEPS2TIME(t) << " vehicle = '" << getID() << "' takes action." << std::endl;
2198 : }
2199 : #endif
2200 : myLFLinkLanesPrev.swap(myLFLinkLanes);
2201 637097452 : if (myInfluencer != nullptr) {
2202 491830 : myInfluencer->updateRemoteControlRoute(this);
2203 : }
2204 637097452 : planMoveInternal(t, ahead, myLFLinkLanes, myStopDist, myStopSpeed, myNextTurn);
2205 : #ifdef DEBUG_PLAN_MOVE
2206 : if (DEBUG_COND) {
2207 : DriveItemVector::iterator i;
2208 : for (i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
2209 : std::cout
2210 : << " vPass=" << (*i).myVLinkPass
2211 : << " vWait=" << (*i).myVLinkWait
2212 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
2213 : << " request=" << (*i).mySetRequest
2214 : << "\n";
2215 : }
2216 : }
2217 : #endif
2218 637097452 : checkRewindLinkLanes(lengthsInFront, myLFLinkLanes);
2219 637097452 : myNextDriveItem = myLFLinkLanes.begin();
2220 : // ideally would only do this with the call inside planMoveInternal - but that needs a const method
2221 : // so this is a kludge here - nuisance as it adds an extra check in a busy loop
2222 637097452 : if (MSGlobals::gModelParkingManoeuver) {
2223 2971 : if (getManoeuvreType() == MSVehicle::MANOEUVRE_EXIT && manoeuvreIsComplete()) {
2224 30 : setManoeuvreType(MSVehicle::MANOEUVRE_NONE);
2225 : }
2226 : }
2227 : }
2228 637097452 : myLaneChangeModel->resetChanged();
2229 : }
2230 :
2231 :
2232 : bool
2233 178191208 : MSVehicle::brakeForOverlap(const MSLink* link, const MSLane* lane) const {
2234 : // @review needed
2235 : //const double futurePosLat = getLateralPositionOnLane() + link->getLateralShift();
2236 : //const double overlap = getLateralOverlap(futurePosLat, link->getViaLaneOrLane());
2237 : //const double edgeWidth = link->getViaLaneOrLane()->getEdge().getWidth();
2238 178191208 : const double futurePosLat = getLateralPositionOnLane() + (
2239 178191208 : lane != myLane && lane->isInternal() ? lane->getIncomingLanes()[0].viaLink->getLateralShift() : 0);
2240 178191208 : const double overlap = getLateralOverlap(futurePosLat, lane);
2241 : const double edgeWidth = lane->getEdge().getWidth();
2242 : const bool result = (overlap > POSITION_EPS
2243 : // do not get stuck on narrow edges
2244 3095680 : && getVehicleType().getWidth() <= edgeWidth
2245 3090075 : && link->getViaLane() == nullptr
2246 : // this is the exit link of a junction. The normal edge should support the shadow
2247 1505168 : && ((myLaneChangeModel->getShadowLane(link->getLane()) == nullptr)
2248 : // the shadow lane must be permitted
2249 1118832 : || !myLaneChangeModel->getShadowLane(link->getLane())->allowsVehicleClass(getVClass())
2250 : // the internal lane after an internal junction has no parallel lane. make sure there is no shadow before continuing
2251 1058487 : || (lane->getEdge().isInternal() && lane->getIncomingLanes()[0].lane->getEdge().isInternal()))
2252 : // ignore situations where the shadow lane is part of a double-connection with the current lane
2253 466341 : && (myLaneChangeModel->getShadowLane() == nullptr
2254 255142 : || myLaneChangeModel->getShadowLane()->getLinkCont().size() == 0
2255 237603 : || myLaneChangeModel->getShadowLane()->getLinkCont().front()->getLane() != link->getLane())
2256 : // emergency vehicles may do some crazy stuff
2257 178595732 : && !myLaneChangeModel->hasBlueLight());
2258 :
2259 : #ifdef DEBUG_PLAN_MOVE
2260 : if (DEBUG_COND) {
2261 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getDescription() << " lane=" << lane->getID()
2262 : << " linkLane=" << link->getLane()->getID()
2263 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
2264 : << " shift=" << link->getLateralShift()
2265 : << " fpLat=" << futurePosLat << " overlap=" << overlap << " w=" << getVehicleType().getWidth()
2266 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane(link->getLane()))
2267 : << " result=" << result << "\n";
2268 : }
2269 : #endif
2270 178191208 : return result;
2271 : }
2272 :
2273 :
2274 :
2275 : void
2276 637097452 : MSVehicle::planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& newStopDist, double& newStopSpeed, std::pair<double, const MSLink*>& nextTurn) const {
2277 : lfLinks.clear();
2278 637097452 : newStopDist = std::numeric_limits<double>::max();
2279 : //
2280 : const MSCFModel& cfModel = getCarFollowModel();
2281 637097452 : const double vehicleLength = getVehicleType().getLength();
2282 637097452 : const double maxV = cfModel.maxNextSpeed(myState.mySpeed, this);
2283 637097452 : const double maxVD = MAX2(getMaxSpeed(), MIN2(maxV, getDesiredMaxSpeed()));
2284 637097452 : const bool opposite = myLaneChangeModel->isOpposite();
2285 : // maxVD is possibly higher than vType-maxSpeed and in this case laneMaxV may be higher as well
2286 637097452 : double laneMaxV = myLane->getVehicleMaxSpeed(this, maxVD);
2287 637097452 : const double vMinComfortable = cfModel.minNextSpeed(getSpeed(), this);
2288 : double lateralShift = 0;
2289 637097452 : if (isRail()) {
2290 : // speed limits must hold for the whole length of the train
2291 1791584 : for (MSLane* l : myFurtherLanes) {
2292 404529 : laneMaxV = MIN2(laneMaxV, l->getVehicleMaxSpeed(this, maxVD));
2293 : #ifdef DEBUG_PLAN_MOVE
2294 : if (DEBUG_COND) {
2295 : std::cout << " laneMaxV=" << laneMaxV << " lane=" << l->getID() << "\n";
2296 : }
2297 : #endif
2298 : }
2299 : }
2300 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
2301 : laneMaxV = MAX2(laneMaxV, vMinComfortable);
2302 637589250 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
2303 : laneMaxV = std::numeric_limits<double>::max();
2304 : }
2305 : // v is the initial maximum velocity of this vehicle in this step
2306 637097452 : double v = cfModel.maximumLaneSpeedCF(this, maxV, laneMaxV);
2307 : // if we are modelling parking then we dawdle until the manoeuvre is complete - by setting a very low max speed
2308 : // in practice this only applies to exit manoeuvre because entry manoeuvre just delays setting stop.reached - when the vehicle is virtually stopped
2309 637097452 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
2310 420 : v = NUMERICAL_EPS_SPEED;
2311 : }
2312 :
2313 637097452 : if (myInfluencer != nullptr) {
2314 491830 : const double vMin = MAX2(0., cfModel.minNextSpeed(myState.mySpeed, this));
2315 : #ifdef DEBUG_TRACI
2316 : if (DEBUG_COND) {
2317 : std::cout << SIMTIME << " veh=" << getID() << " speedBeforeTraci=" << v;
2318 : }
2319 : #endif
2320 491830 : v = myInfluencer->influenceSpeed(t, v, v, vMin, maxV);
2321 : #ifdef DEBUG_TRACI
2322 : if (DEBUG_COND) {
2323 : std::cout << " influencedSpeed=" << v;
2324 : }
2325 : #endif
2326 491830 : v = myInfluencer->gapControlSpeed(t, this, v, v, vMin, maxV);
2327 : #ifdef DEBUG_TRACI
2328 : if (DEBUG_COND) {
2329 : std::cout << " gapControlSpeed=" << v << "\n";
2330 : }
2331 : #endif
2332 : }
2333 : // all links within dist are taken into account (potentially)
2334 637097452 : const double dist = SPEED2DIST(maxV) + cfModel.brakeGap(maxV);
2335 :
2336 637097452 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation();
2337 : #ifdef DEBUG_PLAN_MOVE
2338 : if (DEBUG_COND) {
2339 : std::cout << " dist=" << dist << " bestLaneConts=" << toString(bestLaneConts)
2340 : << "\n maxV=" << maxV << " laneMaxV=" << laneMaxV << " v=" << v << "\n";
2341 : }
2342 : #endif
2343 : assert(bestLaneConts.size() > 0);
2344 : bool hadNonInternal = false;
2345 : // the distance already "seen"; in the following always up to the end of the current "lane"
2346 637097452 : double seen = opposite ? myState.myPos : myLane->getLength() - myState.myPos;
2347 637097452 : nextTurn.first = seen;
2348 637097452 : nextTurn.second = nullptr;
2349 637097452 : bool encounteredTurn = (MSGlobals::gLateralResolution <= 0); // next turn is only needed for sublane
2350 : double seenNonInternal = 0;
2351 637097452 : double seenInternal = myLane->isInternal() ? seen : 0;
2352 637097452 : double vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(seen, v, cfModel.getMaxAccel()), laneMaxV); // upper bound
2353 : int view = 0;
2354 : DriveProcessItem* lastLink = nullptr;
2355 : bool slowedDownForMinor = false; // whether the vehicle already had to slow down on approach to a minor link
2356 : double mustSeeBeforeReversal = 0;
2357 : // iterator over subsequent lanes and fill lfLinks until stopping distance or stopped
2358 637097452 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : myLane;
2359 : assert(lane != 0);
2360 637097452 : const MSLane* leaderLane = myLane;
2361 637097452 : bool foundRailSignal = !isRail();
2362 : bool planningToStop = false;
2363 : #ifdef PARALLEL_STOPWATCH
2364 : myLane->getStopWatch()[0].start();
2365 : #endif
2366 :
2367 : // optionally slow down to match arrival time
2368 637097452 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
2369 637087160 : if (v > vMinComfortable && hasStops() && myStops.front().pars.arrival >= 0 && sfp > 0
2370 4279 : && v > myLane->getSpeedLimit() * sfp
2371 637100488 : && !myStops.front().reached) {
2372 2786 : const double vSlowDown = slowDownForSchedule(vMinComfortable);
2373 5403 : v = MIN2(v, vSlowDown);
2374 : }
2375 : auto stopIt = myStops.begin();
2376 : while (true) {
2377 : // check leader on lane
2378 : // leader is given for the first edge only
2379 1232801126 : if (opposite &&
2380 : (leaderLane->getVehicleNumberWithPartials() > 1
2381 104110 : || (leaderLane != myLane && leaderLane->getVehicleNumber() > 0))) {
2382 397523 : ahead.clear();
2383 : // find opposite-driving leader that must be respected on the currently looked at lane
2384 : // (only looking at one lane at a time)
2385 397523 : const double backOffset = leaderLane == myLane ? getPositionOnLane() : leaderLane->getLength();
2386 397523 : const double gapOffset = leaderLane == myLane ? 0 : seen - leaderLane->getLength();
2387 397523 : const MSLeaderDistanceInfo cands = leaderLane->getFollowersOnConsecutive(this, backOffset, true, backOffset, MSLane::MinorLinkMode::FOLLOW_NEVER);
2388 397523 : MSLeaderDistanceInfo oppositeLeaders(leaderLane->getWidth(), this, 0.);
2389 397523 : const double minTimeToLeaveLane = MSGlobals::gSublane ? MAX2(TS, (0.5 * myLane->getWidth() - getLateralPositionOnLane()) / getVehicleType().getMaxSpeedLat()) : TS;
2390 1056009 : for (int i = 0; i < cands.numSublanes(); i++) {
2391 658486 : CLeaderDist cand = cands[i];
2392 658486 : if (cand.first != 0) {
2393 541331 : if ((cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() != leaderLane)
2394 541802 : || (!cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() == leaderLane)) {
2395 : // respect leaders that also drive in the opposite direction (fully or with some overlap)
2396 351466 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - getVehicleType().getMinGap() + cand.first->getVehicleType().getMinGap() - cand.first->getVehicleType().getLength());
2397 : } else {
2398 : // avoid frontal collision
2399 346896 : const bool assumeStopped = cand.first->isStopped() || cand.first->getWaitingSeconds() > 1;
2400 189865 : const double predMaxDist = cand.first->getSpeed() + (assumeStopped ? 0 : cand.first->getCarFollowModel().getMaxAccel()) * minTimeToLeaveLane;
2401 189865 : if (cand.second >= 0 && (cand.second - v * minTimeToLeaveLane - predMaxDist < 0 || assumeStopped)) {
2402 44653 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - predMaxDist - getVehicleType().getMinGap());
2403 : }
2404 : }
2405 : }
2406 : }
2407 : #ifdef DEBUG_PLAN_MOVE
2408 : if (DEBUG_COND) {
2409 : std::cout << " leaderLane=" << leaderLane->getID() << " gapOffset=" << gapOffset << " minTimeToLeaveLane=" << minTimeToLeaveLane
2410 : << " cands=" << cands.toString() << " oppositeLeaders=" << oppositeLeaders.toString() << "\n";
2411 : }
2412 : #endif
2413 397523 : adaptToLeaderDistance(oppositeLeaders, 0, seen, lastLink, v, vLinkPass);
2414 397523 : } else {
2415 1232403603 : if (MSGlobals::gLateralResolution > 0 && myLaneChangeModel->getShadowLane() == nullptr) {
2416 200912109 : const double rightOL = getRightSideOnLane(lane) + lateralShift;
2417 200912109 : const double leftOL = getLeftSideOnLane(lane) + lateralShift;
2418 : const bool outsideLeft = leftOL > lane->getWidth();
2419 : #ifdef DEBUG_PLAN_MOVE
2420 : if (DEBUG_COND) {
2421 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " rightOL=" << rightOL << " leftOL=" << leftOL << "\n";
2422 : }
2423 : #endif
2424 200912109 : if (rightOL < 0 || outsideLeft) {
2425 1311403 : MSLeaderInfo outsideLeaders(lane->getWidth());
2426 : // if ego is driving outside lane bounds we must consider
2427 : // potential leaders that are also outside bounds
2428 : int sublaneOffset = 0;
2429 1311403 : if (outsideLeft) {
2430 541870 : sublaneOffset = MIN2(-1, -(int)ceil((leftOL - lane->getWidth()) / MSGlobals::gLateralResolution));
2431 : } else {
2432 769533 : sublaneOffset = MAX2(1, (int)ceil(-rightOL / MSGlobals::gLateralResolution));
2433 : }
2434 1311403 : outsideLeaders.setSublaneOffset(sublaneOffset);
2435 : #ifdef DEBUG_PLAN_MOVE
2436 : if (DEBUG_COND) {
2437 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " sublaneOffset=" << sublaneOffset << " outsideLeft=" << outsideLeft << "\n";
2438 : }
2439 : #endif
2440 5431543 : for (const MSVehicle* cand : lane->getVehiclesSecure()) {
2441 1485364 : if ((lane != myLane || cand->getPositionOnLane() > getPositionOnLane())
2442 4751224 : && ((!outsideLeft && cand->getLeftSideOnEdge() < 0)
2443 3265772 : || (outsideLeft && cand->getLeftSideOnEdge() > lane->getEdge().getWidth()))) {
2444 97442 : outsideLeaders.addLeader(cand, true);
2445 : #ifdef DEBUG_PLAN_MOVE
2446 : if (DEBUG_COND) {
2447 : std::cout << " outsideLeader=" << cand->getID() << " ahead=" << outsideLeaders.toString() << "\n";
2448 : }
2449 : #endif
2450 : }
2451 : }
2452 1311403 : lane->releaseVehicles();
2453 1311403 : if (outsideLeaders.hasVehicles()) {
2454 26262 : adaptToLeaders(outsideLeaders, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2455 : }
2456 1311403 : }
2457 : }
2458 1232403603 : adaptToLeaders(ahead, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2459 : }
2460 1232801126 : if (lastLink != nullptr) {
2461 1121627418 : lastLink->myVLinkWait = MIN2(lastLink->myVLinkWait, v);
2462 : }
2463 : #ifdef DEBUG_PLAN_MOVE
2464 : if (DEBUG_COND) {
2465 : std::cout << "\nv = " << v << "\n";
2466 :
2467 : }
2468 : #endif
2469 : // XXX efficiently adapt to shadow leaders using neighAhead by iteration over the whole edge in parallel (lanechanger-style)
2470 1232801126 : if (myLaneChangeModel->getShadowLane() != nullptr) {
2471 : // also slow down for leaders on the shadowLane relative to the current lane
2472 5026357 : const MSLane* shadowLane = myLaneChangeModel->getShadowLane(leaderLane);
2473 : if (shadowLane != nullptr
2474 5026357 : && (MSGlobals::gLateralResolution > 0 || getLateralOverlap() > POSITION_EPS
2475 : // continous lane change cannot be stopped so we must adapt to the leader on the target lane
2476 191108 : || myLaneChangeModel->getLaneChangeCompletion() < 0.5)) {
2477 4473514 : if ((&shadowLane->getEdge() == &leaderLane->getEdge() || myLaneChangeModel->isOpposite())) {
2478 4430916 : double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
2479 4430916 : if (myLaneChangeModel->isOpposite()) {
2480 : // ego posLat is added when retrieving sublanes but it
2481 : // should be negated (subtract twice to compensate)
2482 138584 : latOffset = ((myLane->getWidth() + shadowLane->getWidth()) * 0.5
2483 138584 : - 2 * getLateralPositionOnLane());
2484 :
2485 : }
2486 4430916 : MSLeaderInfo shadowLeaders = shadowLane->getLastVehicleInformation(this, latOffset, lane->getLength() - seen);
2487 : #ifdef DEBUG_PLAN_MOVE
2488 : if (DEBUG_COND && myLaneChangeModel->isOpposite()) {
2489 : std::cout << SIMTIME << " opposite veh=" << getID() << " shadowLane=" << shadowLane->getID() << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2490 : }
2491 : #endif
2492 4430916 : if (myLaneChangeModel->isOpposite()) {
2493 : // ignore oncoming vehicles on the shadow lane
2494 138584 : shadowLeaders.removeOpposite(shadowLane);
2495 : }
2496 4430916 : const double turningDifference = MAX2(0.0, leaderLane->getLength() - shadowLane->getLength());
2497 4430916 : adaptToLeaders(shadowLeaders, latOffset, seen - turningDifference, lastLink, shadowLane, v, vLinkPass);
2498 4473514 : } else if (shadowLane == myLaneChangeModel->getShadowLane() && leaderLane == myLane) {
2499 : // check for leader vehicles driving in the opposite direction on the opposite-direction shadow lane
2500 : // (and thus in the same direction as ego)
2501 30563 : MSLeaderDistanceInfo shadowLeaders = shadowLane->getFollowersOnConsecutive(this, myLane->getOppositePos(getPositionOnLane()), true);
2502 : const double latOffset = 0;
2503 : #ifdef DEBUG_PLAN_MOVE
2504 : if (DEBUG_COND) {
2505 : std::cout << SIMTIME << " opposite shadows veh=" << getID() << " shadowLane=" << shadowLane->getID()
2506 : << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2507 : }
2508 : #endif
2509 30563 : shadowLeaders.fixOppositeGaps(true);
2510 : #ifdef DEBUG_PLAN_MOVE
2511 : if (DEBUG_COND) {
2512 : std::cout << " shadowLeadersFixed=" << shadowLeaders.toString() << "\n";
2513 : }
2514 : #endif
2515 30563 : adaptToLeaderDistance(shadowLeaders, latOffset, seen, lastLink, v, vLinkPass);
2516 30563 : }
2517 : }
2518 : }
2519 : // adapt to pedestrians on the same lane
2520 1232801126 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2521 193893 : const double relativePos = lane->getLength() - seen;
2522 : #ifdef DEBUG_PLAN_MOVE
2523 : if (DEBUG_COND) {
2524 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2525 : }
2526 : #endif
2527 193893 : const double stopTime = MAX2(1.0, ceil(getSpeed() / cfModel.getMaxDecel()));
2528 193893 : PersonDist leader = lane->nextBlocking(relativePos,
2529 193893 : getRightSideOnLane(lane), getRightSideOnLane(lane) + getVehicleType().getWidth(), stopTime);
2530 193893 : if (leader.first != 0) {
2531 20843 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2532 29576 : v = MIN2(v, stopSpeed);
2533 : #ifdef DEBUG_PLAN_MOVE
2534 : if (DEBUG_COND) {
2535 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2536 : }
2537 : #endif
2538 : }
2539 : }
2540 1232801126 : if (lane->getBidiLane() != nullptr) {
2541 : // adapt to pedestrians on the bidi lane
2542 5515772 : const MSLane* bidiLane = lane->getBidiLane();
2543 5515772 : if (bidiLane->getEdge().getPersons().size() > 0 && bidiLane->hasPedestrians()) {
2544 1028 : const double relativePos = seen;
2545 : #ifdef DEBUG_PLAN_MOVE
2546 : if (DEBUG_COND) {
2547 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2548 : }
2549 : #endif
2550 1028 : const double stopTime = ceil(getSpeed() / cfModel.getMaxDecel());
2551 1028 : const double leftSideOnLane = bidiLane->getWidth() - getRightSideOnLane(lane);
2552 1028 : PersonDist leader = bidiLane->nextBlocking(relativePos,
2553 1028 : leftSideOnLane - getVehicleType().getWidth(), leftSideOnLane, stopTime, true);
2554 1028 : if (leader.first != 0) {
2555 267 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2556 524 : v = MIN2(v, stopSpeed);
2557 : #ifdef DEBUG_PLAN_MOVE
2558 : if (DEBUG_COND) {
2559 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2560 : }
2561 : #endif
2562 : }
2563 : }
2564 : }
2565 : // adapt to vehicles blocked from (urgent) lane-changing
2566 1232801126 : if (!opposite && lane->getEdge().hasLaneChanger()) {
2567 596399248 : const double vHelp = myLaneChangeModel->getCooperativeHelpSpeed(lane, seen);
2568 : #ifdef DEBUG_PLAN_MOVE
2569 : if (DEBUG_COND && vHelp < v) {
2570 : std::cout << SIMTIME << " applying cooperativeHelpSpeed v=" << vHelp << "\n";
2571 : }
2572 : #endif
2573 596479535 : v = MIN2(v, vHelp);
2574 : }
2575 :
2576 : // process all stops and waypoints on the current edge
2577 : bool foundRealStop = false;
2578 : while (stopIt != myStops.end()
2579 65844031 : && ((&stopIt->lane->getEdge() == &lane->getEdge())
2580 33195758 : || (stopIt->isOpposite && stopIt->lane->getEdge().getOppositeEdge() == &lane->getEdge()))
2581 : // ignore stops that occur later in a looped route
2582 1288178877 : && stopIt->edge == myCurrEdge + view) {
2583 32593072 : double stopDist = std::numeric_limits<double>::max();
2584 : const MSStop& stop = *stopIt;
2585 : const bool isFirstStop = stopIt == myStops.begin();
2586 : stopIt++;
2587 32593072 : if (!stop.reached || (stop.getSpeed() > 0 && keepStopping())) {
2588 : // we are approaching a stop on the edge; must not drive further
2589 14960247 : bool isWaypoint = stop.getSpeed() > 0;
2590 14960247 : double endPos = stop.getEndPos(*this) + NUMERICAL_EPS;
2591 14960247 : if (stop.parkingarea != nullptr) {
2592 : // leave enough space so parking vehicles can exit
2593 1649346 : const double brakePos = getBrakeGap() + lane->getLength() - seen;
2594 1649346 : endPos = stop.parkingarea->getLastFreePosWithReservation(t, *this, brakePos);
2595 13310901 : } else if (isWaypoint && !stop.reached) {
2596 107831 : endPos = stop.pars.startPos;
2597 : }
2598 14960247 : stopDist = seen + endPos - lane->getLength();
2599 : #ifdef DEBUG_STOPS
2600 : if (DEBUG_COND) {
2601 : std::cout << SIMTIME << " veh=" << getID() << " stopDist=" << stopDist << " stopLane=" << stop.lane->getID() << " stopEndPos=" << endPos << "\n";
2602 : }
2603 : #endif
2604 : double stopSpeed = laneMaxV;
2605 14960247 : if (isWaypoint) {
2606 : bool waypointWithStop = false;
2607 123377 : if (stop.getUntil() > t) {
2608 : // check if we have to slow down or even stop
2609 : SUMOTime time2end = 0;
2610 3691 : if (stop.reached) {
2611 702 : time2end = TIME2STEPS((stop.pars.endPos - myState.myPos) / stop.getSpeed());
2612 : } else {
2613 3267 : time2end = TIME2STEPS(
2614 : // time to reach waypoint start
2615 : stopDist / ((getSpeed() + stop.getSpeed()) / 2)
2616 : // time to reach waypoint end
2617 : + (stop.pars.endPos - stop.pars.startPos) / stop.getSpeed());
2618 : }
2619 3691 : if (stop.getUntil() > t + time2end) {
2620 : // we need to stop
2621 : double distToEnd = stopDist;
2622 3398 : if (!stop.reached) {
2623 2783 : distToEnd += stop.pars.endPos - stop.pars.startPos;
2624 : }
2625 3398 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), distToEnd), vMinComfortable);
2626 : waypointWithStop = true;
2627 3398 : if (stopSpeed <= SUMO_const_haltingSpeed) {
2628 531 : const_cast<MSStop&>(stop).waypointWithStop = true;
2629 : }
2630 : }
2631 : }
2632 123377 : if (stop.reached) {
2633 14802 : stopSpeed = MIN2(stop.getSpeed(), stopSpeed);
2634 14802 : if (myState.myPos >= stop.pars.endPos && !waypointWithStop) {
2635 278 : stopDist = std::numeric_limits<double>::max();
2636 : }
2637 : } else {
2638 108575 : stopSpeed = MIN2(MAX2(cfModel.freeSpeed(this, getSpeed(), stopDist, stop.getSpeed()), vMinComfortable), stopSpeed);
2639 108575 : if (!stop.reached) {
2640 108575 : stopDist += stop.pars.endPos - stop.pars.startPos;
2641 : }
2642 108575 : if (lastLink != nullptr) {
2643 66550 : lastLink->adaptLeaveSpeed(cfModel.freeSpeed(this, vLinkPass, endPos, stop.getSpeed(), false, MSCFModel::CalcReason::FUTURE));
2644 : }
2645 : }
2646 : } else {
2647 14836870 : stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist);
2648 14836870 : if (!instantStopping()) {
2649 : // regular stops are not emergencies
2650 : stopSpeed = MAX2(stopSpeed, vMinComfortable);
2651 20 : } else if (myInfluencer && !myInfluencer->hasSpeedTimeLine(SIMSTEP)) {
2652 : std::vector<std::pair<SUMOTime, double> > speedTimeLine;
2653 20 : speedTimeLine.push_back(std::make_pair(SIMSTEP, getSpeed()));
2654 20 : speedTimeLine.push_back(std::make_pair(SIMSTEP + DELTA_T, stopSpeed));
2655 20 : myInfluencer->setSpeedTimeLine(speedTimeLine);
2656 20 : }
2657 14836870 : if (lastLink != nullptr) {
2658 9125662 : lastLink->adaptLeaveSpeed(cfModel.stopSpeed(this, vLinkPass, endPos, MSCFModel::CalcReason::FUTURE));
2659 : }
2660 : }
2661 14960247 : if (stopSpeed < getSpeed() && getSpeed() > SUMO_const_haltingSpeed) {
2662 : // only discount braking-for-stop timeLoss if we are actually braking
2663 615347 : newStopSpeed = MIN2(newStopSpeed, stopSpeed);
2664 14652487 : } else if (getSpeed() < SUMO_const_haltingSpeed) {
2665 : // blocked from entering a stop
2666 7824563 : newStopSpeed = std::numeric_limits<double>::max();
2667 : }
2668 14960247 : v = MIN2(v, stopSpeed);
2669 14960247 : if (lane->isInternal()) {
2670 7011 : std::vector<MSLink*>::const_iterator exitLink = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2671 : assert(!lane->isLinkEnd(exitLink));
2672 : bool dummySetRequest;
2673 : double dummyVLinkWait;
2674 7011 : checkLinkLeaderCurrentAndParallel(*exitLink, lane, seen, lastLink, v, vLinkPass, dummyVLinkWait, dummySetRequest);
2675 : }
2676 :
2677 : #ifdef DEBUG_PLAN_MOVE
2678 : if (DEBUG_COND) {
2679 : std::cout << "\n" << SIMTIME << " next stop: distance = " << stopDist << " requires stopSpeed = " << stopSpeed << "\n";
2680 :
2681 : }
2682 : #endif
2683 14960247 : if (isFirstStop) {
2684 10278709 : newStopDist = stopDist;
2685 : // if the vehicle is going to stop we don't need to look further
2686 : // (except for trains that make use of further link-approach registration for safety purposes)
2687 10278709 : if (!isWaypoint) {
2688 : planningToStop = true;
2689 10190707 : if (!isRail()) {
2690 9866755 : lfLinks.emplace_back(v, stopDist);
2691 : foundRealStop = true;
2692 : break;
2693 : }
2694 : }
2695 : }
2696 : }
2697 : }
2698 : if (foundRealStop) {
2699 : break;
2700 : }
2701 :
2702 : // move to next lane
2703 : // get the next link used
2704 1222934371 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2705 1222934371 : if (lane->isLinkEnd(link) && myLaneChangeModel->hasBlueLight() && myCurrEdge != myRoute->end() - 1) {
2706 : // emergency vehicle is on the wrong lane. Obtain the link that it would use from the correct turning lane
2707 : const int currentIndex = lane->getIndex();
2708 : const MSLane* bestJump = nullptr;
2709 194469 : for (const LaneQ& preb : getBestLanes()) {
2710 127902 : if (preb.allowsContinuation &&
2711 : (bestJump == nullptr
2712 3216 : || abs(currentIndex - preb.lane->getIndex()) < abs(currentIndex - bestJump->getIndex()))) {
2713 67572 : bestJump = preb.lane;
2714 : }
2715 : }
2716 66567 : if (bestJump != nullptr) {
2717 66567 : const MSEdge* nextEdge = *(myCurrEdge + 1);
2718 122908 : for (auto cand_it = bestJump->getLinkCont().begin(); cand_it != bestJump->getLinkCont().end(); cand_it++) {
2719 117529 : if (&(*cand_it)->getLane()->getEdge() == nextEdge) {
2720 : link = cand_it;
2721 : break;
2722 : }
2723 : }
2724 : }
2725 : }
2726 :
2727 : // Check whether this is a turn (to save info about the next upcoming turn)
2728 1222934371 : if (!encounteredTurn) {
2729 194521391 : if (!lane->isLinkEnd(link) && lane->getLinkCont().size() > 1) {
2730 19878654 : LinkDirection linkDir = (*link)->getDirection();
2731 19878654 : switch (linkDir) {
2732 : case LinkDirection::STRAIGHT:
2733 : case LinkDirection::NODIR:
2734 : break;
2735 7808248 : default:
2736 7808248 : nextTurn.first = seen;
2737 7808248 : nextTurn.second = *link;
2738 : encounteredTurn = true;
2739 : #ifdef DEBUG_NEXT_TURN
2740 : if (DEBUG_COND) {
2741 : std::cout << SIMTIME << " veh '" << getID() << "' nextTurn: " << toString(linkDir)
2742 : << " at " << nextTurn.first << "m." << std::endl;
2743 : }
2744 : #endif
2745 : }
2746 : }
2747 : }
2748 :
2749 : // check whether the vehicle is on its final edge
2750 2112880049 : if (myCurrEdge + view + 1 == myRoute->end()
2751 1222934371 : || (myParameter->arrivalEdge >= 0 && getRoutePosition() + view == myParameter->arrivalEdge)) {
2752 332988693 : const double arrivalSpeed = (myParameter->arrivalSpeedProcedure == ArrivalSpeedDefinition::GIVEN ?
2753 : myParameter->arrivalSpeed : laneMaxV);
2754 : // subtract the arrival speed from the remaining distance so we get one additional driving step with arrival speed
2755 : // XXX: This does not work for ballistic update refs #2579
2756 332988693 : const double distToArrival = seen + myArrivalPos - lane->getLength() - SPEED2DIST(arrivalSpeed);
2757 332988693 : const double va = MAX2(NUMERICAL_EPS, cfModel.freeSpeed(this, getSpeed(), distToArrival, arrivalSpeed));
2758 332988693 : v = MIN2(v, va);
2759 332988693 : if (lastLink != nullptr) {
2760 : lastLink->adaptLeaveSpeed(va);
2761 : }
2762 332988693 : lfLinks.push_back(DriveProcessItem(v, seen, lane->getEdge().isFringe() ? 1000 : 0));
2763 332988693 : break;
2764 : }
2765 : // check whether the lane or the shadowLane is a dead end (allow some leeway on intersections)
2766 : if (lane->isLinkEnd(link)
2767 880868646 : || (MSGlobals::gSublane && brakeForOverlap(*link, lane))
2768 1770462963 : || (opposite && (*link)->getViaLaneOrLane()->getParallelOpposite() == nullptr
2769 212832 : && !myLaneChangeModel->hasBlueLight())) {
2770 9681107 : double va = cfModel.stopSpeed(this, getSpeed(), seen);
2771 9681107 : if (lastLink != nullptr) {
2772 : lastLink->adaptLeaveSpeed(va);
2773 : }
2774 9681107 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
2775 373617 : v = MIN2(myLaneChangeModel->getCommittedSpeed(), v);
2776 : } else {
2777 18073943 : v = MIN2(va, v);
2778 : }
2779 : #ifdef DEBUG_PLAN_MOVE
2780 : if (DEBUG_COND) {
2781 : std::cout << " braking for link end lane=" << lane->getID() << " seen=" << seen
2782 : << " overlap=" << getLateralOverlap() << " va=" << va << " committed=" << myLaneChangeModel->getCommittedSpeed() << " v=" << v << "\n";
2783 :
2784 : }
2785 : #endif
2786 9681107 : if (lane->isLinkEnd(link)) {
2787 9077032 : lfLinks.emplace_back(v, seen);
2788 : break;
2789 : }
2790 : }
2791 880868646 : lateralShift += (*link)->getLateralShift();
2792 880868646 : const bool yellowOrRed = (*link)->haveRed() || (*link)->haveYellow();
2793 : // We distinguish 3 cases when determining the point at which a vehicle stops:
2794 : // - allway_stop: the vehicle should stop close to the stop line but may stop at larger distance
2795 : // - red/yellow light: here the vehicle 'knows' that it will have priority eventually and does not need to stop on a precise spot
2796 : // - other types of minor links: the vehicle needs to stop as close to the junction as necessary
2797 : // to minimize the time window for passing the junction. If the
2798 : // vehicle 'decides' to accelerate and cannot enter the junction in
2799 : // the next step, new foes may appear and cause a collision (see #1096)
2800 : // - major links: stopping point is irrelevant
2801 : double laneStopOffset;
2802 880868646 : const double majorStopOffset = MAX2(getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, DIST_TO_STOPLINE_EXPECT_PRIORITY), lane->getVehicleStopOffset(this));
2803 : // override low desired decel at yellow and red
2804 880868646 : const double stopDecel = yellowOrRed && !isRail() ? MAX2(MIN2(MSGlobals::gTLSYellowMinDecel, cfModel.getEmergencyDecel()), cfModel.getMaxDecel()) : cfModel.getMaxDecel();
2805 880868646 : const double brakeDist = cfModel.brakeGap(myState.mySpeed, stopDecel, 0);
2806 880868646 : const bool canBrakeBeforeLaneEnd = seen >= brakeDist;
2807 880868646 : const bool canBrakeBeforeStopLine = seen - lane->getVehicleStopOffset(this) >= brakeDist;
2808 880868646 : if (yellowOrRed) {
2809 : // Wait at red traffic light with full distance if possible
2810 : laneStopOffset = majorStopOffset;
2811 819331334 : } else if ((*link)->havePriority()) {
2812 : // On priority link, we should never stop below visibility distance
2813 774518510 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, majorStopOffset);
2814 : } else {
2815 44812824 : double minorStopOffset = MAX2(lane->getVehicleStopOffset(this),
2816 44812824 : getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP) - (*link)->getDistToFoePedCrossing());
2817 : #ifdef DEBUG_PLAN_MOVE
2818 : if (DEBUG_COND) {
2819 : std::cout << " minorStopOffset=" << minorStopOffset << " distToFoePedCrossing=" << (*link)->getDistToFoePedCrossing() << "\n";
2820 : }
2821 : #endif
2822 44812824 : if ((*link)->getState() == LINKSTATE_ALLWAY_STOP) {
2823 1425260 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, 0));
2824 : } else {
2825 43387564 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP_MINOR, 0));
2826 : }
2827 : // On minor link, we should likewise never stop below visibility distance
2828 44812824 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, minorStopOffset);
2829 : }
2830 : #ifdef DEBUG_PLAN_MOVE
2831 : if (DEBUG_COND) {
2832 : std::cout << SIMTIME << " veh=" << getID() << " desired stopOffset on lane '" << lane->getID() << "' is " << laneStopOffset << "\n";
2833 : }
2834 : #endif
2835 880868646 : if (canBrakeBeforeLaneEnd) {
2836 : // avoid emergency braking if possible
2837 853391141 : laneStopOffset = MIN2(laneStopOffset, seen - brakeDist);
2838 : }
2839 : laneStopOffset = MAX2(POSITION_EPS, laneStopOffset);
2840 880868646 : double stopDist = MAX2(0., seen - laneStopOffset);
2841 61537312 : if (yellowOrRed && getDevice(typeid(MSDevice_GLOSA)) != nullptr
2842 508 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->getOverrideSafety()
2843 880868646 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->isSpeedAdviceActive()) {
2844 : stopDist = std::numeric_limits<double>::max();
2845 : }
2846 880868646 : if (newStopDist != std::numeric_limits<double>::max()) {
2847 : stopDist = MAX2(stopDist, newStopDist);
2848 : }
2849 : #ifdef DEBUG_PLAN_MOVE
2850 : if (DEBUG_COND) {
2851 : std::cout << SIMTIME << " veh=" << getID() << " effective stopOffset on lane '" << lane->getID()
2852 : << "' is " << laneStopOffset << " (-> stopDist=" << stopDist << ")" << std::endl;
2853 : }
2854 : #endif
2855 880868646 : if (isRail()
2856 880868646 : && !lane->isInternal()) {
2857 : // check for train direction reversal
2858 3232656 : if (lane->getBidiLane() != nullptr
2859 3232656 : && (*link)->getLane()->getBidiLane() == lane) {
2860 631456 : double vMustReverse = getCarFollowModel().stopSpeed(this, getSpeed(), seen - POSITION_EPS);
2861 631456 : if (seen < 1) {
2862 2277 : mustSeeBeforeReversal = 2 * seen + getLength();
2863 : }
2864 1221824 : v = MIN2(v, vMustReverse);
2865 : }
2866 : // signal that is passed in the current step does not count
2867 6465312 : foundRailSignal |= ((*link)->getTLLogic() != nullptr
2868 745709 : && (*link)->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL
2869 3926324 : && seen > SPEED2DIST(v));
2870 : }
2871 :
2872 880868646 : bool canReverseEventually = false;
2873 880868646 : const double vReverse = checkReversal(canReverseEventually, laneMaxV, seen);
2874 880868646 : v = MIN2(v, vReverse);
2875 : #ifdef DEBUG_PLAN_MOVE
2876 : if (DEBUG_COND) {
2877 : std::cout << SIMTIME << " veh=" << getID() << " canReverseEventually=" << canReverseEventually << " v=" << v << "\n";
2878 : }
2879 : #endif
2880 :
2881 : // check whether we need to slow down in order to finish a continuous lane change
2882 880868646 : if (myLaneChangeModel->isChangingLanes()) {
2883 : if ( // slow down to finish lane change before a turn lane
2884 179825 : ((*link)->getDirection() == LinkDirection::LEFT || (*link)->getDirection() == LinkDirection::RIGHT) ||
2885 : // slow down to finish lane change before the shadow lane ends
2886 146767 : (myLaneChangeModel->getShadowLane() != nullptr &&
2887 146767 : (*link)->getViaLaneOrLane()->getParallelLane(myLaneChangeModel->getShadowDirection()) == nullptr)) {
2888 : // XXX maybe this is too harsh. Vehicles could cut some corners here
2889 54636 : const double timeRemaining = STEPS2TIME(myLaneChangeModel->remainingTime());
2890 : assert(timeRemaining != 0);
2891 : // XXX: Euler-logic (#860), but I couldn't identify problems from this yet (Leo). Refs. #2575
2892 54636 : const double va = MAX2(cfModel.stopSpeed(this, getSpeed(), seen - POSITION_EPS),
2893 54636 : (seen - POSITION_EPS) / timeRemaining);
2894 : #ifdef DEBUG_PLAN_MOVE
2895 : if (DEBUG_COND) {
2896 : std::cout << SIMTIME << " veh=" << getID() << " slowing down to finish continuous change before"
2897 : << " link=" << (*link)->getViaLaneOrLane()->getID()
2898 : << " timeRemaining=" << timeRemaining
2899 : << " v=" << v
2900 : << " va=" << va
2901 : << std::endl;
2902 : }
2903 : #endif
2904 108776 : v = MIN2(va, v);
2905 : }
2906 : }
2907 :
2908 : // - always issue a request to leave the intersection we are currently on
2909 880868646 : const bool leavingCurrentIntersection = myLane->getEdge().isInternal() && lastLink == nullptr;
2910 : // - do not issue a request to enter an intersection after we already slowed down for an earlier one
2911 880868646 : const bool abortRequestAfterMinor = slowedDownForMinor && (*link)->getInternalLaneBefore() == nullptr;
2912 : // - even if red, if we cannot break we should issue a request
2913 880868646 : bool setRequest = (v > NUMERICAL_EPS_SPEED && !abortRequestAfterMinor) || (leavingCurrentIntersection);
2914 :
2915 880868646 : double stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist, stopDecel, MSCFModel::CalcReason::CURRENT_WAIT);
2916 880868646 : double vLinkWait = MIN2(v, stopSpeed);
2917 : #ifdef DEBUG_PLAN_MOVE
2918 : if (DEBUG_COND) {
2919 : std::cout
2920 : << " stopDist=" << stopDist
2921 : << " stopDecel=" << stopDecel
2922 : << " vLinkWait=" << vLinkWait
2923 : << " brakeDist=" << brakeDist
2924 : << " seen=" << seen
2925 : << " leaveIntersection=" << leavingCurrentIntersection
2926 : << " setRequest=" << setRequest
2927 : //<< std::setprecision(16)
2928 : //<< " v=" << v
2929 : //<< " speedEps=" << NUMERICAL_EPS_SPEED
2930 : //<< std::setprecision(gPrecision)
2931 : << "\n";
2932 : }
2933 : #endif
2934 :
2935 880868646 : if (yellowOrRed && canBrakeBeforeStopLine && !ignoreRed(*link, canBrakeBeforeStopLine) && seen >= mustSeeBeforeReversal) {
2936 61475203 : if (lane->isInternal()) {
2937 42351 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2938 : }
2939 : // arrivalSpeed / arrivalTime when braking for red light is only relevent for rail signal switching
2940 61475203 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, vLinkPass);
2941 : // the vehicle is able to brake in front of a yellow/red traffic light
2942 61475203 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, false, arrivalTime, vLinkWait, 0, seen, -1));
2943 : //lfLinks.push_back(DriveProcessItem(0, vLinkWait, vLinkWait, false, 0, 0, stopDist));
2944 61475203 : break;
2945 : }
2946 :
2947 819393443 : const MSLink* entryLink = (*link)->getCorrespondingEntryLink();
2948 819393443 : if (entryLink->haveRed() && ignoreRed(*link, canBrakeBeforeStopLine) && STEPS2TIME(t - entryLink->getLastStateChange()) > 2) {
2949 : // restrict speed when ignoring a red light
2950 118484 : const double redSpeed = MIN2(v, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_RED_SPEED, v));
2951 118484 : const double va = MAX2(redSpeed, cfModel.freeSpeed(this, getSpeed(), seen, redSpeed));
2952 236520 : v = MIN2(va, v);
2953 : #ifdef DEBUG_PLAN_MOVE
2954 : if (DEBUG_COND) std::cout
2955 : << " ignoreRed spent=" << STEPS2TIME(t - (*link)->getLastStateChange())
2956 : << " redSpeed=" << redSpeed
2957 : << " va=" << va
2958 : << " v=" << v
2959 : << "\n";
2960 : #endif
2961 : }
2962 :
2963 819393443 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2964 :
2965 819393443 : if (lastLink != nullptr) {
2966 : lastLink->adaptLeaveSpeed(laneMaxV);
2967 : }
2968 819393443 : double arrivalSpeed = vLinkPass;
2969 : // vehicles should decelerate when approaching a minor link
2970 : // - unless they are close enough to have clear visibility of all relevant foe lanes and may start to accelerate again
2971 : // - and unless they are so close that stopping is impossible (i.e. when a green light turns to yellow when close to the junction)
2972 :
2973 : // whether the vehicle/driver is close enough to the link to see all possible foes #2123
2974 819393443 : const double visibilityDistance = (*link)->getFoeVisibilityDistance();
2975 819393443 : const double determinedFoePresence = seen <= visibilityDistance;
2976 : // // VARIANT: account for time needed to recognize whether relevant vehicles are on the foe lanes. (Leo)
2977 : // double foeRecognitionTime = 0.0;
2978 : // double determinedFoePresence = seen < visibilityDistance - myState.mySpeed*foeRecognitionTime;
2979 :
2980 : #ifdef DEBUG_PLAN_MOVE
2981 : if (DEBUG_COND) {
2982 : std::cout << " approaching link=" << (*link)->getViaLaneOrLane()->getID() << " prio=" << (*link)->havePriority() << " seen=" << seen << " visibilityDistance=" << visibilityDistance << " brakeDist=" << brakeDist << "\n";
2983 : }
2984 : #endif
2985 :
2986 819393443 : const bool couldBrakeForMinor = !(*link)->havePriority() && brakeDist < seen && !(*link)->lastWasContMajor();
2987 44286380 : if (couldBrakeForMinor && !determinedFoePresence) {
2988 : // vehicle decelerates just enough to be able to stop if necessary and then accelerates
2989 41506587 : double maxSpeedAtVisibilityDist = cfModel.maximumSafeStopSpeed(visibilityDistance, cfModel.getMaxDecel(), myState.mySpeed, false, 0., false);
2990 : // XXX: estimateSpeedAfterDistance does not use euler-logic (thus returns a lower value than possible here...)
2991 41506587 : double maxArrivalSpeed = cfModel.estimateSpeedAfterDistance(visibilityDistance, maxSpeedAtVisibilityDist, cfModel.getMaxAccel());
2992 41506587 : arrivalSpeed = MIN2(vLinkPass, maxArrivalSpeed);
2993 : slowedDownForMinor = true;
2994 : #ifdef DEBUG_PLAN_MOVE
2995 : if (DEBUG_COND) {
2996 : std::cout << " slowedDownForMinor maxSpeedAtVisDist=" << maxSpeedAtVisibilityDist << " maxArrivalSpeed=" << maxArrivalSpeed << " arrivalSpeed=" << arrivalSpeed << "\n";
2997 : }
2998 : #endif
2999 777886856 : } else if ((*link)->getState() == LINKSTATE_EQUAL && myWaitingTime > 0) {
3000 : // check for deadlock (circular yielding)
3001 : //std::cout << SIMTIME << " veh=" << getID() << " check rbl-deadlock\n";
3002 2810 : std::pair<const SUMOVehicle*, const MSLink*> blocker = (*link)->getFirstApproachingFoe(*link);
3003 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
3004 : int n = 100;
3005 5622 : while (blocker.second != nullptr && blocker.second != *link && n > 0) {
3006 2812 : blocker = blocker.second->getFirstApproachingFoe(*link);
3007 2812 : n--;
3008 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
3009 : }
3010 2810 : if (n == 0) {
3011 0 : WRITE_WARNINGF(TL("Suspicious right_before_left junction '%'."), lane->getEdge().getToJunction()->getID());
3012 : }
3013 : //std::cout << " blockerLink=" << blocker.second << " link=" << *link << "\n";
3014 2810 : if (blocker.second == *link) {
3015 489 : const double threshold = (*link)->getDirection() == LinkDirection::STRAIGHT ? 0.25 : 0.75;
3016 489 : if (RandHelper::rand(getRNG()) < threshold) {
3017 : //std::cout << " abort request, threshold=" << threshold << "\n";
3018 308 : setRequest = false;
3019 : }
3020 : }
3021 : }
3022 :
3023 819393443 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, arrivalSpeed);
3024 819393443 : if (couldBrakeForMinor && determinedFoePresence && (*link)->getLane()->getEdge().isRoundabout()) {
3025 872052 : const bool wasOpened = (*link)->opened(arrivalTime, arrivalSpeed, arrivalSpeed,
3026 872052 : getLength(), getImpatience(),
3027 : getCarFollowModel().getMaxDecel(),
3028 872052 : getWaitingTime(), getLateralPositionOnLane(),
3029 : nullptr, false, this);
3030 872052 : if (!wasOpened) {
3031 : slowedDownForMinor = true;
3032 : }
3033 : #ifdef DEBUG_PLAN_MOVE
3034 : if (DEBUG_COND) {
3035 : std::cout << " slowedDownForMinor at roundabout=" << (!wasOpened) << "\n";
3036 : }
3037 : #endif
3038 : }
3039 :
3040 : // compute arrival speed and arrival time if vehicle starts braking now
3041 : // if stopping is possible, arrivalTime can be arbitrarily large. A small value keeps fractional times (impatience) meaningful
3042 : double arrivalSpeedBraking = 0;
3043 819393443 : const double bGap = cfModel.brakeGap(v);
3044 819393443 : if (seen < bGap && !isStopped() && !planningToStop) { // XXX: should this use the current speed (at least for the ballistic case)? (Leo) Refs. #2575
3045 : // vehicle cannot come to a complete stop in time
3046 56998815 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3047 54281508 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeedEuler(seen, v);
3048 : // due to discrete/continuous mismatch (when using Euler update) we have to ensure that braking actually helps
3049 : arrivalSpeedBraking = MIN2(arrivalSpeedBraking, arrivalSpeed);
3050 : } else {
3051 2717307 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeed(seen, myState.mySpeed);
3052 : }
3053 : }
3054 :
3055 : // estimate leave speed for passing time computation
3056 : // l=linkLength, a=accel, t=continuousTime, v=vLeave
3057 : // l=v*t + 0.5*a*t^2, solve for t and multiply with a, then add v
3058 1211766184 : const double estimatedLeaveSpeed = MIN2((*link)->getViaLaneOrLane()->getVehicleMaxSpeed(this, maxVD),
3059 819393443 : getCarFollowModel().estimateSpeedAfterDistance((*link)->getLength(), arrivalSpeed, getVehicleType().getCarFollowModel().getMaxAccel()));
3060 819393443 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, setRequest,
3061 : arrivalTime, arrivalSpeed,
3062 : arrivalSpeedBraking,
3063 : seen, estimatedLeaveSpeed));
3064 819393443 : if ((*link)->getViaLane() == nullptr) {
3065 : hadNonInternal = true;
3066 : ++view;
3067 : }
3068 : #ifdef DEBUG_PLAN_MOVE
3069 : if (DEBUG_COND) {
3070 : std::cout << " checkAbort setRequest=" << setRequest << " v=" << v << " seen=" << seen << " dist=" << dist
3071 : << " seenNonInternal=" << seenNonInternal
3072 : << " seenInternal=" << seenInternal << " length=" << vehicleLength << "\n";
3073 : }
3074 : #endif
3075 : // we need to look ahead far enough to see available space for checkRewindLinkLanes
3076 845722523 : if ((!setRequest || v <= 0 || seen > dist) && hadNonInternal && seenNonInternal > MAX2(vehicleLength * CRLL_LOOK_AHEAD, vehicleLength + seenInternal) && foundRailSignal) {
3077 : break;
3078 : }
3079 : // get the following lane
3080 : lane = (*link)->getViaLaneOrLane();
3081 595914647 : laneMaxV = lane->getVehicleMaxSpeed(this, maxVD);
3082 596314521 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
3083 : laneMaxV = std::numeric_limits<double>::max();
3084 : }
3085 : // the link was passed
3086 : // compute the velocity to use when the link is not blocked by other vehicles
3087 : // the vehicle shall be not faster when reaching the next lane than allowed
3088 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
3089 595914647 : const double va = MAX2(cfModel.freeSpeed(this, getSpeed(), seen, laneMaxV), vMinComfortable - NUMERICAL_EPS);
3090 1182042063 : v = MIN2(va, v);
3091 : #ifdef DEBUG_PLAN_MOVE
3092 : if (DEBUG_COND) {
3093 : std::cout << " laneMaxV=" << laneMaxV << " freeSpeed=" << va << " v=" << v << "\n";
3094 : }
3095 : #endif
3096 595914647 : if (lane->getEdge().isInternal()) {
3097 260752966 : seenInternal += lane->getLength();
3098 : } else {
3099 335161681 : seenNonInternal += lane->getLength();
3100 : }
3101 : // do not restrict results to the current vehicle to allow caching for the current time step
3102 595914647 : leaderLane = opposite ? lane->getParallelOpposite() : lane;
3103 595914647 : if (leaderLane == nullptr) {
3104 :
3105 : break;
3106 : }
3107 1191407348 : ahead = opposite ? MSLeaderInfo(leaderLane->getWidth()) : leaderLane->getLastVehicleInformation(nullptr, 0);
3108 595703674 : seen += lane->getLength();
3109 1191407348 : vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(lane->getLength(), v, cfModel.getMaxAccel()), laneMaxV); // upper bound
3110 : lastLink = &lfLinks.back();
3111 595703674 : }
3112 :
3113 : //#ifdef DEBUG_PLAN_MOVE
3114 : // if(DEBUG_COND){
3115 : // std::cout << "planMoveInternal found safe speed v = " << v << std::endl;
3116 : // }
3117 : //#endif
3118 :
3119 : #ifdef PARALLEL_STOPWATCH
3120 : myLane->getStopWatch()[0].stop();
3121 : #endif
3122 637097452 : }
3123 :
3124 :
3125 : double
3126 2786 : MSVehicle::slowDownForSchedule(double vMinComfortable) const {
3127 2786 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
3128 : const MSStop& stop = myStops.front();
3129 2786 : std::pair<double, double> timeDist = estimateTimeToNextStop();
3130 2786 : double arrivalDelay = SIMTIME + timeDist.first - STEPS2TIME(stop.pars.arrival);
3131 2786 : double t = STEPS2TIME(stop.pars.arrival - SIMSTEP);
3132 5572 : if (stop.pars.hasParameter(toString(SUMO_ATTR_FLEX_ARRIVAL))) {
3133 150 : SUMOTime flexStart = string2time(stop.pars.getParameter(toString(SUMO_ATTR_FLEX_ARRIVAL)));
3134 75 : arrivalDelay += STEPS2TIME(stop.pars.arrival - flexStart);
3135 75 : t = STEPS2TIME(flexStart - SIMSTEP);
3136 2711 : } else if (stop.pars.started >= 0 && MSGlobals::gUseStopStarted) {
3137 200 : arrivalDelay += STEPS2TIME(stop.pars.arrival - stop.pars.started);
3138 200 : t = STEPS2TIME(stop.pars.started - SIMSTEP);
3139 : }
3140 2786 : if (arrivalDelay < 0 && sfp < getChosenSpeedFactor()) {
3141 : // we can slow down to better match the schedule (and increase energy efficiency)
3142 2721 : const double vSlowDownMin = MAX2(myLane->getSpeedLimit() * sfp, vMinComfortable);
3143 2721 : const double s = timeDist.second;
3144 : const double b = getCarFollowModel().getMaxDecel();
3145 : // x = speed for arriving in t seconds
3146 : // u = time at full speed
3147 : // u * x + (t - u) * 0.5 * x = s
3148 : // t - u = x / b
3149 : // eliminate u, solve x
3150 2721 : const double radicand = 4 * t * t * b * b - 8 * s * b;
3151 2721 : const double x = radicand >= 0 ? t * b - sqrt(radicand) * 0.5 : vSlowDownMin;
3152 2721 : double vSlowDown = x < vSlowDownMin ? vSlowDownMin : x;
3153 : #ifdef DEBUG_PLAN_MOVE
3154 : if (DEBUG_COND) {
3155 : std::cout << SIMTIME << " veh=" << getID() << " ad=" << arrivalDelay << " t=" << t << " vsm=" << vSlowDownMin
3156 : << " r=" << radicand << " vs=" << vSlowDown << "\n";
3157 : }
3158 : #endif
3159 2721 : return vSlowDown;
3160 65 : } else if (arrivalDelay > 0 && sfp > getChosenSpeedFactor()) {
3161 : // in principle we could up to catch up with the schedule
3162 : // but at this point we can only lower the speed, the
3163 : // information would have to be used when computing getVehicleMaxSpeed
3164 : }
3165 65 : return getMaxSpeed();
3166 : }
3167 :
3168 : SUMOTime
3169 880868646 : MSVehicle::getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const {
3170 : const MSCFModel& cfModel = getCarFollowModel();
3171 : SUMOTime arrivalTime;
3172 880868646 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3173 : // @note intuitively it would make sense to compare arrivalSpeed with getSpeed() instead of v
3174 : // however, due to the current position update rule (ticket #860) the vehicle moves with v in this step
3175 : // subtract DELTA_T because t is the time at the end of this step and the movement is not carried out yet
3176 824037656 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, v, arrivalSpeed);
3177 : } else {
3178 56830990 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, myState.mySpeed, arrivalSpeed);
3179 : }
3180 880868646 : if (isStopped()) {
3181 11911108 : arrivalTime += MAX2((SUMOTime)0, myStops.front().duration);
3182 : }
3183 880868646 : return arrivalTime;
3184 : }
3185 :
3186 :
3187 : void
3188 1237820617 : MSVehicle::adaptToLeaders(const MSLeaderInfo& ahead, double latOffset,
3189 : const double seen, DriveProcessItem* const lastLink,
3190 : const MSLane* const lane, double& v, double& vLinkPass) const {
3191 : int rightmost;
3192 : int leftmost;
3193 1237820617 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3194 : #ifdef DEBUG_PLAN_MOVE
3195 : if (DEBUG_COND) std::cout << SIMTIME
3196 : << "\nADAPT_TO_LEADERS\nveh=" << getID()
3197 : << " lane=" << lane->getID()
3198 : << " latOffset=" << latOffset
3199 : << " rm=" << rightmost
3200 : << " lm=" << leftmost
3201 : << " shift=" << ahead.getSublaneOffset()
3202 : << " ahead=" << ahead.toString()
3203 : << "\n";
3204 : #endif
3205 : /*
3206 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
3207 : v = MIN2(v, myLaneChangeModel->getCommittedSpeed());
3208 : vLinkPass = MIN2(vLinkPass, myLaneChangeModel->getCommittedSpeed());
3209 : #ifdef DEBUG_PLAN_MOVE
3210 : if (DEBUG_COND) std::cout << " hasCommitted=" << myLaneChangeModel->getCommittedSpeed() << "\n";
3211 : #endif
3212 : return;
3213 : }
3214 : */
3215 3039955059 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3216 1802134442 : const MSVehicle* pred = ahead[sublane];
3217 1802134442 : if (pred != nullptr && pred != this) {
3218 : // @todo avoid multiple adaptations to the same leader
3219 1318883727 : const double predBack = pred->getBackPositionOnLane(lane);
3220 : double gap = (lastLink == nullptr
3221 1895151032 : ? predBack - myState.myPos - getVehicleType().getMinGap()
3222 576267305 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3223 : bool oncoming = false;
3224 1318883727 : if (myLaneChangeModel->isOpposite()) {
3225 26995 : if (pred->getLaneChangeModel().isOpposite() || lane == pred->getLaneChangeModel().getShadowLane()) {
3226 : // ego might and leader are driving against lane
3227 : gap = (lastLink == nullptr
3228 0 : ? myState.myPos - predBack - getVehicleType().getMinGap()
3229 0 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3230 : } else {
3231 : // ego and leader are driving in the same direction as lane (shadowlane for ego)
3232 : gap = (lastLink == nullptr
3233 27727 : ? predBack - (myLane->getLength() - myState.myPos) - getVehicleType().getMinGap()
3234 732 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3235 : }
3236 1318856732 : } else if (pred->getLaneChangeModel().isOpposite() && pred->getLaneChangeModel().getShadowLane() != lane) {
3237 : // must react to stopped / dangerous oncoming vehicles
3238 188556 : gap += -pred->getVehicleType().getLength() + getVehicleType().getMinGap() - MAX2(getVehicleType().getMinGap(), pred->getVehicleType().getMinGap());
3239 : // try to avoid collision in the next second
3240 188556 : const double predMaxDist = pred->getSpeed() + pred->getCarFollowModel().getMaxAccel();
3241 : #ifdef DEBUG_PLAN_MOVE
3242 : if (DEBUG_COND) {
3243 : std::cout << " fixedGap=" << gap << " predMaxDist=" << predMaxDist << "\n";
3244 : }
3245 : #endif
3246 188556 : if (gap < predMaxDist + getSpeed() || pred->getLane() == lane->getBidiLane()) {
3247 20611 : gap -= predMaxDist;
3248 : }
3249 1318668176 : } else if (pred->getLane() == lane->getBidiLane()) {
3250 618776 : gap -= pred->getVehicleType().getLengthWithGap();
3251 : oncoming = true;
3252 : }
3253 : #ifdef DEBUG_PLAN_MOVE
3254 : if (DEBUG_COND) {
3255 : 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";
3256 : }
3257 : #endif
3258 618776 : if (oncoming && gap >= 0) {
3259 555302 : adaptToOncomingLeader(std::make_pair(pred, gap), lastLink, v, vLinkPass);
3260 : } else {
3261 1318328425 : adaptToLeader(std::make_pair(pred, gap), seen, lastLink, v, vLinkPass);
3262 : }
3263 : }
3264 : }
3265 1237820617 : }
3266 :
3267 : void
3268 428086 : MSVehicle::adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
3269 : double seen,
3270 : DriveProcessItem* const lastLink,
3271 : double& v, double& vLinkPass) const {
3272 : int rightmost;
3273 : int leftmost;
3274 428086 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3275 : #ifdef DEBUG_PLAN_MOVE
3276 : if (DEBUG_COND) std::cout << SIMTIME
3277 : << "\nADAPT_TO_LEADERS_DISTANCE\nveh=" << getID()
3278 : << " latOffset=" << latOffset
3279 : << " rm=" << rightmost
3280 : << " lm=" << leftmost
3281 : << " ahead=" << ahead.toString()
3282 : << "\n";
3283 : #endif
3284 1049089 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3285 621003 : CLeaderDist predDist = ahead[sublane];
3286 621003 : const MSVehicle* pred = predDist.first;
3287 621003 : if (pred != nullptr && pred != this) {
3288 : #ifdef DEBUG_PLAN_MOVE
3289 : if (DEBUG_COND) {
3290 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << predDist.second << "\n";
3291 : }
3292 : #endif
3293 391199 : adaptToLeader(predDist, seen, lastLink, v, vLinkPass);
3294 : }
3295 : }
3296 428086 : }
3297 :
3298 :
3299 : void
3300 1318719624 : MSVehicle::adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3301 : double seen,
3302 : DriveProcessItem* const lastLink,
3303 : double& v, double& vLinkPass) const {
3304 1318719624 : if (leaderInfo.first != 0) {
3305 1318719624 : if (ignoreFoe(leaderInfo.first)) {
3306 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3307 : if (DEBUG_COND) {
3308 : std::cout << " foe ignored\n";
3309 : }
3310 : #endif
3311 : return;
3312 : }
3313 : const MSCFModel& cfModel = getCarFollowModel();
3314 : double vsafeLeader = 0;
3315 1318718818 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3316 : vsafeLeader = -std::numeric_limits<double>::max();
3317 : }
3318 : bool backOnRoute = true;
3319 1318718818 : if (leaderInfo.second < 0 && lastLink != nullptr && lastLink->myLink != nullptr) {
3320 : backOnRoute = false;
3321 : // this can either be
3322 : // a) a merging situation (leader back is is not our route) or
3323 : // b) a minGap violation / collision
3324 : MSLane* current = lastLink->myLink->getViaLaneOrLane();
3325 291991 : if (leaderInfo.first->getBackLane() == current) {
3326 : backOnRoute = true;
3327 : } else {
3328 660872 : for (MSLane* lane : getBestLanesContinuation()) {
3329 581805 : if (lane == current) {
3330 : break;
3331 : }
3332 434806 : if (leaderInfo.first->getBackLane() == lane) {
3333 : backOnRoute = true;
3334 : }
3335 : }
3336 : }
3337 : #ifdef DEBUG_PLAN_MOVE
3338 : if (DEBUG_COND) {
3339 : std::cout << SIMTIME << " current=" << current->getID() << " leaderBackLane=" << leaderInfo.first->getBackLane()->getID() << " backOnRoute=" << backOnRoute << "\n";
3340 : }
3341 : #endif
3342 226066 : if (!backOnRoute) {
3343 124191 : double stopDist = seen - current->getLength() - POSITION_EPS;
3344 124191 : if (lastLink->myLink->getInternalLaneBefore() != nullptr) {
3345 : // do not drive onto the junction conflict area
3346 107559 : stopDist -= lastLink->myLink->getInternalLaneBefore()->getLength();
3347 : }
3348 124191 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), stopDist);
3349 : }
3350 : }
3351 190116 : if (backOnRoute) {
3352 1318594627 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3353 : }
3354 1318718818 : if (lastLink != nullptr) {
3355 576220013 : const double futureVSafe = cfModel.followSpeed(this, lastLink->accelV, leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first, MSCFModel::CalcReason::FUTURE);
3356 : lastLink->adaptLeaveSpeed(futureVSafe);
3357 : #ifdef DEBUG_PLAN_MOVE
3358 : if (DEBUG_COND) {
3359 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3360 : }
3361 : #endif
3362 : }
3363 1318718818 : v = MIN2(v, vsafeLeader);
3364 2273053162 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3365 : #ifdef DEBUG_PLAN_MOVE
3366 : if (DEBUG_COND) std::cout
3367 : << SIMTIME
3368 : //std::cout << std::setprecision(10);
3369 : << " veh=" << getID()
3370 : << " lead=" << leaderInfo.first->getID()
3371 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3372 : << " gap=" << leaderInfo.second
3373 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3374 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3375 : << " myLane=" << myLane->getID()
3376 : << " v=" << v
3377 : << " vSafeLeader=" << vsafeLeader
3378 : << " vLinkPass=" << vLinkPass
3379 : << "\n";
3380 : #endif
3381 : }
3382 : }
3383 :
3384 :
3385 : void
3386 18840055 : MSVehicle::adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3387 : const double seen, DriveProcessItem* const lastLink,
3388 : const MSLane* const lane, double& v, double& vLinkPass,
3389 : double distToCrossing) const {
3390 18840055 : if (leaderInfo.first != 0) {
3391 18840055 : if (ignoreFoe(leaderInfo.first)) {
3392 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3393 : if (DEBUG_COND) {
3394 : std::cout << " junction foe ignored\n";
3395 : }
3396 : #endif
3397 : return;
3398 : }
3399 : const MSCFModel& cfModel = getCarFollowModel();
3400 : double vsafeLeader = 0;
3401 18840044 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3402 : vsafeLeader = -std::numeric_limits<double>::max();
3403 : }
3404 18840044 : if (leaderInfo.second >= 0) {
3405 15853921 : if (hasDeparted()) {
3406 15848568 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3407 : } else {
3408 : // called in the context of MSLane::isInsertionSuccess
3409 5353 : vsafeLeader = cfModel.insertionFollowSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3410 : }
3411 2986123 : } else if (leaderInfo.first != this) {
3412 : // the leading, in-lapping vehicle is occupying the complete next lane
3413 : // stop before entering this lane
3414 2564013 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), seen - lane->getLength() - POSITION_EPS);
3415 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3416 : if (DEBUG_COND) {
3417 : std::cout << SIMTIME << " veh=" << getID() << " stopping before junction: lane=" << lane->getID() << " seen=" << seen
3418 : << " laneLength=" << lane->getLength()
3419 : << " stopDist=" << seen - lane->getLength() - POSITION_EPS
3420 : << " vsafeLeader=" << vsafeLeader
3421 : << " distToCrossing=" << distToCrossing
3422 : << "\n";
3423 : }
3424 : #endif
3425 : }
3426 18840044 : if (distToCrossing >= 0) {
3427 : // can the leader still stop in the way?
3428 6097113 : const double vStop = cfModel.stopSpeed(this, getSpeed(), distToCrossing - getVehicleType().getMinGap());
3429 6097113 : if (leaderInfo.first == this) {
3430 : // braking for pedestrian
3431 410791 : const double vStopCrossing = cfModel.stopSpeed(this, getSpeed(), distToCrossing);
3432 : vsafeLeader = vStopCrossing;
3433 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3434 : if (DEBUG_COND) {
3435 : std::cout << " breaking for pedestrian distToCrossing=" << distToCrossing << " vStopCrossing=" << vStopCrossing << "\n";
3436 : }
3437 : #endif
3438 410791 : if (lastLink != nullptr) {
3439 : lastLink->adaptStopSpeed(vsafeLeader);
3440 : }
3441 5686322 : } else if (leaderInfo.second == -std::numeric_limits<double>::max()) {
3442 : // drive up to the crossing point and stop
3443 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3444 : if (DEBUG_COND) {
3445 : std::cout << " stop at crossing point for critical leader vStop=" << vStop << "\n";
3446 : };
3447 : #endif
3448 : vsafeLeader = MAX2(vsafeLeader, vStop);
3449 : } else {
3450 5629877 : const double leaderDistToCrossing = distToCrossing - leaderInfo.second;
3451 : // estimate the time at which the leader has gone past the crossing point
3452 5629877 : const double leaderPastCPTime = leaderDistToCrossing / MAX2(leaderInfo.first->getSpeed(), SUMO_const_haltingSpeed);
3453 : // reach distToCrossing after that time
3454 : // avgSpeed * leaderPastCPTime = distToCrossing
3455 : // ballistic: avgSpeed = (getSpeed + vFinal) / 2
3456 5629877 : const double vFinal = MAX2(getSpeed(), 2 * (distToCrossing - getVehicleType().getMinGap()) / leaderPastCPTime - getSpeed());
3457 5629877 : const double v2 = getSpeed() + ACCEL2SPEED((vFinal - getSpeed()) / leaderPastCPTime);
3458 : vsafeLeader = MAX2(vsafeLeader, MIN2(v2, vStop));
3459 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3460 : if (DEBUG_COND) {
3461 : std::cout << " driving up to the crossing point (distToCrossing=" << distToCrossing << ")"
3462 : << " leaderPastCPTime=" << leaderPastCPTime
3463 : << " vFinal=" << vFinal
3464 : << " v2=" << v2
3465 : << " vStop=" << vStop
3466 : << " vsafeLeader=" << vsafeLeader << "\n";
3467 : }
3468 : #endif
3469 : }
3470 : }
3471 18429253 : if (lastLink != nullptr) {
3472 : lastLink->adaptLeaveSpeed(vsafeLeader);
3473 : }
3474 18840044 : v = MIN2(v, vsafeLeader);
3475 35124065 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3476 : #ifdef DEBUG_PLAN_MOVE
3477 : if (DEBUG_COND) std::cout
3478 : << SIMTIME
3479 : //std::cout << std::setprecision(10);
3480 : << " veh=" << getID()
3481 : << " lead=" << leaderInfo.first->getID()
3482 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3483 : << " gap=" << leaderInfo.second
3484 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3485 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3486 : << " seen=" << seen
3487 : << " lane=" << lane->getID()
3488 : << " myLane=" << myLane->getID()
3489 : << " dTC=" << distToCrossing
3490 : << " v=" << v
3491 : << " vSafeLeader=" << vsafeLeader
3492 : << " vLinkPass=" << vLinkPass
3493 : << "\n";
3494 : #endif
3495 : }
3496 : }
3497 :
3498 :
3499 : void
3500 555302 : MSVehicle::adaptToOncomingLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3501 : DriveProcessItem* const lastLink,
3502 : double& v, double& vLinkPass) const {
3503 555302 : if (leaderInfo.first != 0) {
3504 555302 : if (ignoreFoe(leaderInfo.first)) {
3505 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3506 : if (DEBUG_COND) {
3507 : std::cout << " oncoming foe ignored\n";
3508 : }
3509 : #endif
3510 : return;
3511 : }
3512 : const MSCFModel& cfModel = getCarFollowModel();
3513 : const MSVehicle* lead = leaderInfo.first;
3514 : const MSCFModel& cfModelL = lead->getCarFollowModel();
3515 : // assume the leader reacts symmetrically (neither stopping instantly nor ignoring ego)
3516 555254 : const double leaderBrakeGap = cfModelL.brakeGap(lead->getSpeed(), cfModelL.getMaxDecel(), 0);
3517 555254 : const double egoBrakeGap = cfModel.brakeGap(getSpeed(), cfModel.getMaxDecel(), 0);
3518 555254 : const double gapSum = leaderBrakeGap + egoBrakeGap;
3519 : // ensure that both vehicles can leave an intersection if they are currently on it
3520 555254 : double egoExit = getDistanceToLeaveJunction();
3521 555254 : const double leaderExit = lead->getDistanceToLeaveJunction();
3522 : double gap = leaderInfo.second;
3523 555254 : if (egoExit + leaderExit < gap) {
3524 460878 : gap -= egoExit + leaderExit;
3525 : } else {
3526 : egoExit = 0;
3527 : }
3528 : // split any distance in excess of brakeGaps evenly
3529 555254 : const double freeGap = MAX2(0.0, gap - gapSum);
3530 : const double splitGap = MIN2(gap, gapSum);
3531 : // assume remaining distance is allocated in proportion to braking distance
3532 555254 : const double gapRatio = gapSum > 0 ? egoBrakeGap / gapSum : 0.5;
3533 555254 : const double vsafeLeader = cfModel.stopSpeed(this, getSpeed(), splitGap * gapRatio + egoExit + 0.5 * freeGap);
3534 555254 : if (lastLink != nullptr) {
3535 67371 : const double futureVSafe = cfModel.stopSpeed(this, lastLink->accelV, leaderInfo.second, MSCFModel::CalcReason::FUTURE);
3536 : lastLink->adaptLeaveSpeed(futureVSafe);
3537 : #ifdef DEBUG_PLAN_MOVE
3538 : if (DEBUG_COND) {
3539 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3540 : }
3541 : #endif
3542 : }
3543 555254 : v = MIN2(v, vsafeLeader);
3544 1097045 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3545 : #ifdef DEBUG_PLAN_MOVE
3546 : if (DEBUG_COND) std::cout
3547 : << SIMTIME
3548 : //std::cout << std::setprecision(10);
3549 : << " veh=" << getID()
3550 : << " oncomingLead=" << lead->getID()
3551 : << " leadSpeed=" << lead->getSpeed()
3552 : << " gap=" << leaderInfo.second
3553 : << " gap2=" << gap
3554 : << " gapRatio=" << gapRatio
3555 : << " leadLane=" << lead->getLane()->getID()
3556 : << " predPos=" << lead->getPositionOnLane()
3557 : << " myLane=" << myLane->getID()
3558 : << " v=" << v
3559 : << " vSafeLeader=" << vsafeLeader
3560 : << " vLinkPass=" << vLinkPass
3561 : << "\n";
3562 : #endif
3563 : }
3564 : }
3565 :
3566 :
3567 : void
3568 819442805 : MSVehicle::checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
3569 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const {
3570 819442805 : if (MSGlobals::gUsingInternalLanes && (myInfluencer == nullptr || myInfluencer->getRespectJunctionLeaderPriority())) {
3571 : // we want to pass the link but need to check for foes on internal lanes
3572 819333651 : checkLinkLeader(link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
3573 819333651 : if (myLaneChangeModel->getShadowLane() != nullptr) {
3574 3155920 : const MSLink* const parallelLink = link->getParallelLink(myLaneChangeModel->getShadowDirection());
3575 3155920 : if (parallelLink != nullptr) {
3576 2188391 : checkLinkLeader(parallelLink, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest, true);
3577 : }
3578 : }
3579 : }
3580 :
3581 819442805 : }
3582 :
3583 : void
3584 821768367 : MSVehicle::checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
3585 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
3586 : bool isShadowLink) const {
3587 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3588 : if (DEBUG_COND) {
3589 : gDebugFlag1 = true; // See MSLink::getLeaderInfo
3590 : }
3591 : #endif
3592 821768367 : const MSLink::LinkLeaders linkLeaders = link->getLeaderInfo(this, seen, nullptr, isShadowLink);
3593 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3594 : if (DEBUG_COND) {
3595 : gDebugFlag1 = false; // See MSLink::getLeaderInfo
3596 : }
3597 : #endif
3598 841606048 : for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3599 : // the vehicle to enter the junction first has priority
3600 19837681 : const MSVehicle* leader = (*it).vehAndGap.first;
3601 19837681 : if (leader == nullptr) {
3602 : // leader is a pedestrian. Passing 'this' as a dummy.
3603 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3604 : if (DEBUG_COND) {
3605 : std::cout << SIMTIME << " veh=" << getID() << " is blocked on link to " << link->getViaLaneOrLane()->getID() << " by pedestrian. dist=" << it->distToCrossing << "\n";
3606 : }
3607 : #endif
3608 422806 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3609 422806 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3610 : #ifdef DEBUG_PLAN_MOVE
3611 : if (DEBUG_COND) {
3612 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring pedestrian (jmIgnoreJunctionFoeProb)\n";
3613 : }
3614 : #endif
3615 696 : continue;
3616 : }
3617 422110 : adaptToJunctionLeader(std::make_pair(this, -1), seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3618 : // if blocked by a pedestrian for too long we must yield our request
3619 422110 : if (v < SUMO_const_haltingSpeed && getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME)) {
3620 75600 : setRequest = false;
3621 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3622 : if (DEBUG_COND) {
3623 : std::cout << " aborting request\n";
3624 : }
3625 : #endif
3626 : }
3627 19414875 : } else if (isLeader(link, leader, (*it).vehAndGap.second) || (*it).inTheWay()) {
3628 19349018 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3629 19349018 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3630 : #ifdef DEBUG_PLAN_MOVE
3631 : if (DEBUG_COND) {
3632 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring linkLeader=" << leader->getID() << " (jmIgnoreJunctionFoeProb)\n";
3633 : }
3634 : #endif
3635 2194 : continue;
3636 : }
3637 26368173 : if (MSGlobals::gLateralResolution > 0 &&
3638 : // sibling link (XXX: could also be partial occupator where this check fails)
3639 7021349 : &leader->getLane()->getEdge() == &lane->getEdge()) {
3640 : // check for sublane obstruction (trivial for sibling link leaders)
3641 : const MSLane* conflictLane = link->getInternalLaneBefore();
3642 959836 : MSLeaderInfo linkLeadersAhead = MSLeaderInfo(conflictLane->getWidth());
3643 959836 : linkLeadersAhead.addLeader(leader, false, 0); // assume sibling lane has the same geometry as the leader lane
3644 959836 : const double latOffset = isShadowLink ? (getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge()) : 0;
3645 : // leader is neither on lane nor conflictLane (the conflict is only established geometrically)
3646 959836 : adaptToLeaders(linkLeadersAhead, latOffset, seen, lastLink, leader->getLane(), v, vLinkPass);
3647 : #ifdef DEBUG_PLAN_MOVE
3648 : if (DEBUG_COND) {
3649 : std::cout << SIMTIME << " veh=" << getID()
3650 : << " siblingFoe link=" << link->getViaLaneOrLane()->getID()
3651 : << " isShadowLink=" << isShadowLink
3652 : << " lane=" << lane->getID()
3653 : << " foe=" << leader->getID()
3654 : << " foeLane=" << leader->getLane()->getID()
3655 : << " latOffset=" << latOffset
3656 : << " latOffsetFoe=" << leader->getLatOffset(lane)
3657 : << " linkLeadersAhead=" << linkLeadersAhead.toString()
3658 : << "\n";
3659 : }
3660 : #endif
3661 959836 : } else {
3662 : #ifdef DEBUG_PLAN_MOVE
3663 : if (DEBUG_COND) {
3664 : std::cout << SIMTIME << " veh=" << getID() << " linkLeader=" << leader->getID() << " gap=" << it->vehAndGap.second
3665 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3666 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3667 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3668 : << "\n";
3669 : }
3670 : #endif
3671 18386988 : adaptToJunctionLeader(it->vehAndGap, seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3672 : }
3673 19346824 : if (lastLink != nullptr) {
3674 : // we are not yet on the junction with this linkLeader.
3675 : // at least we can drive up to the previous link and stop there
3676 37184134 : v = MAX2(v, lastLink->myVLinkWait);
3677 : }
3678 : // if blocked by a leader from the same or next lane we must yield our request
3679 : // also, if blocked by a stopped or blocked leader
3680 19346824 : if (v < SUMO_const_haltingSpeed
3681 : //&& leader->getSpeed() < SUMO_const_haltingSpeed
3682 19346824 : && (leader->getLane()->getLogicalPredecessorLane() == myLane->getLogicalPredecessorLane()
3683 10634736 : || leader->getLane()->getLogicalPredecessorLane() == myLane
3684 8507768 : || leader->isStopped()
3685 8429258 : || leader->getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME))) {
3686 4337784 : setRequest = false;
3687 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3688 : if (DEBUG_COND) {
3689 : std::cout << " aborting request\n";
3690 : }
3691 : #endif
3692 4337784 : if (lastLink != nullptr && leader->getLane()->getLogicalPredecessorLane() == myLane) {
3693 : // we are not yet on the junction so must abort that request as well
3694 : // (or maybe we are already on the junction and the leader is a partial occupator beyond)
3695 2114878 : lastLink->mySetRequest = false;
3696 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3697 : if (DEBUG_COND) {
3698 : std::cout << " aborting previous request\n";
3699 : }
3700 : #endif
3701 : }
3702 : }
3703 : }
3704 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3705 : else {
3706 : if (DEBUG_COND) {
3707 : std::cout << SIMTIME << " veh=" << getID() << " ignoring leader " << leader->getID() << " gap=" << (*it).vehAndGap.second << " dtC=" << (*it).distToCrossing
3708 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3709 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3710 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3711 : << "\n";
3712 : }
3713 : }
3714 : #endif
3715 : }
3716 : // if this is the link between two internal lanes we may have to slow down for pedestrians
3717 821768367 : vLinkWait = MIN2(vLinkWait, v);
3718 821768367 : }
3719 :
3720 :
3721 : double
3722 99303976 : MSVehicle::getDeltaPos(const double accel) const {
3723 99303976 : double vNext = myState.mySpeed + ACCEL2SPEED(accel);
3724 99303976 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3725 : // apply implicit Euler positional update
3726 0 : return SPEED2DIST(MAX2(vNext, 0.));
3727 : } else {
3728 : // apply ballistic update
3729 99303976 : if (vNext >= 0) {
3730 : // assume constant acceleration during this time step
3731 98668291 : return SPEED2DIST(myState.mySpeed + 0.5 * ACCEL2SPEED(accel));
3732 : } else {
3733 : // negative vNext indicates a stop within the middle of time step
3734 : // The corresponding stop time is s = mySpeed/deceleration \in [0,dt], and the
3735 : // covered distance is therefore deltaPos = mySpeed*s - 0.5*deceleration*s^2.
3736 : // Here, deceleration = (myState.mySpeed - vNext)/dt is the constant deceleration
3737 : // until the vehicle stops.
3738 635685 : return -SPEED2DIST(0.5 * myState.mySpeed * myState.mySpeed / ACCEL2SPEED(accel));
3739 : }
3740 : }
3741 : }
3742 :
3743 : void
3744 637097452 : MSVehicle::processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist) {
3745 :
3746 : const MSCFModel& cfModel = getCarFollowModel();
3747 : // Speed limit due to zipper merging
3748 : double vSafeZipper = std::numeric_limits<double>::max();
3749 :
3750 637097452 : myHaveToWaitOnNextLink = false;
3751 : bool canBrakeVSafeMin = false;
3752 :
3753 : // Get safe velocities from DriveProcessItems.
3754 : assert(myLFLinkLanes.size() != 0 || isRemoteControlled());
3755 1279110868 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
3756 1103730755 : MSLink* const link = dpi.myLink;
3757 :
3758 : #ifdef DEBUG_EXEC_MOVE
3759 : if (DEBUG_COND) {
3760 : std::cout
3761 : << SIMTIME
3762 : << " veh=" << getID()
3763 : << " link=" << (link == 0 ? "NULL" : link->getViaLaneOrLane()->getID())
3764 : << " req=" << dpi.mySetRequest
3765 : << " vP=" << dpi.myVLinkPass
3766 : << " vW=" << dpi.myVLinkWait
3767 : << " d=" << dpi.myDistance
3768 : << "\n";
3769 : gDebugFlag1 = true; // See MSLink_DEBUG_OPENED
3770 : }
3771 : #endif
3772 :
3773 : // the vehicle must change the lane on one of the next lanes (XXX: refs to code further below???, Leo)
3774 1103730755 : if (link != nullptr && dpi.mySetRequest) {
3775 :
3776 : const LinkState ls = link->getState();
3777 : // vehicles should brake when running onto a yellow light if the distance allows to halt in front
3778 : const bool yellow = link->haveYellow();
3779 663249305 : const bool canBrake = (dpi.myDistance > cfModel.brakeGap(myState.mySpeed, cfModel.getMaxDecel(), 0.)
3780 663249305 : || (MSGlobals::gSemiImplicitEulerUpdate && myState.mySpeed < ACCEL2SPEED(cfModel.getMaxDecel())));
3781 : assert(link->getLaneBefore() != nullptr);
3782 663249305 : const bool beyondStopLine = dpi.myDistance < link->getLaneBefore()->getVehicleStopOffset(this);
3783 663249305 : const bool ignoreRedLink = ignoreRed(link, canBrake) || beyondStopLine;
3784 663249305 : if (yellow && canBrake && !ignoreRedLink) {
3785 10 : vSafe = dpi.myVLinkWait;
3786 10 : myHaveToWaitOnNextLink = true;
3787 : #ifdef DEBUG_CHECKREWINDLINKLANES
3788 : if (DEBUG_COND) {
3789 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (yellow)\n";
3790 : }
3791 : #endif
3792 21235889 : break;
3793 : }
3794 663249295 : const bool influencerPrio = (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority());
3795 : MSLink::BlockingFoes collectFoes;
3796 663249295 : bool opened = (yellow || influencerPrio
3797 1989422243 : || link->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3798 663086474 : getVehicleType().getLength(),
3799 635632223 : canBrake ? getImpatience() : 1,
3800 : cfModel.getMaxDecel(),
3801 663086474 : getWaitingTimeFor(link), getLateralPositionOnLane(),
3802 : ls == LINKSTATE_ZIPPER ? &collectFoes : nullptr,
3803 663086474 : ignoreRedLink, this, dpi.myDistance));
3804 657564468 : if (opened && myLaneChangeModel->getShadowLane() != nullptr) {
3805 1962651 : const MSLink* const parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
3806 1962651 : if (parallelLink != nullptr) {
3807 1220838 : const double shadowLatPos = getLateralPositionOnLane() - myLaneChangeModel->getShadowDirection() * 0.5 * (
3808 1220838 : myLane->getWidth() + myLaneChangeModel->getShadowLane()->getWidth());
3809 2440905 : opened = yellow || influencerPrio || (opened && parallelLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3810 1220067 : getVehicleType().getLength(), getImpatience(),
3811 : cfModel.getMaxDecel(),
3812 : getWaitingTimeFor(link), shadowLatPos, nullptr,
3813 1220067 : ignoreRedLink, this, dpi.myDistance));
3814 : #ifdef DEBUG_EXEC_MOVE
3815 : if (DEBUG_COND) {
3816 : std::cout << SIMTIME
3817 : << " veh=" << getID()
3818 : << " shadowLane=" << myLaneChangeModel->getShadowLane()->getID()
3819 : << " shadowDir=" << myLaneChangeModel->getShadowDirection()
3820 : << " parallelLink=" << (parallelLink == 0 ? "NULL" : parallelLink->getViaLaneOrLane()->getID())
3821 : << " opened=" << opened
3822 : << "\n";
3823 : }
3824 : #endif
3825 : }
3826 : }
3827 : // vehicles should decelerate when approaching a minor link
3828 : #ifdef DEBUG_EXEC_MOVE
3829 : if (DEBUG_COND) {
3830 : std::cout << SIMTIME
3831 : << " opened=" << opened
3832 : << " influencerPrio=" << influencerPrio
3833 : << " linkPrio=" << link->havePriority()
3834 : << " lastContMajor=" << link->lastWasContMajor()
3835 : << " isCont=" << link->isCont()
3836 : << " ignoreRed=" << ignoreRedLink
3837 : << "\n";
3838 : }
3839 : #endif
3840 : double visibilityDistance = link->getFoeVisibilityDistance();
3841 663249295 : bool determinedFoePresence = dpi.myDistance <= visibilityDistance;
3842 663249295 : if (opened && !influencerPrio && !link->havePriority() && !link->lastWasContMajor() && !link->isCont() && !ignoreRedLink) {
3843 17843895 : if (!determinedFoePresence && (canBrake || !yellow)) {
3844 16858083 : vSafe = dpi.myVLinkWait;
3845 16858083 : myHaveToWaitOnNextLink = true;
3846 : #ifdef DEBUG_CHECKREWINDLINKLANES
3847 : if (DEBUG_COND) {
3848 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (minor)\n";
3849 : }
3850 : #endif
3851 16858083 : break;
3852 : } else {
3853 : // past the point of no return. we need to drive fast enough
3854 : // to make it across the link. However, minor slowdowns
3855 : // should be permissible to follow leading traffic safely
3856 : // basically, this code prevents dawdling
3857 : // (it's harder to do this later using
3858 : // SUMO_ATTR_JM_SIGMA_MINOR because we don't know whether the
3859 : // vehicle is already too close to stop at that part of the code)
3860 : //
3861 : // XXX: There is a problem in subsecond simulation: If we cannot
3862 : // make it across the minor link in one step, new traffic
3863 : // could appear on a major foe link and cause a collision. Refs. #1845, #2123
3864 985812 : vSafeMinDist = dpi.myDistance; // distance that must be covered
3865 985812 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3866 1798776 : vSafeMin = MIN3((double)DIST2SPEED(vSafeMinDist + POSITION_EPS), dpi.myVLinkPass, cfModel.maxNextSafeMin(getSpeed(), this));
3867 : } else {
3868 172848 : vSafeMin = MIN3((double)DIST2SPEED(2 * vSafeMinDist + NUMERICAL_EPS) - getSpeed(), dpi.myVLinkPass, cfModel.maxNextSafeMin(getSpeed(), this));
3869 : }
3870 : canBrakeVSafeMin = canBrake;
3871 : #ifdef DEBUG_EXEC_MOVE
3872 : if (DEBUG_COND) {
3873 : std::cout << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << " canBrake=" << canBrake << "\n";
3874 : }
3875 : #endif
3876 : }
3877 : }
3878 : // have waited; may pass if opened...
3879 646391212 : if (opened) {
3880 640685465 : vSafe = dpi.myVLinkPass;
3881 640685465 : if (vSafe < cfModel.getMaxDecel() && vSafe <= dpi.myVLinkWait && vSafe < cfModel.maxNextSpeed(getSpeed(), this)) {
3882 : // this vehicle is probably not gonna drive across the next junction (heuristic)
3883 55487642 : myHaveToWaitOnNextLink = true;
3884 : #ifdef DEBUG_CHECKREWINDLINKLANES
3885 : if (DEBUG_COND) {
3886 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (very slow)\n";
3887 : }
3888 : #endif
3889 : }
3890 640685465 : if (link->mustStop() && determinedFoePresence && myHaveStoppedFor == nullptr) {
3891 20820 : myHaveStoppedFor = link;
3892 : }
3893 5705747 : } else if (link->getState() == LINKSTATE_ZIPPER) {
3894 1327718 : vSafeZipper = MIN2(vSafeZipper,
3895 1327718 : link->getZipperSpeed(this, dpi.myDistance, dpi.myVLinkPass, dpi.myArrivalTime, &collectFoes));
3896 : } else if (!canBrake
3897 : // always brake hard for traffic lights (since an emergency stop is necessary anyway)
3898 1882 : && link->getTLLogic() == nullptr
3899 : // cannot brake even with emergency deceleration
3900 4378914 : && dpi.myDistance < cfModel.brakeGap(myState.mySpeed, cfModel.getEmergencyDecel(), 0.)) {
3901 : #ifdef DEBUG_EXEC_MOVE
3902 : if (DEBUG_COND) {
3903 : std::cout << SIMTIME << " too fast to brake for closed link\n";
3904 : }
3905 : #endif
3906 233 : vSafe = dpi.myVLinkPass;
3907 : } else {
3908 4377796 : vSafe = dpi.myVLinkWait;
3909 4377796 : myHaveToWaitOnNextLink = true;
3910 : #ifdef DEBUG_CHECKREWINDLINKLANES
3911 : if (DEBUG_COND) {
3912 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (closed)\n";
3913 : }
3914 : #endif
3915 : #ifdef DEBUG_EXEC_MOVE
3916 : if (DEBUG_COND) {
3917 : std::cout << SIMTIME << " braking for closed link=" << link->getViaLaneOrLane()->getID() << "\n";
3918 : }
3919 : #endif
3920 4377796 : break;
3921 : }
3922 642013416 : if (myLane->isInternal() && myJunctionEntryTime == SUMOTime_MAX) {
3923 : // request was renewed, restoring entry time
3924 : // @note: using myJunctionEntryTimeNeverYield could lead to inconsistencies with other vehicles already on the junction
3925 79833 : myJunctionEntryTime = SIMSTEP;;
3926 : }
3927 663249295 : } else {
3928 440481450 : if (link != nullptr && link->getInternalLaneBefore() != nullptr && myLane->isInternal() && link->getJunction() == myLane->getEdge().getToJunction()) {
3929 : // blocked on the junction. yield request so other vehicles may
3930 : // become junction leader
3931 : #ifdef DEBUG_EXEC_MOVE
3932 : if (DEBUG_COND) {
3933 : std::cout << SIMTIME << " resetting junctionEntryTime at junction '" << link->getJunction()->getID() << "' beause of non-request exitLink\n";
3934 : }
3935 : #endif
3936 262328 : myJunctionEntryTime = SUMOTime_MAX;
3937 262328 : myJunctionConflictEntryTime = SUMOTime_MAX;
3938 : }
3939 : // we have: i->link == 0 || !i->setRequest
3940 440481450 : vSafe = dpi.myVLinkWait;
3941 440481450 : if (link != nullptr || myStopDist < (myLane->getLength() - getPositionOnLane())) {
3942 111286311 : if (vSafe < getSpeed()) {
3943 16402544 : myHaveToWaitOnNextLink = true;
3944 : #ifdef DEBUG_CHECKREWINDLINKLANES
3945 : if (DEBUG_COND) {
3946 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, braking) vSafe=" << vSafe << "\n";
3947 : }
3948 : #endif
3949 94883767 : } else if (vSafe < SUMO_const_haltingSpeed) {
3950 67431414 : myHaveToWaitOnNextLink = true;
3951 : #ifdef DEBUG_CHECKREWINDLINKLANES
3952 : if (DEBUG_COND) {
3953 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, stopping)\n";
3954 : }
3955 : #endif
3956 : }
3957 : }
3958 333650165 : if (link == nullptr && myLFLinkLanes.size() == 1
3959 263868822 : && getBestLanesContinuation().size() > 1
3960 1127215 : && getBestLanesContinuation()[1]->hadPermissionChanges()
3961 440618786 : && myLane->getFirstAnyVehicle() == this) {
3962 : // temporal lane closing without notification, visible to the
3963 : // vehicle at the front of the queue
3964 35619 : updateBestLanes(true);
3965 : //std::cout << SIMTIME << " veh=" << getID() << " updated bestLanes=" << toString(getBestLanesContinuation()) << "\n";
3966 : }
3967 : break;
3968 : }
3969 : }
3970 :
3971 : //#ifdef DEBUG_EXEC_MOVE
3972 : // if (DEBUG_COND) {
3973 : // std::cout << "\nvCurrent = " << toString(getSpeed(), 24) << "" << std::endl;
3974 : // std::cout << "vSafe = " << toString(vSafe, 24) << "" << std::endl;
3975 : // std::cout << "vSafeMin = " << toString(vSafeMin, 24) << "" << std::endl;
3976 : // std::cout << "vSafeMinDist = " << toString(vSafeMinDist, 24) << "" << std::endl;
3977 : //
3978 : // double gap = getLeader().second;
3979 : // std::cout << "gap = " << toString(gap, 24) << std::endl;
3980 : // std::cout << "vSafeStoppedLeader = " << toString(getCarFollowModel().stopSpeed(this, getSpeed(), gap, MSCFModel::CalcReason::FUTURE), 24)
3981 : // << "\n" << std::endl;
3982 : // }
3983 : //#endif
3984 :
3985 637097452 : if ((MSGlobals::gSemiImplicitEulerUpdate && vSafe + NUMERICAL_EPS < vSafeMin)
3986 636875129 : || (!MSGlobals::gSemiImplicitEulerUpdate && (vSafe + NUMERICAL_EPS < vSafeMin && vSafeMin != 0))) { // this might be good for the euler case as well
3987 : // XXX: (Leo) This often called stopSpeed with vSafeMinDist==0 (for the ballistic update), since vSafe can become negative
3988 : // 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
3989 : #ifdef DEBUG_EXEC_MOVE
3990 : if (DEBUG_COND) {
3991 : std::cout << "vSafeMin Problem? vSafe=" << vSafe << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << std::endl;
3992 : }
3993 : #endif
3994 263502 : if (canBrakeVSafeMin && vSafe < getSpeed()) {
3995 : // cannot drive across a link so we need to stop before it
3996 127612 : vSafe = MIN2(vSafe, MAX2(getCarFollowModel().minNextSpeed(getSpeed(), this),
3997 63806 : getCarFollowModel().stopSpeed(this, getSpeed(), vSafeMinDist)));
3998 63806 : vSafeMin = 0;
3999 63806 : myHaveToWaitOnNextLink = true;
4000 : #ifdef DEBUG_CHECKREWINDLINKLANES
4001 : if (DEBUG_COND) {
4002 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (vSafe=" << vSafe << " < vSafeMin=" << vSafeMin << ")\n";
4003 : }
4004 : #endif
4005 : } else {
4006 : // if the link is yellow or visibility distance is large
4007 : // then we might not make it across the link in one step anyway..
4008 : // Possibly, the lane after the intersection has a lower speed limit so
4009 : // we really need to drive slower already
4010 : // -> keep driving without dawdling
4011 199696 : vSafeMin = vSafe;
4012 : }
4013 : }
4014 :
4015 : // vehicles inside a roundabout should maintain their requests
4016 637097452 : if (myLane->getEdge().isRoundabout()) {
4017 2682137 : myHaveToWaitOnNextLink = false;
4018 : }
4019 :
4020 637097452 : vSafe = MIN2(vSafe, vSafeZipper);
4021 637097452 : }
4022 :
4023 :
4024 : double
4025 704971385 : MSVehicle::processTraCISpeedControl(double vSafe, double vNext) {
4026 704971385 : if (myInfluencer != nullptr) {
4027 497188 : myInfluencer->setOriginalSpeed(vNext);
4028 : #ifdef DEBUG_TRACI
4029 : if DEBUG_COND2(this) {
4030 : std::cout << SIMTIME << " MSVehicle::processTraCISpeedControl() for vehicle '" << getID() << "'"
4031 : << " vSafe=" << vSafe << " (init)vNext=" << vNext << " keepStopping=" << keepStopping();
4032 : }
4033 : #endif
4034 497188 : if (myInfluencer->isRemoteControlled()) {
4035 7320 : vNext = myInfluencer->implicitSpeedRemote(this, myState.mySpeed);
4036 : }
4037 497188 : const double vMax = getVehicleType().getCarFollowModel().maxNextSpeed(myState.mySpeed, this);
4038 497188 : double vMin = getVehicleType().getCarFollowModel().minNextSpeed(myState.mySpeed, this);
4039 497188 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4040 : vMin = MAX2(0., vMin);
4041 : }
4042 497188 : vNext = myInfluencer->influenceSpeed(MSNet::getInstance()->getCurrentTimeStep(), vNext, vSafe, vMin, vMax);
4043 497188 : if (keepStopping() && myStops.front().getSpeed() == 0) {
4044 : // avoid driving while stopped (unless it's actually a waypoint
4045 3818 : vNext = myInfluencer->getOriginalSpeed();
4046 : }
4047 : #ifdef DEBUG_TRACI
4048 : if DEBUG_COND2(this) {
4049 : std::cout << " (processed)vNext=" << vNext << std::endl;
4050 : }
4051 : #endif
4052 : }
4053 704971385 : return vNext;
4054 : }
4055 :
4056 :
4057 : void
4058 71561936 : MSVehicle::removePassedDriveItems() {
4059 : #ifdef DEBUG_ACTIONSTEPS
4060 : if (DEBUG_COND) {
4061 : std::cout << SIMTIME << " veh=" << getID() << " removePassedDriveItems()\n"
4062 : << " Current items: ";
4063 : for (auto& j : myLFLinkLanes) {
4064 : if (j.myLink == 0) {
4065 : std::cout << "\n Stop at distance " << j.myDistance;
4066 : } else {
4067 : const MSLane* to = j.myLink->getViaLaneOrLane();
4068 : const MSLane* from = j.myLink->getLaneBefore();
4069 : std::cout << "\n Link at distance " << j.myDistance << ": '"
4070 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4071 : }
4072 : }
4073 : std::cout << "\n myNextDriveItem: ";
4074 : if (myLFLinkLanes.size() != 0) {
4075 : if (myNextDriveItem->myLink == 0) {
4076 : std::cout << "\n Stop at distance " << myNextDriveItem->myDistance;
4077 : } else {
4078 : const MSLane* to = myNextDriveItem->myLink->getViaLaneOrLane();
4079 : const MSLane* from = myNextDriveItem->myLink->getLaneBefore();
4080 : std::cout << "\n Link at distance " << myNextDriveItem->myDistance << ": '"
4081 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4082 : }
4083 : }
4084 : std::cout << std::endl;
4085 : }
4086 : #endif
4087 71886683 : for (auto j = myLFLinkLanes.begin(); j != myNextDriveItem; ++j) {
4088 : #ifdef DEBUG_ACTIONSTEPS
4089 : if (DEBUG_COND) {
4090 : std::cout << " Removing item: ";
4091 : if (j->myLink == 0) {
4092 : std::cout << "Stop at distance " << j->myDistance;
4093 : } else {
4094 : const MSLane* to = j->myLink->getViaLaneOrLane();
4095 : const MSLane* from = j->myLink->getLaneBefore();
4096 : std::cout << "Link at distance " << j->myDistance << ": '"
4097 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4098 : }
4099 : std::cout << std::endl;
4100 : }
4101 : #endif
4102 324747 : if (j->myLink != nullptr) {
4103 324674 : j->myLink->removeApproaching(this);
4104 : }
4105 : }
4106 71561936 : myLFLinkLanes.erase(myLFLinkLanes.begin(), myNextDriveItem);
4107 71561936 : myNextDriveItem = myLFLinkLanes.begin();
4108 71561936 : }
4109 :
4110 :
4111 : void
4112 1138103 : MSVehicle::updateDriveItems() {
4113 : #ifdef DEBUG_ACTIONSTEPS
4114 : if (DEBUG_COND) {
4115 : std::cout << SIMTIME << " updateDriveItems(), veh='" << getID() << "' (lane: '" << getLane()->getID() << "')\nCurrent drive items:" << std::endl;
4116 : for (const auto& dpi : myLFLinkLanes) {
4117 : std::cout
4118 : << " vPass=" << dpi.myVLinkPass
4119 : << " vWait=" << dpi.myVLinkWait
4120 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4121 : << " request=" << dpi.mySetRequest
4122 : << "\n";
4123 : }
4124 : std::cout << " myNextDriveItem's linked lane: " << (myNextDriveItem->myLink == 0 ? "NULL" : myNextDriveItem->myLink->getViaLaneOrLane()->getID()) << std::endl;
4125 : }
4126 : #endif
4127 1138103 : if (myLFLinkLanes.size() == 0) {
4128 : // nothing to update
4129 : return;
4130 : }
4131 : const MSLink* nextPlannedLink = nullptr;
4132 : // auto i = myLFLinkLanes.begin();
4133 1138101 : auto i = myNextDriveItem;
4134 2276157 : while (i != myLFLinkLanes.end() && nextPlannedLink == nullptr) {
4135 1138056 : nextPlannedLink = i->myLink;
4136 : ++i;
4137 : }
4138 :
4139 1138101 : if (nextPlannedLink == nullptr) {
4140 : // No link for upcoming item -> no need for an update
4141 : #ifdef DEBUG_ACTIONSTEPS
4142 : if (DEBUG_COND) {
4143 : std::cout << "Found no link-related drive item." << std::endl;
4144 : }
4145 : #endif
4146 : return;
4147 : }
4148 :
4149 557363 : if (getLane() == nextPlannedLink->getLaneBefore()) {
4150 : // Current lane approaches the stored next link, i.e. no LC happend and no update is required.
4151 : #ifdef DEBUG_ACTIONSTEPS
4152 : if (DEBUG_COND) {
4153 : std::cout << "Continuing on planned lane sequence, no update required." << std::endl;
4154 : }
4155 : #endif
4156 : return;
4157 : }
4158 : // Lane must have been changed, determine the change direction
4159 547321 : const MSLink* parallelLink = nextPlannedLink->getParallelLink(1);
4160 547321 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4161 : // lcDir = 1;
4162 : } else {
4163 265866 : parallelLink = nextPlannedLink->getParallelLink(-1);
4164 265866 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4165 : // lcDir = -1;
4166 : } else {
4167 : // If the vehicle's current lane is not the approaching lane for the next
4168 : // drive process item's link, it is expected to lead to a parallel link,
4169 : // XXX: What if the lc was an overtaking maneuver and there is no upcoming link?
4170 : // Then a stop item should be scheduled! -> TODO!
4171 : //assert(false);
4172 72832 : return;
4173 : }
4174 : }
4175 : #ifdef DEBUG_ACTIONSTEPS
4176 : if (DEBUG_COND) {
4177 : std::cout << "Changed lane. Drive items will be updated along the current lane continuation." << std::endl;
4178 : }
4179 : #endif
4180 : // Trace link sequence along current best lanes and transfer drive items to the corresponding links
4181 : // DriveItemVector::iterator driveItemIt = myLFLinkLanes.begin();
4182 474489 : DriveItemVector::iterator driveItemIt = myNextDriveItem;
4183 : // In the loop below, lane holds the currently considered lane on the vehicles continuation (including internal lanes)
4184 474489 : const MSLane* lane = myLane;
4185 : assert(myLane == parallelLink->getLaneBefore());
4186 : // *lit is a pointer to the next lane in best continuations for the current lane (always non-internal)
4187 474489 : std::vector<MSLane*>::const_iterator bestLaneIt = getBestLanesContinuation().begin() + 1;
4188 : // Pointer to the new link for the current drive process item
4189 : MSLink* newLink = nullptr;
4190 1772834 : while (driveItemIt != myLFLinkLanes.end()) {
4191 1327032 : if (driveItemIt->myLink == nullptr) {
4192 : // Items not related to a specific link are not updated
4193 : // (XXX: when a stop item corresponded to a dead end, which is overcome by the LC that made
4194 : // the update necessary, this may slow down the vehicle's continuation on the new lane...)
4195 : ++driveItemIt;
4196 171856 : continue;
4197 : }
4198 : // Continuation links for current best lanes are less than for the former drive items (myLFLinkLanes)
4199 : // We just remove the leftover link-items, as they cannot be mapped to new links.
4200 1155176 : if (bestLaneIt == getBestLanesContinuation().end()) {
4201 : #ifdef DEBUG_ACTIONSTEPS
4202 : if (DEBUG_COND) {
4203 : std::cout << "Reached end of the new continuation sequence. Erasing leftover link-items." << std::endl;
4204 : }
4205 : #endif
4206 91086 : while (driveItemIt != myLFLinkLanes.end()) {
4207 62399 : if (driveItemIt->myLink == nullptr) {
4208 : ++driveItemIt;
4209 14241 : continue;
4210 : } else {
4211 48158 : driveItemIt->myLink->removeApproaching(this);
4212 : driveItemIt = myLFLinkLanes.erase(driveItemIt);
4213 : }
4214 : }
4215 : break;
4216 : }
4217 : // Do the actual link-remapping for the item. And un/register approaching information on the corresponding links
4218 1126489 : const MSLane* const target = *bestLaneIt;
4219 : assert(!target->isInternal());
4220 : newLink = nullptr;
4221 1241901 : for (MSLink* const link : lane->getLinkCont()) {
4222 1241901 : if (link->getLane() == target) {
4223 : newLink = link;
4224 : break;
4225 : }
4226 : }
4227 :
4228 1126489 : if (newLink == driveItemIt->myLink) {
4229 : // new continuation merged into previous - stop update
4230 : #ifdef DEBUG_ACTIONSTEPS
4231 : if (DEBUG_COND) {
4232 : std::cout << "Old and new continuation sequences merge at link\n"
4233 : << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'"
4234 : << "\nNo update beyond merge required." << std::endl;
4235 : }
4236 : #endif
4237 : break;
4238 : }
4239 :
4240 : #ifdef DEBUG_ACTIONSTEPS
4241 : if (DEBUG_COND) {
4242 : std::cout << "lane=" << lane->getID() << "\nUpdating link\n '" << driveItemIt->myLink->getLaneBefore()->getID() << "'->'" << driveItemIt->myLink->getViaLaneOrLane()->getID() << "'"
4243 : << "==> " << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'" << std::endl;
4244 : }
4245 : #endif
4246 1126489 : newLink->setApproaching(this, driveItemIt->myLink->getApproaching(this));
4247 1126489 : driveItemIt->myLink->removeApproaching(this);
4248 1126489 : driveItemIt->myLink = newLink;
4249 : lane = newLink->getViaLaneOrLane();
4250 : ++driveItemIt;
4251 1126489 : if (!lane->isInternal()) {
4252 : ++bestLaneIt;
4253 : }
4254 : }
4255 : #ifdef DEBUG_ACTIONSTEPS
4256 : if (DEBUG_COND) {
4257 : std::cout << "Updated drive items:" << std::endl;
4258 : for (const auto& dpi : myLFLinkLanes) {
4259 : std::cout
4260 : << " vPass=" << dpi.myVLinkPass
4261 : << " vWait=" << dpi.myVLinkWait
4262 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4263 : << " request=" << dpi.mySetRequest
4264 : << "\n";
4265 : }
4266 : }
4267 : #endif
4268 : }
4269 :
4270 :
4271 : void
4272 704971385 : MSVehicle::setBrakingSignals(double vNext) {
4273 : // To avoid casual blinking brake lights at high speeds due to dawdling of the
4274 : // leading vehicle, we don't show brake lights when the deceleration could be caused
4275 : // by frictional forces and air resistance (i.e. proportional to v^2, coefficient could be adapted further)
4276 704971385 : double pseudoFriction = (0.05 + 0.005 * getSpeed()) * getSpeed();
4277 704971385 : bool brakelightsOn = vNext < getSpeed() - ACCEL2SPEED(pseudoFriction);
4278 :
4279 704971385 : if (vNext <= SUMO_const_haltingSpeed) {
4280 : brakelightsOn = true;
4281 : }
4282 704971385 : if (brakelightsOn && !isStopped()) {
4283 : switchOnSignal(VEH_SIGNAL_BRAKELIGHT);
4284 : } else {
4285 : switchOffSignal(VEH_SIGNAL_BRAKELIGHT);
4286 : }
4287 704971385 : }
4288 :
4289 :
4290 : void
4291 705038181 : MSVehicle::updateWaitingTime(double vNext) {
4292 705038181 : if (vNext <= SUMO_const_haltingSpeed && (!isStopped() || isIdling()) && myAcceleration <= accelThresholdForWaiting()) {
4293 95442158 : myWaitingTime += DELTA_T;
4294 95442158 : myWaitingTimeCollector.passTime(DELTA_T, true);
4295 : } else {
4296 609596023 : myWaitingTime = 0;
4297 609596023 : myWaitingTimeCollector.passTime(DELTA_T, false);
4298 609596023 : if (hasInfluencer()) {
4299 271165 : getInfluencer().setExtraImpatience(0);
4300 : }
4301 : }
4302 705038181 : }
4303 :
4304 :
4305 : void
4306 704971239 : MSVehicle::updateTimeLoss(double vNext) {
4307 : // update time loss (depends on the updated edge)
4308 704971239 : if (!isStopped()) {
4309 : // some cfModels (i.e. EIDM may drive faster than predicted by maxNextSpeed)
4310 694691487 : const double vmax = MIN2(myLane->getVehicleMaxSpeed(this), MAX2(myStopSpeed, vNext));
4311 690952406 : if (vmax > 0) {
4312 690943565 : myTimeLoss += TS * (vmax - vNext) / vmax;
4313 : }
4314 : }
4315 704971239 : }
4316 :
4317 :
4318 : double
4319 1586058360 : MSVehicle::checkReversal(bool& canReverse, double speedThreshold, double seen) const {
4320 63742030 : const bool stopOk = (myStops.empty() || myStops.front().edge != myCurrEdge
4321 1618167274 : || (myStops.front().getSpeed() > 0 && myState.myPos > myStops.front().pars.endPos - 2 * POSITION_EPS));
4322 : #ifdef DEBUG_REVERSE_BIDI
4323 : if (DEBUG_COND) std::cout << SIMTIME << " checkReversal lane=" << myLane->getID()
4324 : << " pos=" << myState.myPos
4325 : << " speed=" << std::setprecision(6) << getPreviousSpeed() << std::setprecision(gPrecision)
4326 : << " speedThreshold=" << speedThreshold
4327 : << " seen=" << seen
4328 : << " isRail=" << isRail()
4329 : << " speedOk=" << (getPreviousSpeed() <= speedThreshold)
4330 : << " posOK=" << (myState.myPos <= myLane->getLength())
4331 : << " normal=" << !myLane->isInternal()
4332 : << " routeOK=" << ((myCurrEdge + 1) != myRoute->end())
4333 : << " bidi=" << (myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1))
4334 : << " stopOk=" << stopOk
4335 : << "\n";
4336 : #endif
4337 1586058360 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4338 7282893 : && getPreviousSpeed() <= speedThreshold
4339 6203866 : && myState.myPos <= myLane->getLength()
4340 6202761 : && !myLane->isInternal()
4341 6128806 : && (myCurrEdge + 1) != myRoute->end()
4342 6017730 : && myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1)
4343 : // ensure there are no further stops on this edge
4344 1586907634 : && stopOk
4345 : ) {
4346 : //if (isSelected()) std::cout << " check1 passed\n";
4347 :
4348 : // ensure that the vehicle is fully on bidi edges that allow reversal
4349 180793 : const int neededFutureRoute = 1 + (int)(MSGlobals::gUsingInternalLanes
4350 : ? myFurtherLanes.size()
4351 504 : : ceil((double)myFurtherLanes.size() / 2.0));
4352 180793 : const int remainingRoute = int(myRoute->end() - myCurrEdge) - 1;
4353 180793 : if (remainingRoute < neededFutureRoute) {
4354 : #ifdef DEBUG_REVERSE_BIDI
4355 : if (DEBUG_COND) {
4356 : std::cout << " fail: remainingEdges=" << ((int)(myRoute->end() - myCurrEdge)) << " further=" << myFurtherLanes.size() << "\n";
4357 : }
4358 : #endif
4359 3567 : return getMaxSpeed();
4360 : }
4361 : //if (isSelected()) std::cout << " check2 passed\n";
4362 :
4363 : // ensure that the turn-around connection exists from the current edge to its bidi-edge
4364 177226 : const MSEdgeVector& succ = myLane->getEdge().getSuccessors();
4365 177226 : if (std::find(succ.begin(), succ.end(), myLane->getEdge().getBidiEdge()) == succ.end()) {
4366 : #ifdef DEBUG_REVERSE_BIDI
4367 : if (DEBUG_COND) {
4368 : std::cout << " noTurn (bidi=" << myLane->getEdge().getBidiEdge()->getID() << " succ=" << toString(succ) << "\n";
4369 : }
4370 : #endif
4371 909 : return getMaxSpeed();
4372 : }
4373 : //if (isSelected()) std::cout << " check3 passed\n";
4374 :
4375 : // ensure that the vehicle front will not move past a stop on the bidi edge of the current edge
4376 176317 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + 1)) {
4377 160006 : const double stopPos = myStops.front().getEndPos(*this);
4378 160006 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4379 160006 : const double newPos = myLane->getLength() - (getBackPositionOnLane() + brakeDist);
4380 160006 : if (newPos > stopPos) {
4381 : #ifdef DEBUG_REVERSE_BIDI
4382 : if (DEBUG_COND) {
4383 : std::cout << " reversal would go past stop on " << myLane->getBidiLane()->getID() << "\n";
4384 : }
4385 : #endif
4386 158332 : if (seen > MAX2(brakeDist, 1.0)) {
4387 157202 : return getMaxSpeed();
4388 : } else {
4389 : #ifdef DEBUG_REVERSE_BIDI
4390 : if (DEBUG_COND) {
4391 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4392 : }
4393 : #endif
4394 : }
4395 : }
4396 : }
4397 : //if (isSelected()) std::cout << " check4 passed\n";
4398 :
4399 : // ensure that bidi-edges exist for all further edges
4400 : // and that no stops will be skipped when reversing
4401 : // and that the train will not be on top of a red rail signal after reversal
4402 19115 : const MSLane* bidi = myLane->getBidiLane();
4403 : int view = 2;
4404 38572 : for (MSLane* further : myFurtherLanes) {
4405 21893 : if (!further->getEdge().isInternal()) {
4406 11393 : if (further->getEdge().getBidiEdge() != *(myCurrEdge + view)) {
4407 : #ifdef DEBUG_REVERSE_BIDI
4408 : if (DEBUG_COND) {
4409 : std::cout << " noBidi view=" << view << " further=" << further->getID() << " furtherBidi=" << Named::getIDSecure(further->getEdge().getBidiEdge()) << " future=" << (*(myCurrEdge + view))->getID() << "\n";
4410 : }
4411 : #endif
4412 2277 : return getMaxSpeed();
4413 : }
4414 9116 : const MSLane* nextBidi = further->getBidiLane();
4415 9116 : const MSLink* toNext = bidi->getLinkTo(nextBidi);
4416 9116 : if (toNext == nullptr) {
4417 : // can only happen if the route is invalid
4418 0 : return getMaxSpeed();
4419 : }
4420 9116 : if (toNext->haveRed()) {
4421 : #ifdef DEBUG_REVERSE_BIDI
4422 : if (DEBUG_COND) {
4423 : std::cout << " do not reverse on a red signal\n";
4424 : }
4425 : #endif
4426 0 : return getMaxSpeed();
4427 : }
4428 : bidi = nextBidi;
4429 9116 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + view)) {
4430 453 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4431 453 : const double stopPos = myStops.front().getEndPos(*this);
4432 453 : const double newPos = further->getLength() - (getBackPositionOnLane(further) + brakeDist);
4433 453 : if (newPos > stopPos) {
4434 : #ifdef DEBUG_REVERSE_BIDI
4435 : if (DEBUG_COND) {
4436 : std::cout << " reversal would go past stop on further-opposite lane " << further->getBidiLane()->getID() << "\n";
4437 : }
4438 : #endif
4439 171 : if (seen > MAX2(brakeDist, 1.0)) {
4440 159 : canReverse = false;
4441 159 : return getMaxSpeed();
4442 : } else {
4443 : #ifdef DEBUG_REVERSE_BIDI
4444 : if (DEBUG_COND) {
4445 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4446 : }
4447 : #endif
4448 : }
4449 : }
4450 : }
4451 8957 : view++;
4452 : }
4453 : }
4454 : // reverse as soon as comfortably possible
4455 16679 : const double vMinComfortable = getCarFollowModel().minNextSpeed(getSpeed(), this);
4456 : #ifdef DEBUG_REVERSE_BIDI
4457 : if (DEBUG_COND) {
4458 : std::cout << SIMTIME << " seen=" << seen << " vReverseOK=" << vMinComfortable << "\n";
4459 : }
4460 : #endif
4461 16679 : canReverse = true;
4462 16679 : return vMinComfortable;
4463 : }
4464 1585877567 : return getMaxSpeed();
4465 : }
4466 :
4467 :
4468 : void
4469 705189714 : MSVehicle::processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason) {
4470 721136286 : for (std::vector<MSLane*>::reverse_iterator i = myFurtherLanes.rbegin(); i != myFurtherLanes.rend(); ++i) {
4471 15946572 : passedLanes.push_back(*i);
4472 : }
4473 705189714 : if (passedLanes.size() == 0 || passedLanes.back() != myLane) {
4474 705189714 : passedLanes.push_back(myLane);
4475 : }
4476 : // let trains reverse direction
4477 705189714 : bool reverseTrain = false;
4478 705189714 : checkReversal(reverseTrain);
4479 705189714 : if (reverseTrain) {
4480 : // Train is 'reversing' so toggle the logical state
4481 810 : myAmReversed = !myAmReversed;
4482 : // add some slack to ensure that the back of train does appear looped
4483 810 : myState.myPos += 2 * (myLane->getLength() - myState.myPos) + myType->getLength() + NUMERICAL_EPS;
4484 810 : myState.mySpeed = 0;
4485 : #ifdef DEBUG_REVERSE_BIDI
4486 : if (DEBUG_COND) {
4487 : std::cout << SIMTIME << " reversing train=" << getID() << " newPos=" << myState.myPos << "\n";
4488 : }
4489 : #endif
4490 : }
4491 : // move on lane(s)
4492 705189714 : if (myState.myPos > myLane->getLength()) {
4493 : // The vehicle has moved at least to the next lane (maybe it passed even more than one)
4494 20033395 : if (myCurrEdge != myRoute->end() - 1) {
4495 16899296 : MSLane* approachedLane = myLane;
4496 : // move the vehicle forward
4497 16899296 : myNextDriveItem = myLFLinkLanes.begin();
4498 36482863 : while (myNextDriveItem != myLFLinkLanes.end() && approachedLane != nullptr && myState.myPos > approachedLane->getLength()) {
4499 19602467 : const MSLink* link = myNextDriveItem->myLink;
4500 19602467 : const double linkDist = myNextDriveItem->myDistance;
4501 : ++myNextDriveItem;
4502 : // check whether the vehicle was allowed to enter lane
4503 : // otherwise it is decelerated and we do not need to test for it's
4504 : // approach on the following lanes when a lane changing is performed
4505 : // proceed to the next lane
4506 19602467 : if (approachedLane->mustCheckJunctionCollisions()) {
4507 : // vehicle moves past approachedLane within a single step, collision checking must still be done
4508 66527 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(approachedLane);
4509 : }
4510 19602467 : if (link != nullptr) {
4511 19598280 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4512 46034 : && !myLane->isInternal()
4513 24232 : && myLane->getBidiLane() != nullptr
4514 13042 : && link->getLane()->getBidiLane() == myLane
4515 19599087 : && !reverseTrain) {
4516 : emergencyReason = " because it must reverse direction";
4517 : approachedLane = nullptr;
4518 : break;
4519 : }
4520 19598277 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4521 46031 : && myState.myPos < myLane->getLength() + NUMERICAL_EPS
4522 19598487 : && hasStops() && getNextStop().edge == myCurrEdge) {
4523 : // avoid skipping stop due to numerical instability
4524 : // this is a special case for rail vehicles because they
4525 : // continue myLFLinkLanes past stops
4526 196 : approachedLane = myLane;
4527 196 : myState.myPos = myLane->getLength();
4528 196 : break;
4529 : }
4530 19598081 : approachedLane = link->getViaLaneOrLane();
4531 19598081 : if (myInfluencer == nullptr || myInfluencer->getEmergencyBrakeRedLight()) {
4532 19596476 : bool beyondStopLine = linkDist < link->getLaneBefore()->getVehicleStopOffset(this);
4533 19596476 : if (link->haveRed() && !ignoreRed(link, false) && !beyondStopLine && !reverseTrain) {
4534 : emergencyReason = " because of a red traffic light";
4535 : break;
4536 : }
4537 : }
4538 19598012 : if (reverseTrain && approachedLane->isInternal()) {
4539 : // avoid getting stuck on a slow turn-around internal lane
4540 888 : myState.myPos += approachedLane->getLength();
4541 : }
4542 4187 : } else if (myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4543 : // avoid warning due to numerical instability
4544 229 : approachedLane = myLane;
4545 229 : myState.myPos = myLane->getLength();
4546 3958 : } else if (reverseTrain) {
4547 0 : approachedLane = (*(myCurrEdge + 1))->getLanes()[0];
4548 0 : link = myLane->getLinkTo(approachedLane);
4549 : assert(link != 0);
4550 0 : while (link->getViaLane() != nullptr) {
4551 0 : link = link->getViaLane()->getLinkCont()[0];
4552 : }
4553 : --myNextDriveItem;
4554 : } else {
4555 : emergencyReason = " because there is no connection to the next edge";
4556 : approachedLane = nullptr;
4557 : break;
4558 : }
4559 19598241 : if (approachedLane != myLane && approachedLane != nullptr) {
4560 19598012 : leaveLane(MSMoveReminder::NOTIFICATION_JUNCTION, approachedLane);
4561 19598012 : myState.myPos -= myLane->getLength();
4562 : assert(myState.myPos > 0);
4563 19598012 : enterLaneAtMove(approachedLane);
4564 19598012 : if (link->isEntryLink()) {
4565 7703382 : myJunctionEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4566 7703382 : myJunctionEntryTimeNeverYield = myJunctionEntryTime;
4567 7703382 : myHaveStoppedFor = nullptr;
4568 : }
4569 19598012 : if (link->isConflictEntryLink()) {
4570 7702785 : myJunctionConflictEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4571 : // renew yielded request
4572 7702785 : myJunctionEntryTime = myJunctionEntryTimeNeverYield;
4573 : }
4574 19598012 : if (link->isExitLink()) {
4575 : // passed junction, reset for approaching the next one
4576 7641079 : myJunctionEntryTime = SUMOTime_MAX;
4577 7641079 : myJunctionEntryTimeNeverYield = SUMOTime_MAX;
4578 7641079 : myJunctionConflictEntryTime = SUMOTime_MAX;
4579 : }
4580 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
4581 : if (DEBUG_COND) {
4582 : std::cout << "Update junctionTimes link=" << link->getViaLaneOrLane()->getID()
4583 : << " entry=" << link->isEntryLink() << " conflict=" << link->isConflictEntryLink() << " exit=" << link->isExitLink()
4584 : << " ET=" << myJunctionEntryTime
4585 : << " ETN=" << myJunctionEntryTimeNeverYield
4586 : << " CET=" << myJunctionConflictEntryTime
4587 : << "\n";
4588 : }
4589 : #endif
4590 19598012 : if (hasArrivedInternal()) {
4591 : break;
4592 : }
4593 19584094 : if (myLaneChangeModel->isChangingLanes()) {
4594 7272 : if (link->getDirection() == LinkDirection::LEFT || link->getDirection() == LinkDirection::RIGHT) {
4595 : // abort lane change
4596 54 : WRITE_WARNINGF("Vehicle '%' could not finish continuous lane change (turn lane) time=%.", getID(), time2string(SIMSTEP));
4597 18 : myLaneChangeModel->endLaneChangeManeuver();
4598 : }
4599 : }
4600 19584094 : if (approachedLane->getEdge().isVaporizing()) {
4601 756 : leaveLane(MSMoveReminder::NOTIFICATION_VAPORIZED_VAPORIZER);
4602 : break;
4603 : }
4604 19583338 : passedLanes.push_back(approachedLane);
4605 : }
4606 : }
4607 : // NOTE: Passed drive items will be erased in the next simstep's planMove()
4608 :
4609 : #ifdef DEBUG_ACTIONSTEPS
4610 : if (DEBUG_COND && myNextDriveItem != myLFLinkLanes.begin()) {
4611 : std::cout << "Updated drive items:" << std::endl;
4612 : for (DriveItemVector::iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
4613 : std::cout
4614 : << " vPass=" << (*i).myVLinkPass
4615 : << " vWait=" << (*i).myVLinkWait
4616 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
4617 : << " request=" << (*i).mySetRequest
4618 : << "\n";
4619 : }
4620 : }
4621 : #endif
4622 3134099 : } else if (!hasArrivedInternal() && myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4623 : // avoid warning due to numerical instability when stopping at the end of the route
4624 90 : myState.myPos = myLane->getLength();
4625 : }
4626 :
4627 : }
4628 705189714 : }
4629 :
4630 :
4631 :
4632 : bool
4633 708659388 : MSVehicle::executeMove() {
4634 : #ifdef DEBUG_EXEC_MOVE
4635 : if (DEBUG_COND) {
4636 : std::cout << "\nEXECUTE_MOVE\n"
4637 : << SIMTIME
4638 : << " veh=" << getID()
4639 : << " speed=" << getSpeed() // toString(getSpeed(), 24)
4640 : << std::endl;
4641 : }
4642 : #endif
4643 :
4644 :
4645 : // Maximum safe velocity
4646 708659388 : double vSafe = std::numeric_limits<double>::max();
4647 : // Minimum safe velocity (lower bound).
4648 708659388 : double vSafeMin = -std::numeric_limits<double>::max();
4649 : // The distance to a link, which should either be crossed this step
4650 : // or in front of which we need to stop.
4651 708659388 : double vSafeMinDist = 0;
4652 :
4653 708659388 : if (myActionStep) {
4654 : // Actuate control (i.e. choose bounds for safe speed in current simstep (euler), resp. after current sim step (ballistic))
4655 637097452 : processLinkApproaches(vSafe, vSafeMin, vSafeMinDist);
4656 : #ifdef DEBUG_ACTIONSTEPS
4657 : if (DEBUG_COND) {
4658 : std::cout << SIMTIME << " vehicle '" << getID() << "'\n"
4659 : " vsafe from processLinkApproaches(): vsafe " << vSafe << std::endl;
4660 : }
4661 : #endif
4662 : } else {
4663 : // Continue with current acceleration
4664 71561936 : vSafe = getSpeed() + ACCEL2SPEED(myAcceleration);
4665 : #ifdef DEBUG_ACTIONSTEPS
4666 : if (DEBUG_COND) {
4667 : std::cout << SIMTIME << " vehicle '" << getID() << "' skips processLinkApproaches()\n"
4668 : " continues with constant accel " << myAcceleration << "...\n"
4669 : << "speed: " << getSpeed() << " -> " << vSafe << std::endl;
4670 : }
4671 : #endif
4672 : }
4673 :
4674 :
4675 : //#ifdef DEBUG_EXEC_MOVE
4676 : // if (DEBUG_COND) {
4677 : // std::cout << "vSafe = " << toString(vSafe,12) << "\n" << std::endl;
4678 : // }
4679 : //#endif
4680 :
4681 : // Determine vNext = speed after current sim step (ballistic), resp. in current simstep (euler)
4682 : // Call to finalizeSpeed applies speed reduction due to dawdling / lane changing but ensures minimum safe speed
4683 708659388 : double vNext = vSafe;
4684 : const MSCFModel& cfModel = getCarFollowModel();
4685 708659388 : const double rawAccel = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4686 708659388 : if (vNext <= SUMO_const_haltingSpeed * TS && myWaitingTime > MSGlobals::gStartupWaitThreshold && rawAccel <= accelThresholdForWaiting() && myActionStep) {
4687 78640583 : myTimeSinceStartup = 0;
4688 630018805 : } else if (isStopped()) {
4689 : // do not apply startupDelay for waypoints
4690 17694960 : if (cfModel.startupDelayStopped() && getNextStop().pars.speed <= 0) {
4691 13772 : myTimeSinceStartup = DELTA_T;
4692 : } else {
4693 : // do not apply startupDelay but signal that a stop has taken place
4694 17681188 : myTimeSinceStartup = cfModel.getStartupDelay() + DELTA_T;
4695 : }
4696 : } else {
4697 : // identify potential startup (before other effects reduce the speed again)
4698 612323845 : myTimeSinceStartup += DELTA_T;
4699 : }
4700 708659388 : if (myActionStep) {
4701 637097452 : vNext = cfModel.finalizeSpeed(this, vSafe);
4702 633409303 : if (vNext > 0) {
4703 587337332 : vNext = MAX2(vNext, vSafeMin);
4704 : }
4705 : }
4706 : // (Leo) to avoid tiny oscillations (< 1e-10) of vNext in a standing vehicle column (observed for ballistic update), we cap off vNext
4707 : // (We assure to do this only for vNext<<NUMERICAL_EPS since otherwise this would nullify the workaround for #2995
4708 : // (Jakob) We also need to make sure to reach a stop at the start of the next edge
4709 704971239 : if (fabs(vNext) < NUMERICAL_EPS_SPEED && (myStopDist > POSITION_EPS || (hasStops() && myCurrEdge == getNextStop().edge))) {
4710 : vNext = 0.;
4711 : }
4712 : #ifdef DEBUG_EXEC_MOVE
4713 : if (DEBUG_COND) {
4714 : std::cout << SIMTIME << " finalizeSpeed vSafe=" << vSafe << " vSafeMin=" << (vSafeMin == -std::numeric_limits<double>::max() ? "-Inf" : toString(vSafeMin))
4715 : << " vNext=" << vNext << " (i.e. accel=" << SPEED2ACCEL(vNext - getSpeed()) << ")" << std::endl;
4716 : }
4717 : #endif
4718 :
4719 : // vNext may be higher than vSafe without implying a bug:
4720 : // - when approaching a green light that suddenly switches to yellow
4721 : // - when using unregulated junctions
4722 : // - when using tau < step-size
4723 : // - when using unsafe car following models
4724 : // - when using TraCI and some speedMode / laneChangeMode settings
4725 : //if (vNext > vSafe + NUMERICAL_EPS) {
4726 : // WRITE_WARNING("vehicle '" + getID() + "' cannot brake hard enough to reach safe speed "
4727 : // + toString(vSafe, 4) + ", moving at " + toString(vNext, 4) + " instead. time="
4728 : // + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4729 : //}
4730 :
4731 704971239 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4732 : vNext = MAX2(vNext, 0.);
4733 : } else {
4734 : // (Leo) Ballistic: negative vNext can be used to indicate a stop within next step.
4735 : }
4736 :
4737 : // Check for speed advices from the traci client
4738 704971239 : vNext = processTraCISpeedControl(vSafe, vNext);
4739 :
4740 : // the acceleration of a vehicle equipped with the elecHybrid device is restricted by the maximal power of the electric drive as well
4741 704971239 : MSDevice_ElecHybrid* elecHybridOfVehicle = dynamic_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid)));
4742 981 : if (elecHybridOfVehicle != nullptr) {
4743 : // this is the consumption given by the car following model-computed acceleration
4744 981 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4745 : // but the maximum power of the electric motor may be lower
4746 : // it needs to be converted from [W] to [Wh/s] (3600s / 1h) so that TS can be taken into account
4747 981 : double maxPower = getEmissionParameters()->getDoubleOptional(SUMO_ATTR_MAXIMUMPOWER, 100000.) / 3600;
4748 981 : if (elecHybridOfVehicle->getConsum() / TS > maxPower) {
4749 : // no, we cannot accelerate that fast, recompute the maximum possible acceleration
4750 70 : double accel = elecHybridOfVehicle->acceleration(*this, maxPower, this->getSpeed());
4751 : // and update the speed of the vehicle
4752 70 : vNext = MIN2(vNext, this->getSpeed() + accel * TS);
4753 : vNext = MAX2(vNext, 0.);
4754 : // and set the vehicle consumption to reflect this
4755 70 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4756 : }
4757 : }
4758 :
4759 704971239 : setBrakingSignals(vNext);
4760 :
4761 : // update position and speed
4762 704971239 : int oldLaneOffset = myLane->getEdge().getNumLanes() - myLane->getIndex();
4763 : const MSLane* oldLaneMaybeOpposite = myLane;
4764 704971239 : if (myLaneChangeModel->isOpposite()) {
4765 : // transform to the forward-direction lane, move and then transform back
4766 406939 : myState.myPos = myLane->getOppositePos(myState.myPos);
4767 406939 : myLane = myLane->getParallelOpposite();
4768 : }
4769 704971239 : updateState(vNext);
4770 704971239 : updateWaitingTime(vNext);
4771 :
4772 : // Lanes, which the vehicle touched at some moment of the executed simstep
4773 : std::vector<MSLane*> passedLanes;
4774 : // remember previous lane (myLane is updated in processLaneAdvances)
4775 704971239 : const MSLane* oldLane = myLane;
4776 : // Reason for a possible emergency stop
4777 : std::string emergencyReason;
4778 704971239 : processLaneAdvances(passedLanes, emergencyReason);
4779 :
4780 704971239 : updateTimeLoss(vNext);
4781 704971239 : myCollisionImmunity = MAX2((SUMOTime) - 1, myCollisionImmunity - DELTA_T);
4782 :
4783 704971239 : if (!hasArrivedInternal() && !myLane->getEdge().isVaporizing()) {
4784 701641505 : if (myState.myPos > myLane->getLength()) {
4785 359 : if (emergencyReason == "") {
4786 17 : emergencyReason = TL(" for unknown reasons");
4787 : }
4788 1436 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency stop at the end of lane '%'% (decel=%, offset=%), time=%."),
4789 : getID(), myLane->getID(), emergencyReason, myAcceleration - myState.mySpeed,
4790 : myState.myPos - myLane->getLength(), time2string(SIMSTEP));
4791 359 : MSNet::getInstance()->getVehicleControl().registerEmergencyStop();
4792 359 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::EMERGENCYSTOP);
4793 359 : myState.myPos = myLane->getLength();
4794 359 : myState.mySpeed = 0;
4795 359 : myAcceleration = 0;
4796 : }
4797 701641505 : const MSLane* oldBackLane = getBackLane();
4798 701641505 : if (myLaneChangeModel->isOpposite()) {
4799 : passedLanes.clear(); // ignore back occupation
4800 : }
4801 : #ifdef DEBUG_ACTIONSTEPS
4802 : if (DEBUG_COND) {
4803 : std::cout << SIMTIME << " veh '" << getID() << "' updates further lanes." << std::endl;
4804 : }
4805 : #endif
4806 701641505 : myState.myBackPos = updateFurtherLanes(myFurtherLanes, myFurtherLanesPosLat, passedLanes);
4807 701641505 : if (passedLanes.size() > 1 && isRail()) {
4808 883140 : for (auto pi = passedLanes.rbegin(); pi != passedLanes.rend(); ++pi) {
4809 666187 : MSLane* pLane = *pi;
4810 666187 : if (pLane != myLane && std::find(myFurtherLanes.begin(), myFurtherLanes.end(), pLane) == myFurtherLanes.end()) {
4811 45691 : leaveLaneBack(MSMoveReminder::NOTIFICATION_JUNCTION, *pi);
4812 : }
4813 : }
4814 : }
4815 : // bestLanes need to be updated before lane changing starts. NOTE: This call is also a presumption for updateDriveItems()
4816 701641505 : updateBestLanes();
4817 701641505 : if (myLane != oldLane || oldBackLane != getBackLane()) {
4818 24826428 : if (myLaneChangeModel->getShadowLane() != nullptr || getLateralOverlap() > POSITION_EPS) {
4819 : // shadow lane must be updated if the front or back lane changed
4820 : // either if we already have a shadowLane or if there is lateral overlap
4821 553780 : myLaneChangeModel->updateShadowLane();
4822 : }
4823 24826428 : if (MSGlobals::gLateralResolution > 0 && !myLaneChangeModel->isOpposite()) {
4824 : // The vehicles target lane must be also be updated if the front or back lane changed
4825 4434638 : myLaneChangeModel->updateTargetLane();
4826 : }
4827 : }
4828 701641505 : setBlinkerInformation(); // needs updated bestLanes
4829 : //change the blue light only for emergency vehicles SUMOVehicleClass
4830 701641505 : if (myType->getVehicleClass() == SVC_EMERGENCY) {
4831 85867 : setEmergencyBlueLight(MSNet::getInstance()->getCurrentTimeStep());
4832 : }
4833 : // must be done before angle computation
4834 : // State needs to be reset for all vehicles before the next call to MSEdgeControl::changeLanes
4835 701641505 : if (myActionStep) {
4836 : // check (#2681): Can this be skipped?
4837 630100849 : myLaneChangeModel->prepareStep();
4838 : } else {
4839 71540656 : myLaneChangeModel->resetSpeedLat();
4840 : #ifdef DEBUG_ACTIONSTEPS
4841 : if (DEBUG_COND) {
4842 : std::cout << SIMTIME << " veh '" << getID() << "' skips LCM->prepareStep()." << std::endl;
4843 : }
4844 : #endif
4845 : }
4846 701641505 : myLaneChangeModel->setPreviousAngleOffset(myLaneChangeModel->getAngleOffset());
4847 701641505 : myAngle = computeAngle();
4848 : }
4849 :
4850 : #ifdef DEBUG_EXEC_MOVE
4851 : if (DEBUG_COND) {
4852 : std::cout << SIMTIME << " executeMove finished veh=" << getID() << " lane=" << myLane->getID() << " myPos=" << getPositionOnLane() << " myPosLat=" << getLateralPositionOnLane() << "\n";
4853 : gDebugFlag1 = false; // See MSLink_DEBUG_OPENED
4854 : }
4855 : #endif
4856 704971239 : if (myLaneChangeModel->isOpposite()) {
4857 : // transform back to the opposite-direction lane
4858 : MSLane* newOpposite = nullptr;
4859 406939 : const MSEdge* newOppositeEdge = myLane->getEdge().getOppositeEdge();
4860 406939 : if (newOppositeEdge != nullptr) {
4861 406889 : newOpposite = newOppositeEdge->getLanes()[newOppositeEdge->getNumLanes() - MAX2(1, oldLaneOffset)];
4862 : #ifdef DEBUG_EXEC_MOVE
4863 : if (DEBUG_COND) {
4864 : std::cout << SIMTIME << " newOppositeEdge=" << newOppositeEdge->getID() << " oldLaneOffset=" << oldLaneOffset << " leftMost=" << newOppositeEdge->getNumLanes() - 1 << " newOpposite=" << Named::getIDSecure(newOpposite) << "\n";
4865 : }
4866 : #endif
4867 : }
4868 406889 : if (newOpposite == nullptr) {
4869 50 : if (!myLaneChangeModel->hasBlueLight()) {
4870 : // unusual overtaking at junctions is ok for emergency vehicles
4871 0 : WRITE_WARNINGF(TL("Unexpected end of opposite lane for vehicle '%' at lane '%', time=%."),
4872 : getID(), myLane->getID(), time2string(SIMSTEP));
4873 : }
4874 50 : myLaneChangeModel->changedToOpposite();
4875 50 : if (myState.myPos < getLength()) {
4876 : // further lanes is always cleared during opposite driving
4877 50 : MSLane* oldOpposite = oldLane->getOpposite();
4878 50 : if (oldOpposite != nullptr) {
4879 50 : myFurtherLanes.push_back(oldOpposite);
4880 51 : myFurtherLanesPosLat.push_back(0);
4881 : // small value since the lane is going in the other direction
4882 50 : myState.myBackPos = getLength() - myState.myPos;
4883 50 : myAngle = computeAngle();
4884 : } else {
4885 : SOFT_ASSERT(false);
4886 : }
4887 : }
4888 : } else {
4889 406889 : myState.myPos = myLane->getOppositePos(myState.myPos);
4890 406889 : myLane = newOpposite;
4891 : oldLane = oldLaneMaybeOpposite;
4892 : //std::cout << SIMTIME << " updated myLane=" << Named::getIDSecure(myLane) << " oldLane=" << oldLane->getID() << "\n";
4893 406889 : myCachedPosition = Position::INVALID;
4894 406889 : myLaneChangeModel->updateShadowLane();
4895 : }
4896 : }
4897 : // myAngle was already updated. Update lastAngle so moveRemindes have consisent angleDiff (after finalizeSpeed because it uses the old angles)
4898 704971239 : myLastAngle = myRawAngle;
4899 : // store angle before lane changing
4900 704971239 : myRawAngle = myAngle;
4901 :
4902 704971239 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4903 : // Return whether the vehicle did move to another lane
4904 1409942476 : return myLane != oldLane;
4905 704971239 : }
4906 :
4907 : void
4908 218475 : MSVehicle::executeFractionalMove(double dist) {
4909 218475 : myState.myPos += dist;
4910 218475 : myState.myLastCoveredDist = dist;
4911 218475 : myCachedPosition = Position::INVALID;
4912 :
4913 218475 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(dist);
4914 218475 : const SUMOTime t = MSNet::getInstance()->getCurrentTimeStep();
4915 452955 : for (int i = 0; i < (int)lanes.size(); i++) {
4916 234480 : MSLink* link = nullptr;
4917 234480 : if (i + 1 < (int)lanes.size()) {
4918 16005 : const MSLane* const to = lanes[i + 1];
4919 16005 : const bool internal = to->isInternal();
4920 16010 : for (MSLink* const l : lanes[i]->getLinkCont()) {
4921 16010 : if ((internal && l->getViaLane() == to) || (!internal && l->getLane() == to)) {
4922 16005 : link = l;
4923 16005 : break;
4924 : }
4925 : }
4926 : }
4927 234480 : myLFLinkLanes.emplace_back(link, getSpeed(), getSpeed(), true, t, getSpeed(), 0, 0, dist);
4928 : }
4929 : // minimum execute move:
4930 : std::vector<MSLane*> passedLanes;
4931 : // Reason for a possible emergency stop
4932 218475 : if (lanes.size() > 1) {
4933 4005 : myLane->removeVehicle(this, MSMoveReminder::NOTIFICATION_JUNCTION, false);
4934 : }
4935 : std::string emergencyReason;
4936 218475 : processLaneAdvances(passedLanes, emergencyReason);
4937 : #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
4938 : if (DEBUG_COND) {
4939 : std::cout << SIMTIME << " veh=" << getID() << " executeFractionalMove dist=" << dist
4940 : << " passedLanes=" << toString(passedLanes) << " lanes=" << toString(lanes)
4941 : << " finalPos=" << myState.myPos
4942 : << " speed=" << getSpeed()
4943 : << " myFurtherLanes=" << toString(myFurtherLanes)
4944 : << "\n";
4945 : }
4946 : #endif
4947 218475 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4948 218475 : if (lanes.size() > 1) {
4949 4010 : for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
4950 : #ifdef DEBUG_FURTHER
4951 : if (DEBUG_COND) {
4952 : std::cout << SIMTIME << " leaveLane \n";
4953 : }
4954 : #endif
4955 5 : (*i)->resetPartialOccupation(this);
4956 : }
4957 : myFurtherLanes.clear();
4958 : myFurtherLanesPosLat.clear();
4959 4005 : myLane->forceVehicleInsertion(this, getPositionOnLane(), MSMoveReminder::NOTIFICATION_JUNCTION, getLateralPositionOnLane());
4960 : }
4961 218475 : }
4962 :
4963 :
4964 : void
4965 713290456 : MSVehicle::updateState(double vNext, bool parking) {
4966 : // update position and speed
4967 : double deltaPos; // positional change
4968 713290456 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4969 : // euler
4970 613986480 : deltaPos = SPEED2DIST(vNext);
4971 : } else {
4972 : // ballistic
4973 99303976 : deltaPos = getDeltaPos(SPEED2ACCEL(vNext - myState.mySpeed));
4974 : }
4975 :
4976 : // the *mean* acceleration during the next step (probably most appropriate for emission calculation)
4977 : // NOTE: for the ballistic update vNext may be negative, indicating a stop.
4978 713290456 : myAcceleration = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4979 :
4980 : #ifdef DEBUG_EXEC_MOVE
4981 : if (DEBUG_COND) {
4982 : std::cout << SIMTIME << " updateState() for veh '" << getID() << "': deltaPos=" << deltaPos
4983 : << " pos=" << myState.myPos << " newPos=" << myState.myPos + deltaPos << std::endl;
4984 : }
4985 : #endif
4986 713290456 : double decelPlus = -myAcceleration - getCarFollowModel().getMaxDecel() - NUMERICAL_EPS;
4987 713290456 : if (decelPlus > 0) {
4988 460353 : const double previousAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
4989 460353 : if (myAcceleration + NUMERICAL_EPS < previousAcceleration) {
4990 : // vehicle brakes beyond wished maximum deceleration (only warn at the start of the braking manoeuvre)
4991 320031 : decelPlus += 2 * NUMERICAL_EPS;
4992 320031 : const double emergencyFraction = decelPlus / MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel());
4993 320031 : if (emergencyFraction >= MSGlobals::gEmergencyDecelWarningThreshold) {
4994 95715 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency braking on lane '%' with decel=%, wished=%, severity=%, time=%."),
4995 : //+ " decelPlus=" + toString(decelPlus)
4996 : //+ " prevAccel=" + toString(previousAcceleration)
4997 : //+ " reserve=" + toString(MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel()))
4998 : getID(), myLane->getID(), -myAcceleration, getCarFollowModel().getMaxDecel(), emergencyFraction, time2string(SIMSTEP));
4999 31905 : MSNet::getInstance()->getVehicleControl().registerEmergencyBraking();
5000 : }
5001 : }
5002 : }
5003 :
5004 713290456 : myState.myPreviousSpeed = myState.mySpeed;
5005 713290456 : myState.mySpeed = MAX2(vNext, 0.);
5006 :
5007 713290456 : if (isRemoteControlled()) {
5008 7182 : deltaPos = myInfluencer->implicitDeltaPosRemote(this);
5009 : }
5010 :
5011 713290456 : myState.myPos += deltaPos;
5012 713290456 : myState.myLastCoveredDist = deltaPos;
5013 713290456 : myNextTurn.first -= deltaPos;
5014 :
5015 713290456 : if (!parking) {
5016 704971239 : myCachedPosition = Position::INVALID;
5017 : }
5018 713290456 : }
5019 :
5020 : void
5021 8319217 : MSVehicle::updateParkingState() {
5022 8319217 : updateState(0, true);
5023 : // deboard while parked
5024 8319217 : if (myPersonDevice != nullptr) {
5025 625450 : myPersonDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
5026 : }
5027 8319217 : if (myContainerDevice != nullptr) {
5028 59887 : myContainerDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
5029 : }
5030 16832562 : for (MSVehicleDevice* const dev : myDevices) {
5031 8513345 : dev->notifyParking();
5032 : }
5033 8319217 : }
5034 :
5035 :
5036 : void
5037 30644 : MSVehicle::replaceVehicleType(const MSVehicleType* type) {
5038 30644 : MSBaseVehicle::replaceVehicleType(type);
5039 30644 : delete myCFVariables;
5040 30644 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
5041 30644 : }
5042 :
5043 :
5044 : const MSLane*
5045 1387353270 : MSVehicle::getBackLane() const {
5046 1387353270 : if (myFurtherLanes.size() > 0) {
5047 19056105 : return myFurtherLanes.back();
5048 : } else {
5049 1368297165 : return myLane;
5050 : }
5051 : }
5052 :
5053 :
5054 : double
5055 707153492 : MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<double>& furtherLanesPosLat,
5056 : const std::vector<MSLane*>& passedLanes) {
5057 : #ifdef DEBUG_SETFURTHER
5058 : if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID()
5059 : << " updateFurtherLanes oldFurther=" << toString(furtherLanes)
5060 : << " oldFurtherPosLat=" << toString(furtherLanesPosLat)
5061 : << " passed=" << toString(passedLanes)
5062 : << "\n";
5063 : #endif
5064 723136226 : for (MSLane* further : furtherLanes) {
5065 15982734 : further->resetPartialOccupation(this);
5066 15982734 : if (further->getBidiLane() != nullptr
5067 15982734 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5068 101819 : further->getBidiLane()->resetPartialOccupation(this);
5069 : }
5070 : }
5071 :
5072 : std::vector<MSLane*> newFurther;
5073 : std::vector<double> newFurtherPosLat;
5074 707153492 : double backPosOnPreviousLane = myState.myPos - getLength();
5075 : bool widthShift = myFurtherLanesPosLat.size() > myFurtherLanes.size();
5076 707153492 : if (passedLanes.size() > 1) {
5077 : // There are candidates for further lanes. (passedLanes[-1] is the current lane, or current shadow lane in context of updateShadowLanes())
5078 : std::vector<MSLane*>::const_iterator fi = furtherLanes.begin();
5079 : std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
5080 44841505 : for (auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
5081 : // As long as vehicle back reaches into passed lane, add it to the further lanes
5082 15915164 : MSLane* further = *pi;
5083 15915164 : newFurther.push_back(further);
5084 15915164 : backPosOnPreviousLane += further->setPartialOccupation(this);
5085 15915164 : if (further->getBidiLane() != nullptr
5086 15915164 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5087 100022 : further->getBidiLane()->setPartialOccupation(this);
5088 : }
5089 15915164 : if (fi != furtherLanes.end() && further == *fi) {
5090 : // Lateral position on this lane is already known. Assume constant and use old value.
5091 5704287 : newFurtherPosLat.push_back(*fpi);
5092 : ++fi;
5093 : ++fpi;
5094 : } else {
5095 : // The lane *pi was not in furtherLanes before.
5096 : // If it is downstream, we assume as lateral position the current position
5097 : // If it is a new lane upstream (can appear as shadow further in case of LC-maneuvering, e.g.)
5098 : // we assign the last known lateral position.
5099 10210877 : if (newFurtherPosLat.size() == 0) {
5100 9587554 : if (widthShift) {
5101 1507762 : newFurtherPosLat.push_back(myFurtherLanesPosLat.back());
5102 : } else {
5103 8079792 : newFurtherPosLat.push_back(myState.myPosLat);
5104 : }
5105 : } else {
5106 623323 : newFurtherPosLat.push_back(newFurtherPosLat.back());
5107 : }
5108 : }
5109 : #ifdef DEBUG_SETFURTHER
5110 : if (DEBUG_COND) {
5111 : std::cout << SIMTIME << " updateFurtherLanes \n"
5112 : << " further lane '" << further->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
5113 : << std::endl;
5114 : }
5115 : #endif
5116 : }
5117 28926341 : furtherLanes = newFurther;
5118 28926341 : furtherLanesPosLat = newFurtherPosLat;
5119 : } else {
5120 : furtherLanes.clear();
5121 : furtherLanesPosLat.clear();
5122 : }
5123 : #ifdef DEBUG_SETFURTHER
5124 : if (DEBUG_COND) std::cout
5125 : << " newFurther=" << toString(furtherLanes)
5126 : << " newFurtherPosLat=" << toString(furtherLanesPosLat)
5127 : << " newBackPos=" << backPosOnPreviousLane
5128 : << "\n";
5129 : #endif
5130 707153492 : return backPosOnPreviousLane;
5131 707153492 : }
5132 :
5133 :
5134 : double
5135 35110687424 : MSVehicle::getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const {
5136 : #ifdef DEBUG_FURTHER
5137 : if (DEBUG_COND) {
5138 : std::cout << SIMTIME
5139 : << " getBackPositionOnLane veh=" << getID()
5140 : << " lane=" << Named::getIDSecure(lane)
5141 : << " cbgP=" << calledByGetPosition
5142 : << " pos=" << myState.myPos
5143 : << " backPos=" << myState.myBackPos
5144 : << " myLane=" << myLane->getID()
5145 : << " myLaneBidi=" << Named::getIDSecure(myLane->getBidiLane())
5146 : << " further=" << toString(myFurtherLanes)
5147 : << " furtherPosLat=" << toString(myFurtherLanesPosLat)
5148 : << "\n shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
5149 : << " shadowFurther=" << toString(myLaneChangeModel->getShadowFurtherLanes())
5150 : << " shadowFurtherPosLat=" << toString(myLaneChangeModel->getShadowFurtherLanesPosLat())
5151 : << "\n targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
5152 : << " furtherTargets=" << toString(myLaneChangeModel->getFurtherTargetLanes())
5153 : << std::endl;
5154 : }
5155 : #endif
5156 35110687424 : if (lane == myLane
5157 8524817687 : || lane == myLaneChangeModel->getShadowLane()
5158 40168348922 : || lane == myLaneChangeModel->getTargetLane()) {
5159 30054608027 : if (myLaneChangeModel->isOpposite()) {
5160 231248247 : if (lane == myLaneChangeModel->getShadowLane()) {
5161 199161504 : return lane->getLength() - myState.myPos - myType->getLength();
5162 : } else {
5163 36882293 : return myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5164 : }
5165 29823359780 : } else if (&lane->getEdge() != &myLane->getEdge()) {
5166 20782115 : return lane->getLength() - myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5167 : } else {
5168 : // account for parallel lanes of different lengths in the most conservative manner (i.e. while turning)
5169 59605861829 : return myState.myPos - myType->getLength() + MIN2(0.0, lane->getLength() - myLane->getLength());
5170 : }
5171 5056079397 : } else if (lane == myLane->getBidiLane()) {
5172 41916559 : return lane->getLength() - myState.myPos + myType->getLength() * (calledByGetPosition ? -1 : 1);
5173 5021920534 : } else if (myFurtherLanes.size() > 0 && lane == myFurtherLanes.back()) {
5174 4971621801 : return myState.myBackPos;
5175 50298733 : } else if ((myLaneChangeModel->getShadowFurtherLanes().size() > 0 && lane == myLaneChangeModel->getShadowFurtherLanes().back())
5176 50757789 : || (myLaneChangeModel->getFurtherTargetLanes().size() > 0 && lane == myLaneChangeModel->getFurtherTargetLanes().back())) {
5177 : assert(myFurtherLanes.size() > 0);
5178 19547101 : if (lane->getLength() == myFurtherLanes.back()->getLength()) {
5179 18881224 : return myState.myBackPos;
5180 : } else {
5181 : // interpolate
5182 : //if (DEBUG_COND) {
5183 : //if (myFurtherLanes.back()->getLength() != lane->getLength()) {
5184 : // std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " further=" << myFurtherLanes.back()->getID()
5185 : // << " len=" << lane->getLength() << " fLen=" << myFurtherLanes.back()->getLength()
5186 : // << " backPos=" << myState.myBackPos << " result=" << myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength() << "\n";
5187 : //}
5188 665877 : return myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength();
5189 : }
5190 : } else {
5191 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherLanes=" << toString(myFurtherLanes) << "\n";
5192 30751632 : double leftLength = myType->getLength() - myState.myPos;
5193 :
5194 : std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin();
5195 32809923 : while (leftLength > 0 && i != myFurtherLanes.end()) {
5196 32756299 : leftLength -= (*i)->getLength();
5197 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5198 32756299 : if (*i == lane) {
5199 29676857 : return -leftLength;
5200 3079442 : } else if (*i == lane->getBidiLane()) {
5201 1021151 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5202 : }
5203 : ++i;
5204 : }
5205 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
5206 53624 : leftLength = myType->getLength() - myState.myPos;
5207 53624 : i = myLaneChangeModel->getShadowFurtherLanes().begin();
5208 53624 : while (leftLength > 0 && i != myLaneChangeModel->getShadowFurtherLanes().end()) {
5209 53618 : leftLength -= (*i)->getLength();
5210 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5211 53618 : if (*i == lane) {
5212 25198 : return -leftLength;
5213 28420 : } else if (*i == lane->getBidiLane()) {
5214 28420 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5215 : }
5216 : ++i;
5217 : }
5218 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherTargetLanes=" << toString(myLaneChangeModel->getFurtherTargetLanes()) << "\n";
5219 6 : leftLength = myType->getLength() - myState.myPos;
5220 : i = getFurtherLanes().begin();
5221 6 : const std::vector<MSLane*> furtherTargetLanes = myLaneChangeModel->getFurtherTargetLanes();
5222 : auto j = furtherTargetLanes.begin();
5223 6 : while (leftLength > 0 && j != furtherTargetLanes.end()) {
5224 0 : leftLength -= (*i)->getLength();
5225 : // if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5226 0 : if (*j == lane) {
5227 0 : return -leftLength;
5228 0 : } else if (*j == lane->getBidiLane()) {
5229 0 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5230 : }
5231 : ++i;
5232 : ++j;
5233 : }
5234 24 : WRITE_WARNINGF("Request backPos of vehicle '%' for invalid lane '%' time=%.",
5235 : getID(), Named::getIDSecure(lane), time2string(SIMSTEP))
5236 : SOFT_ASSERT(false);
5237 6 : return myState.myBackPos;
5238 6 : }
5239 : }
5240 :
5241 :
5242 : double
5243 28568673497 : MSVehicle::getPositionOnLane(const MSLane* lane) const {
5244 28568673497 : return getBackPositionOnLane(lane, true) + myType->getLength();
5245 : }
5246 :
5247 :
5248 : bool
5249 424712340 : MSVehicle::isFrontOnLane(const MSLane* lane) const {
5250 424712340 : return lane == myLane || lane == myLaneChangeModel->getShadowLane() || lane == myLane->getBidiLane();
5251 : }
5252 :
5253 :
5254 : void
5255 637097452 : MSVehicle::checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const {
5256 637097452 : if (MSGlobals::gUsingInternalLanes && !myLane->getEdge().isRoundabout() && !myLaneChangeModel->isOpposite()) {
5257 633886972 : double seenSpace = -lengthsInFront;
5258 : #ifdef DEBUG_CHECKREWINDLINKLANES
5259 : if (DEBUG_COND) {
5260 : std::cout << "\nCHECK_REWIND_LINKLANES\n" << " veh=" << getID() << " lengthsInFront=" << lengthsInFront << "\n";
5261 : };
5262 : #endif
5263 633886972 : bool foundStopped = false;
5264 : // compute available space until a stopped vehicle is found
5265 : // this is the sum of non-interal lane length minus in-between vehicle lengths
5266 1858816131 : for (int i = 0; i < (int)lfLinks.size(); ++i) {
5267 : // skip unset links
5268 1224929159 : DriveProcessItem& item = lfLinks[i];
5269 : #ifdef DEBUG_CHECKREWINDLINKLANES
5270 : if (DEBUG_COND) std::cout << SIMTIME
5271 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5272 : << " foundStopped=" << foundStopped;
5273 : #endif
5274 1224929159 : if (item.myLink == nullptr || foundStopped) {
5275 401026216 : if (!foundStopped) {
5276 343367761 : item.availableSpace += seenSpace;
5277 : } else {
5278 57658455 : item.availableSpace = seenSpace;
5279 : }
5280 : #ifdef DEBUG_CHECKREWINDLINKLANES
5281 : if (DEBUG_COND) {
5282 : std::cout << " avail=" << item.availableSpace << "\n";
5283 : }
5284 : #endif
5285 401026216 : continue;
5286 : }
5287 : // get the next lane, determine whether it is an internal lane
5288 : const MSLane* approachedLane = item.myLink->getViaLane();
5289 823902943 : if (approachedLane != nullptr) {
5290 450000044 : if (keepClear(item.myLink)) {
5291 141872402 : seenSpace = seenSpace - approachedLane->getBruttoVehLenSum();
5292 141872402 : if (approachedLane == myLane) {
5293 48432 : seenSpace += getVehicleType().getLengthWithGap();
5294 : }
5295 : } else {
5296 308127642 : seenSpace = seenSpace + approachedLane->getSpaceTillLastStanding(this, foundStopped);// - approachedLane->getBruttoVehLenSum() + approachedLane->getLength();
5297 : }
5298 450000044 : item.availableSpace = seenSpace;
5299 : #ifdef DEBUG_CHECKREWINDLINKLANES
5300 : if (DEBUG_COND) std::cout
5301 : << " approached=" << approachedLane->getID()
5302 : << " approachedBrutto=" << approachedLane->getBruttoVehLenSum()
5303 : << " avail=" << item.availableSpace
5304 : << " seenSpace=" << seenSpace
5305 : << " hadStoppedVehicle=" << item.hadStoppedVehicle
5306 : << " lengthsInFront=" << lengthsInFront
5307 : << "\n";
5308 : #endif
5309 450000044 : continue;
5310 : }
5311 : approachedLane = item.myLink->getLane();
5312 373902899 : const MSVehicle* last = approachedLane->getLastAnyVehicle();
5313 373902899 : if (last == nullptr || last == this) {
5314 61289764 : if (approachedLane->getLength() > getVehicleType().getLength()
5315 61289764 : || keepClear(item.myLink)) {
5316 58904412 : seenSpace += approachedLane->getLength();
5317 : }
5318 61289764 : item.availableSpace = seenSpace;
5319 : #ifdef DEBUG_CHECKREWINDLINKLANES
5320 : if (DEBUG_COND) {
5321 : std::cout << " last=" << Named::getIDSecure(last) << " laneLength=" << approachedLane->getLength() << " avail=" << item.availableSpace << "\n";
5322 : }
5323 : #endif
5324 : } else {
5325 312613135 : bool foundStopped2 = false;
5326 312613135 : double spaceTillLastStanding = approachedLane->getSpaceTillLastStanding(this, foundStopped2);
5327 312613135 : if (approachedLane->getBidiLane() != nullptr) {
5328 490745 : const MSVehicle* oncomingVeh = approachedLane->getBidiLane()->getFirstFullVehicle();
5329 490745 : if (oncomingVeh) {
5330 334689 : const double oncomingGap = approachedLane->getLength() - oncomingVeh->getPositionOnLane();
5331 334689 : const double oncomingBGap = oncomingVeh->getBrakeGap(true);
5332 : // oncoming movement until ego enters the junction
5333 334689 : const double oncomingMove = STEPS2TIME(item.myArrivalTime - SIMSTEP) * oncomingVeh->getSpeed();
5334 334689 : const double spaceTillOncoming = oncomingGap - oncomingBGap - oncomingMove;
5335 : spaceTillLastStanding = MIN2(spaceTillLastStanding, spaceTillOncoming);
5336 334689 : if (spaceTillOncoming <= getVehicleType().getLengthWithGap()) {
5337 27306 : foundStopped = true;
5338 : }
5339 : #ifdef DEBUG_CHECKREWINDLINKLANES
5340 : if (DEBUG_COND) {
5341 : std::cout << " oVeh=" << oncomingVeh->getID()
5342 : << " oGap=" << oncomingGap
5343 : << " bGap=" << oncomingBGap
5344 : << " mGap=" << oncomingMove
5345 : << " sto=" << spaceTillOncoming;
5346 : }
5347 : #endif
5348 : }
5349 : }
5350 312613135 : seenSpace += spaceTillLastStanding;
5351 312613135 : if (foundStopped2) {
5352 24617342 : foundStopped = true;
5353 24617342 : item.hadStoppedVehicle = true;
5354 : }
5355 312613135 : item.availableSpace = seenSpace;
5356 312613135 : if (last->myHaveToWaitOnNextLink || last->isStopped()) {
5357 32809288 : foundStopped = true;
5358 32809288 : item.hadStoppedVehicle = true;
5359 : }
5360 : #ifdef DEBUG_CHECKREWINDLINKLANES
5361 : if (DEBUG_COND) std::cout
5362 : << " approached=" << approachedLane->getID()
5363 : << " last=" << last->getID()
5364 : << " lastHasToWait=" << last->myHaveToWaitOnNextLink
5365 : << " lastBrakeLight=" << last->signalSet(VEH_SIGNAL_BRAKELIGHT)
5366 : << " lastBrakeGap=" << last->getCarFollowModel().brakeGap(last->getSpeed())
5367 : << " lastGap=" << (last->getBackPositionOnLane(approachedLane) + last->getCarFollowModel().brakeGap(last->getSpeed()) - last->getSpeed() * last->getCarFollowModel().getHeadwayTime()
5368 : // gap of last up to the next intersection
5369 : - last->getVehicleType().getMinGap())
5370 : << " stls=" << spaceTillLastStanding
5371 : << " avail=" << item.availableSpace
5372 : << " seenSpace=" << seenSpace
5373 : << " foundStopped=" << foundStopped
5374 : << " foundStopped2=" << foundStopped2
5375 : << "\n";
5376 : #endif
5377 : }
5378 : }
5379 :
5380 : // check which links allow continuation and add pass available to the previous item
5381 1224929159 : for (int i = ((int)lfLinks.size() - 1); i > 0; --i) {
5382 591042187 : DriveProcessItem& item = lfLinks[i - 1];
5383 591042187 : DriveProcessItem& nextItem = lfLinks[i];
5384 591042187 : const bool canLeaveJunction = item.myLink->getViaLane() == nullptr || nextItem.myLink == nullptr || nextItem.mySetRequest;
5385 : const bool opened = (item.myLink != nullptr
5386 591042187 : && (canLeaveJunction || (
5387 : // indirect bicycle turn
5388 32162797 : nextItem.myLink != nullptr && nextItem.myLink->isInternalJunctionLink() && nextItem.myLink->haveRed()))
5389 558893452 : && (
5390 558893452 : item.myLink->havePriority()
5391 27925167 : || i == 1 // the upcoming link (item 0) is checked in executeMove anyway. No need to use outdata approachData here
5392 5436622 : || (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority())
5393 5407109 : || item.myLink->opened(item.myArrivalTime, item.myArrivalSpeed,
5394 5407109 : item.getLeaveSpeed(), getVehicleType().getLength(),
5395 5407109 : getImpatience(), getCarFollowModel().getMaxDecel(), getWaitingTime(), getLateralPositionOnLane(), nullptr, false, this)));
5396 591042187 : bool allowsContinuation = (item.myLink == nullptr || item.myLink->isCont() || opened) && !item.hadStoppedVehicle;
5397 : #ifdef DEBUG_CHECKREWINDLINKLANES
5398 : if (DEBUG_COND) std::cout
5399 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5400 : << " canLeave=" << canLeaveJunction
5401 : << " opened=" << opened
5402 : << " allowsContinuation=" << allowsContinuation
5403 : << " foundStopped=" << foundStopped
5404 : << "\n";
5405 : #endif
5406 591042187 : if (!opened && item.myLink != nullptr) {
5407 32891769 : foundStopped = true;
5408 32891769 : if (i > 1) {
5409 5001528 : DriveProcessItem& item2 = lfLinks[i - 2];
5410 5001528 : if (item2.myLink != nullptr && item2.myLink->isCont()) {
5411 : allowsContinuation = true;
5412 : }
5413 : }
5414 : }
5415 587831030 : if (allowsContinuation) {
5416 524215573 : item.availableSpace = nextItem.availableSpace;
5417 : #ifdef DEBUG_CHECKREWINDLINKLANES
5418 : if (DEBUG_COND) std::cout
5419 : << " link=" << (item.myLink == nullptr ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5420 : << " copy nextAvail=" << nextItem.availableSpace
5421 : << "\n";
5422 : #endif
5423 : }
5424 : }
5425 :
5426 : // find removalBegin
5427 : int removalBegin = -1;
5428 777347106 : for (int i = 0; foundStopped && i < (int)lfLinks.size() && removalBegin < 0; ++i) {
5429 : // skip unset links
5430 143460134 : const DriveProcessItem& item = lfLinks[i];
5431 143460134 : if (item.myLink == nullptr) {
5432 7000057 : continue;
5433 : }
5434 : /*
5435 : double impatienceCorrection = MAX2(0., double(double(myWaitingTime)));
5436 : if (seenSpace<getVehicleType().getLengthWithGap()-impatienceCorrection/10.&&nextSeenNonInternal!=0) {
5437 : removalBegin = lastLinkToInternal;
5438 : }
5439 : */
5440 :
5441 136460077 : const double leftSpace = item.availableSpace - getVehicleType().getLengthWithGap();
5442 : #ifdef DEBUG_CHECKREWINDLINKLANES
5443 : if (DEBUG_COND) std::cout
5444 : << SIMTIME
5445 : << " veh=" << getID()
5446 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5447 : << " avail=" << item.availableSpace
5448 : << " leftSpace=" << leftSpace
5449 : << "\n";
5450 : #endif
5451 136460077 : if (leftSpace < 0/* && item.myLink->willHaveBlockedFoe()*/) {
5452 : double impatienceCorrection = 0;
5453 : /*
5454 : if(item.myLink->getState()==LINKSTATE_MINOR) {
5455 : impatienceCorrection = MAX2(0., STEPS2TIME(myWaitingTime));
5456 : }
5457 : */
5458 : // may ignore keepClear rules
5459 89063720 : if (leftSpace < -impatienceCorrection / 10. && keepClear(item.myLink)) {
5460 : removalBegin = i;
5461 : }
5462 : //removalBegin = i;
5463 : }
5464 : }
5465 : // abort requests
5466 633886972 : if (removalBegin != -1 && !(removalBegin == 0 && myLane->getEdge().isInternal())) {
5467 31029192 : const double brakeGap = getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.);
5468 106388663 : while (removalBegin < (int)(lfLinks.size())) {
5469 80306434 : DriveProcessItem& dpi = lfLinks[removalBegin];
5470 80306434 : if (dpi.myLink == nullptr) {
5471 : break;
5472 : }
5473 75359471 : dpi.myVLinkPass = dpi.myVLinkWait;
5474 : #ifdef DEBUG_CHECKREWINDLINKLANES
5475 : if (DEBUG_COND) {
5476 : std::cout << " removalBegin=" << removalBegin << " brakeGap=" << brakeGap << " dist=" << dpi.myDistance << " speed=" << myState.mySpeed << " a2s=" << ACCEL2SPEED(getCarFollowModel().getMaxDecel()) << "\n";
5477 : }
5478 : #endif
5479 75359471 : if (dpi.myDistance >= brakeGap + POSITION_EPS) {
5480 : // always leave junctions after requesting to enter
5481 75350811 : if (!dpi.myLink->isExitLink() || !lfLinks[removalBegin - 1].mySetRequest) {
5482 75343213 : dpi.mySetRequest = false;
5483 : }
5484 : }
5485 75359471 : ++removalBegin;
5486 : }
5487 : }
5488 : }
5489 637097452 : }
5490 :
5491 :
5492 : void
5493 708659388 : MSVehicle::setApproachingForAllLinks() {
5494 708659388 : if (!myActionStep) {
5495 : return;
5496 : }
5497 637097452 : removeApproachingInformation(myLFLinkLanesPrev);
5498 1869898578 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5499 1232801126 : if (dpi.myLink != nullptr) {
5500 880868646 : if (dpi.myLink->getState() == LINKSTATE_ALLWAY_STOP) {
5501 2850520 : dpi.myArrivalTime += (SUMOTime)RandHelper::rand((int)2, getRNG()); // tie braker
5502 : }
5503 880868646 : dpi.myLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5504 880868646 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance, getLateralPositionOnLane());
5505 : }
5506 : }
5507 637097452 : if (isRail()) {
5508 8251259 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5509 6864204 : if (dpi.myLink != nullptr && dpi.myLink->getTLLogic() != nullptr && dpi.myLink->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL) {
5510 693668 : MSRailSignalControl::getInstance().notifyApproach(dpi.myLink);
5511 : }
5512 : }
5513 : }
5514 637097452 : if (myLaneChangeModel->getShadowLane() != nullptr) {
5515 : // register on all shadow links
5516 7580738 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
5517 5026357 : if (dpi.myLink != nullptr) {
5518 3435408 : MSLink* parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
5519 3435408 : if (parallelLink == nullptr && getLaneChangeModel().isOpposite() && dpi.myLink->isEntryLink()) {
5520 : // register on opposite direction entry link to warn foes at minor side road
5521 169746 : parallelLink = dpi.myLink->getOppositeDirectionLink();
5522 : }
5523 3435408 : if (parallelLink != nullptr) {
5524 2447757 : const double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
5525 2447757 : parallelLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5526 2447757 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance,
5527 : latOffset);
5528 2447757 : myLaneChangeModel->setShadowApproachingInformation(parallelLink);
5529 : }
5530 : }
5531 : }
5532 : }
5533 : #ifdef DEBUG_PLAN_MOVE
5534 : if (DEBUG_COND) {
5535 : std::cout << SIMTIME
5536 : << " veh=" << getID()
5537 : << " after checkRewindLinkLanes\n";
5538 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5539 : std::cout
5540 : << " vPass=" << dpi.myVLinkPass
5541 : << " vWait=" << dpi.myVLinkWait
5542 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
5543 : << " request=" << dpi.mySetRequest
5544 : << " atime=" << dpi.myArrivalTime
5545 : << "\n";
5546 : }
5547 : }
5548 : #endif
5549 : }
5550 :
5551 :
5552 : void
5553 1860 : MSVehicle::registerInsertionApproach(MSLink* link, double dist) {
5554 : DriveProcessItem dpi(0, dist);
5555 1860 : dpi.myLink = link;
5556 1860 : const double arrivalSpeedBraking = getCarFollowModel().getMinimalArrivalSpeedEuler(dist, getSpeed());
5557 1860 : link->setApproaching(this, SUMOTime_MAX, 0, 0, false, arrivalSpeedBraking, 0, dpi.myDistance, 0);
5558 : // ensure cleanup in the next step
5559 1860 : myLFLinkLanes.push_back(dpi);
5560 1860 : MSRailSignalControl::getInstance().notifyApproach(link);
5561 1860 : }
5562 :
5563 :
5564 : void
5565 19616430 : MSVehicle::enterLaneAtMove(MSLane* enteredLane, bool onTeleporting) {
5566 19616430 : myAmOnNet = !onTeleporting;
5567 : // vaporizing edge?
5568 : /*
5569 : if (enteredLane->getEdge().isVaporizing()) {
5570 : // yep, let's do the vaporization...
5571 : myLane = enteredLane;
5572 : return true;
5573 : }
5574 : */
5575 : // Adjust MoveReminder offset to the next lane
5576 19616430 : adaptLaneEntering2MoveReminder(*enteredLane);
5577 : // set the entered lane as the current lane
5578 19616430 : MSLane* oldLane = myLane;
5579 19616430 : myLane = enteredLane;
5580 19616430 : myLastBestLanesEdge = nullptr;
5581 :
5582 : // internal edges are not a part of the route...
5583 19616430 : if (!enteredLane->getEdge().isInternal()) {
5584 : ++myCurrEdge;
5585 : assert(myLaneChangeModel->isOpposite() || haveValidStopEdges());
5586 : }
5587 19616430 : if (myInfluencer != nullptr) {
5588 9042 : myInfluencer->adaptLaneTimeLine(myLane->getIndex() - oldLane->getIndex());
5589 : }
5590 19616430 : if (!onTeleporting) {
5591 19598012 : activateReminders(MSMoveReminder::NOTIFICATION_JUNCTION, enteredLane);
5592 19598012 : if (MSGlobals::gLateralResolution > 0) {
5593 3852078 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5594 : // transform lateral position when the lane width changes
5595 : assert(oldLane != nullptr);
5596 3852078 : const MSLink* const link = oldLane->getLinkTo(myLane);
5597 3852078 : if (link != nullptr) {
5598 3852036 : myState.myPosLat += link->getLateralShift();
5599 : } else {
5600 42 : myState.myPosLat += (oldLane->getCenterOnEdge() - myLane->getCanonicalPredecessorLane()->getRightSideOnEdge()) / 2;
5601 : }
5602 15745934 : } else if (fabs(myState.myPosLat) > NUMERICAL_EPS) {
5603 243611 : const double overlap = MAX2(0.0, getLateralOverlap(myState.myPosLat, oldLane));
5604 243611 : const double range = (oldLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5605 243611 : const double range2 = (myLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5606 243611 : myState.myPosLat *= range2 / range;
5607 : }
5608 19598012 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5609 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5610 : // (unless the lane is shared with cars)
5611 27203 : myLane->getBidiLane()->setPartialOccupation(this);
5612 : }
5613 : } else {
5614 : // normal move() isn't called so reset position here. must be done
5615 : // before calling reminders
5616 18418 : myState.myPos = 0;
5617 18418 : myCachedPosition = Position::INVALID;
5618 18418 : activateReminders(MSMoveReminder::NOTIFICATION_TELEPORT, enteredLane);
5619 : }
5620 : // update via
5621 19616430 : if (myParameter->via.size() > 0 && myLane->getEdge().getID() == myParameter->via.front()) {
5622 7271 : myParameter->via.erase(myParameter->via.begin());
5623 : }
5624 19616430 : }
5625 :
5626 :
5627 : void
5628 1093654 : MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
5629 1093654 : myAmOnNet = true;
5630 1093654 : myLane = enteredLane;
5631 1093654 : myCachedPosition = Position::INVALID;
5632 : // need to update myCurrentLaneInBestLanes
5633 1093654 : updateBestLanes();
5634 : // switch to and activate the new lane's reminders
5635 : // keep OldLaneReminders
5636 1294220 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5637 200566 : addReminder(*rem);
5638 : }
5639 1093654 : activateReminders(MSMoveReminder::NOTIFICATION_LANE_CHANGE, enteredLane);
5640 1093654 : MSLane* lane = myLane;
5641 1093654 : double leftLength = getVehicleType().getLength() - myState.myPos;
5642 : int deleteFurther = 0;
5643 : #ifdef DEBUG_SETFURTHER
5644 : if (DEBUG_COND) {
5645 : std::cout << SIMTIME << " enterLaneAtLaneChange entered=" << Named::getIDSecure(enteredLane) << " oldFurther=" << toString(myFurtherLanes) << "\n";
5646 : }
5647 : #endif
5648 1093654 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5649 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5650 : // (unless the lane is shared with cars)
5651 19949 : myLane->getBidiLane()->setPartialOccupation(this);
5652 : }
5653 1180755 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
5654 87101 : if (lane != nullptr) {
5655 83937 : lane = lane->getLogicalPredecessorLane(myFurtherLanes[i]->getEdge());
5656 : }
5657 : #ifdef DEBUG_SETFURTHER
5658 : if (DEBUG_COND) {
5659 : std::cout << " enterLaneAtLaneChange i=" << i << " lane=" << Named::getIDSecure(lane) << " leftLength=" << leftLength << "\n";
5660 : }
5661 : #endif
5662 87101 : if (leftLength > 0) {
5663 86527 : if (lane != nullptr) {
5664 35444 : myFurtherLanes[i]->resetPartialOccupation(this);
5665 35444 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5666 35444 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5667 66 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5668 : }
5669 : // lane changing onto longer lanes may reduce the number of
5670 : // remaining further lanes
5671 35444 : myFurtherLanes[i] = lane;
5672 35444 : myFurtherLanesPosLat[i] = myState.myPosLat;
5673 35444 : leftLength -= lane->setPartialOccupation(this);
5674 35444 : if (lane->getBidiLane() != nullptr
5675 35444 : && (!isRailway(getVClass()) || (lane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5676 1892 : lane->getBidiLane()->setPartialOccupation(this);
5677 : }
5678 35444 : myState.myBackPos = -leftLength;
5679 : #ifdef DEBUG_SETFURTHER
5680 : if (DEBUG_COND) {
5681 : std::cout << SIMTIME << " newBackPos=" << myState.myBackPos << "\n";
5682 : }
5683 : #endif
5684 : } else {
5685 : // keep the old values, but ensure there is no shadow
5686 51083 : if (myLaneChangeModel->isChangingLanes()) {
5687 15 : myLaneChangeModel->setNoShadowPartialOccupator(myFurtherLanes[i]);
5688 : }
5689 51083 : if (myState.myBackPos < 0) {
5690 311 : myState.myBackPos += myFurtherLanes[i]->getLength();
5691 : }
5692 : #ifdef DEBUG_SETFURTHER
5693 : if (DEBUG_COND) {
5694 : std::cout << SIMTIME << " i=" << i << " further=" << myFurtherLanes[i]->getID() << " newBackPos=" << myState.myBackPos << "\n";
5695 : }
5696 : #endif
5697 : }
5698 : } else {
5699 574 : myFurtherLanes[i]->resetPartialOccupation(this);
5700 574 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5701 574 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5702 0 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5703 : }
5704 574 : deleteFurther++;
5705 : }
5706 : }
5707 1093654 : if (deleteFurther > 0) {
5708 : #ifdef DEBUG_SETFURTHER
5709 : if (DEBUG_COND) {
5710 : std::cout << SIMTIME << " veh=" << getID() << " shortening myFurtherLanes by " << deleteFurther << "\n";
5711 : }
5712 : #endif
5713 556 : myFurtherLanes.erase(myFurtherLanes.end() - deleteFurther, myFurtherLanes.end());
5714 556 : myFurtherLanesPosLat.erase(myFurtherLanesPosLat.end() - deleteFurther, myFurtherLanesPosLat.end());
5715 : }
5716 : #ifdef DEBUG_SETFURTHER
5717 : if (DEBUG_COND) {
5718 : std::cout << SIMTIME << " enterLaneAtLaneChange new furtherLanes=" << toString(myFurtherLanes)
5719 : << " furterLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
5720 : }
5721 : #endif
5722 1093654 : myAngle = computeAngle();
5723 1093654 : }
5724 :
5725 :
5726 : void
5727 3554932 : MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision) {
5728 : // build the list of lanes the vehicle is lapping into
5729 3554932 : if (!myLaneChangeModel->isOpposite()) {
5730 3532602 : double leftLength = myType->getLength() - pos;
5731 3532602 : MSLane* clane = enteredLane;
5732 3532602 : int routeIndex = getRoutePosition();
5733 3638094 : while (leftLength > 0) {
5734 237162 : if (routeIndex > 0 && clane->getEdge().isNormal()) {
5735 : // get predecessor lane that corresponds to prior route
5736 4578 : routeIndex--;
5737 4578 : const MSEdge* fromRouteEdge = myRoute->getEdges()[routeIndex];
5738 : MSLane* target = clane;
5739 4578 : clane = nullptr;
5740 6118 : for (auto ili : target->getIncomingLanes()) {
5741 6111 : if (ili.lane->getEdge().getNormalBefore() == fromRouteEdge) {
5742 4571 : clane = ili.lane;
5743 4571 : break;
5744 : }
5745 : }
5746 : } else {
5747 232584 : clane = clane->getLogicalPredecessorLane();
5748 : }
5749 145833 : if (clane == nullptr || clane == myLane || clane == myLane->getBidiLane()
5750 382987 : || (clane->isInternal() && (
5751 122219 : clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN
5752 81886 : || clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN_LEFTHAND))) {
5753 : break;
5754 : }
5755 105492 : if (!collision || std::find(myFurtherLanes.begin(), myFurtherLanes.end(), clane) == myFurtherLanes.end()) {
5756 105044 : myFurtherLanes.push_back(clane);
5757 105044 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5758 105044 : clane->setPartialOccupation(this);
5759 105044 : if (clane->getBidiLane() != nullptr
5760 105044 : && (!isRailway(getVClass()) || (clane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5761 5 : clane->getBidiLane()->setPartialOccupation(this);
5762 : }
5763 : }
5764 105492 : leftLength -= clane->getLength();
5765 : }
5766 3532602 : myState.myBackPos = -leftLength;
5767 : #ifdef DEBUG_SETFURTHER
5768 : if (DEBUG_COND) {
5769 : std::cout << SIMTIME << " computeFurtherLanes veh=" << getID() << " pos=" << pos << " myFurtherLanes=" << toString(myFurtherLanes) << " backPos=" << myState.myBackPos << "\n";
5770 : }
5771 : #endif
5772 : } else {
5773 : // clear partial occupation
5774 22702 : for (MSLane* further : myFurtherLanes) {
5775 : #ifdef DEBUG_SETFURTHER
5776 : if (DEBUG_COND) {
5777 : std::cout << SIMTIME << " opposite: resetPartialOccupation " << further->getID() << " \n";
5778 : }
5779 : #endif
5780 372 : further->resetPartialOccupation(this);
5781 372 : if (further->getBidiLane() != nullptr
5782 372 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5783 0 : further->getBidiLane()->resetPartialOccupation(this);
5784 : }
5785 : }
5786 : myFurtherLanes.clear();
5787 : myFurtherLanesPosLat.clear();
5788 : }
5789 3554932 : }
5790 :
5791 :
5792 : void
5793 3554479 : MSVehicle::enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification) {
5794 3554479 : myState = State(pos, speed, posLat, pos - getVehicleType().getLength(), hasDeparted() ? myState.myPreviousSpeed : speed);
5795 3554479 : if (myDeparture == NOT_YET_DEPARTED) {
5796 3480038 : onDepart();
5797 : }
5798 3554479 : if (enteredLane->isInternal() && myJunctionEntryTime == SUMOTime_MAX) {
5799 100 : myJunctionEntryTime = MSNet::getInstance()->getCurrentTimeStep();
5800 100 : myJunctionEntryTimeNeverYield = myJunctionEntryTime;
5801 : assert(enteredLane->getIncomingLanes().size() == 1);
5802 100 : if (enteredLane->getIncomingLanes().front().viaLink->isConflictEntryLink()) {
5803 70 : myJunctionConflictEntryTime = myJunctionEntryTime;
5804 : }
5805 : }
5806 3554479 : myCachedPosition = Position::INVALID;
5807 : assert(myState.myPos >= 0);
5808 : assert(myState.mySpeed >= 0);
5809 3554479 : myLane = enteredLane;
5810 3554479 : myAmOnNet = true;
5811 : // schedule action for the next timestep
5812 3554479 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + DELTA_T;
5813 3554479 : if (notification != MSMoveReminder::NOTIFICATION_TELEPORT) {
5814 3542685 : if (notification == MSMoveReminder::NOTIFICATION_PARKING && myInfluencer != nullptr) {
5815 12 : drawOutsideNetwork(false);
5816 : }
5817 : // set and activate the new lane's reminders, teleports already did that at enterLaneAtMove
5818 7517656 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5819 3974971 : addReminder(*rem);
5820 : }
5821 3542685 : activateReminders(notification, enteredLane);
5822 : } else {
5823 11794 : myLastBestLanesEdge = nullptr;
5824 11794 : myLastBestLanesInternalLane = nullptr;
5825 11794 : myLaneChangeModel->resetState();
5826 12929 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()
5827 12481 : && myStops.front().pars.endPos < pos) {
5828 0 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5829 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5830 0 : cleanupParkingReservation();
5831 0 : myStops.pop_front();
5832 : }
5833 : // avoid startup-effects after teleport
5834 11794 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
5835 11794 : myStopSpeed = std::numeric_limits<double>::max();
5836 : }
5837 3554479 : computeFurtherLanes(enteredLane, pos);
5838 3554479 : if (MSGlobals::gLateralResolution > 0) {
5839 524984 : myLaneChangeModel->updateShadowLane();
5840 524984 : myLaneChangeModel->updateTargetLane();
5841 3029495 : } else if (MSGlobals::gLaneChangeDuration > 0) {
5842 40414 : myLaneChangeModel->updateShadowLane();
5843 : }
5844 3554479 : if (notification != MSMoveReminder::NOTIFICATION_LOAD_STATE) {
5845 3553029 : myAngle = computeAngle();
5846 3553029 : myRawAngle = myAngle;
5847 3553029 : if (myLaneChangeModel->isOpposite()) {
5848 22330 : myAngle += M_PI;
5849 : }
5850 : }
5851 3554479 : if (MSNet::getInstance()->hasPersons()) {
5852 58707 : for (MSLane* further : myFurtherLanes) {
5853 883 : if (further->mustCheckJunctionCollisions()) {
5854 4 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(further);
5855 : }
5856 : }
5857 : }
5858 3554479 : }
5859 :
5860 :
5861 : void
5862 24140241 : MSVehicle::leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane) {
5863 66726746 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5864 42586505 : if (rem->first->notifyLeave(*this, myState.myPos + rem->second, reason, approachedLane)) {
5865 : #ifdef _DEBUG
5866 : if (myTraceMoveReminders) {
5867 : traceMoveReminder("notifyLeave", rem->first, rem->second, true);
5868 : }
5869 : #endif
5870 : ++rem;
5871 : } else {
5872 : #ifdef _DEBUG
5873 : if (myTraceMoveReminders) {
5874 : traceMoveReminder("notifyLeave", rem->first, rem->second, false);
5875 : }
5876 : #endif
5877 : rem = myMoveReminders.erase(rem);
5878 : }
5879 : }
5880 24140241 : if ((reason == MSMoveReminder::NOTIFICATION_JUNCTION
5881 24140241 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT
5882 4529743 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT_CONTINUATION)
5883 19616690 : && myLane != nullptr) {
5884 19616661 : myOdometer += getLane()->getLength();
5885 : }
5886 24140212 : if (myLane != nullptr && myLane->getBidiLane() != nullptr && myAmOnNet
5887 24213368 : && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5888 48610 : myLane->getBidiLane()->resetPartialOccupation(this);
5889 : }
5890 24140241 : if (reason != MSMoveReminder::NOTIFICATION_JUNCTION && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5891 : // @note. In case of lane change, myFurtherLanes and partial occupation
5892 : // are handled in enterLaneAtLaneChange()
5893 3437118 : for (MSLane* further : myFurtherLanes) {
5894 : #ifdef DEBUG_FURTHER
5895 : if (DEBUG_COND) {
5896 : std::cout << SIMTIME << " leaveLane \n";
5897 : }
5898 : #endif
5899 32992 : further->resetPartialOccupation(this);
5900 32992 : if (further->getBidiLane() != nullptr
5901 32992 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5902 4 : further->getBidiLane()->resetPartialOccupation(this);
5903 : }
5904 : }
5905 : myFurtherLanes.clear();
5906 : myFurtherLanesPosLat.clear();
5907 : }
5908 3404126 : if (reason >= MSMoveReminder::NOTIFICATION_TELEPORT) {
5909 3404126 : myAmOnNet = false;
5910 3404126 : myWaitingTime = 0;
5911 : }
5912 24140241 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && resumeFromStopping()) {
5913 18 : myStopDist = std::numeric_limits<double>::max();
5914 18 : if (myPastStops.back().speed <= 0) {
5915 54 : WRITE_WARNINGF(TL("Vehicle '%' aborts stop."), getID());
5916 : }
5917 : }
5918 24140241 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5919 22987137 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()) {
5920 1441 : if (myStops.front().getSpeed() <= 0) {
5921 3321 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5922 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5923 1107 : cleanupParkingReservation();
5924 1107 : if (MSStopOut::active()) {
5925 : // clean up if stopBlocked was called
5926 17 : MSStopOut::getInstance()->stopNotStarted(this);
5927 : }
5928 1107 : myStops.pop_front();
5929 : } else {
5930 : MSStop& stop = myStops.front();
5931 : // passed waypoint at the end of the lane
5932 334 : if (!stop.reached) {
5933 334 : if (MSStopOut::active()) {
5934 21 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), MSNet::getInstance()->getCurrentTimeStep());
5935 : }
5936 334 : stop.reached = true;
5937 : // enter stopping place so leaveFrom works as expected
5938 334 : if (stop.busstop != nullptr) {
5939 : // let the bus stop know the vehicle
5940 25 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5941 : }
5942 334 : if (stop.containerstop != nullptr) {
5943 : // let the container stop know the vehicle
5944 13 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5945 : }
5946 : // do not enter parkingarea!
5947 334 : if (stop.chargingStation != nullptr) {
5948 : // let the container stop know the vehicle
5949 122 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5950 : }
5951 : }
5952 334 : resumeFromStopping();
5953 : }
5954 1441 : myStopDist = std::numeric_limits<double>::max();
5955 : }
5956 : }
5957 24140241 : }
5958 :
5959 :
5960 : void
5961 45691 : MSVehicle::leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane* leftLane) {
5962 186331 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5963 140640 : if (rem->first->notifyLeaveBack(*this, reason, leftLane)) {
5964 : #ifdef _DEBUG
5965 : if (myTraceMoveReminders) {
5966 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, true);
5967 : }
5968 : #endif
5969 : ++rem;
5970 : } else {
5971 : #ifdef _DEBUG
5972 : if (myTraceMoveReminders) {
5973 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, false);
5974 : }
5975 : #endif
5976 : rem = myMoveReminders.erase(rem);
5977 : }
5978 : }
5979 : #ifdef DEBUG_MOVEREMINDERS
5980 : if (DEBUG_COND) {
5981 : std::cout << SIMTIME << " veh=" << getID() << " myReminders:";
5982 : for (auto rem : myMoveReminders) {
5983 : std::cout << rem.first->getDescription() << " ";
5984 : }
5985 : std::cout << "\n";
5986 : }
5987 : #endif
5988 45691 : }
5989 :
5990 :
5991 : MSAbstractLaneChangeModel&
5992 10515360112 : MSVehicle::getLaneChangeModel() {
5993 10515360112 : return *myLaneChangeModel;
5994 : }
5995 :
5996 :
5997 : const MSAbstractLaneChangeModel&
5998 4962612116 : MSVehicle::getLaneChangeModel() const {
5999 4962612116 : return *myLaneChangeModel;
6000 : }
6001 :
6002 : bool
6003 518381 : MSVehicle::isOppositeLane(const MSLane* lane) const {
6004 518381 : return (lane->isInternal()
6005 518381 : ? & (lane->getLinkCont()[0]->getLane()->getEdge()) != *(myCurrEdge + 1)
6006 516605 : : &lane->getEdge() != *myCurrEdge);
6007 : }
6008 :
6009 : const std::vector<MSVehicle::LaneQ>&
6010 1347271789 : MSVehicle::getBestLanes() const {
6011 1347271789 : return *myBestLanes.begin();
6012 : }
6013 :
6014 :
6015 : void
6016 1880763648 : MSVehicle::updateBestLanes(bool forceRebuild, const MSLane* startLane) {
6017 : #ifdef DEBUG_BESTLANES
6018 : if (DEBUG_COND) {
6019 : std::cout << SIMTIME << " updateBestLanes veh=" << getID() << " force=" << forceRebuild << " startLane1=" << Named::getIDSecure(startLane) << " myLane=" << Named::getIDSecure(myLane) << "\n";
6020 : }
6021 : #endif
6022 1880763648 : if (startLane == nullptr) {
6023 997601136 : startLane = myLane;
6024 : }
6025 : assert(startLane != 0);
6026 1880763648 : if (myLaneChangeModel->isOpposite()) {
6027 : // depending on the calling context, startLane might be the forward lane
6028 : // or the reverse-direction lane. In the latter case we need to
6029 : // transform it to the forward lane.
6030 518381 : if (isOppositeLane(startLane)) {
6031 : // use leftmost lane of forward edge
6032 111197 : startLane = startLane->getEdge().getOppositeEdge()->getLanes().back();
6033 : assert(startLane != 0);
6034 : #ifdef DEBUG_BESTLANES
6035 : if (DEBUG_COND) {
6036 : std::cout << " startLaneIsOpposite newStartLane=" << startLane->getID() << "\n";
6037 : }
6038 : #endif
6039 : }
6040 : }
6041 1880763648 : if (forceRebuild) {
6042 1757873 : myLastBestLanesEdge = nullptr;
6043 1757873 : myLastBestLanesInternalLane = nullptr;
6044 : }
6045 1880763648 : if (myBestLanes.size() > 0 && !forceRebuild && myLastBestLanesEdge == &startLane->getEdge()) {
6046 1849713288 : updateOccupancyAndCurrentBestLane(startLane);
6047 : #ifdef DEBUG_BESTLANES
6048 : if (DEBUG_COND) {
6049 : std::cout << " only updateOccupancyAndCurrentBestLane\n";
6050 : }
6051 : #endif
6052 1849713288 : return;
6053 : }
6054 31050360 : if (startLane->getEdge().isInternal()) {
6055 14863497 : if (myBestLanes.size() == 0 || forceRebuild) {
6056 : // rebuilt from previous non-internal lane (may backtrack twice if behind an internal junction)
6057 2310 : updateBestLanes(true, startLane->getLogicalPredecessorLane());
6058 : }
6059 14863497 : if (myLastBestLanesInternalLane == startLane && !forceRebuild) {
6060 : #ifdef DEBUG_BESTLANES
6061 : if (DEBUG_COND) {
6062 : std::cout << " nothing to do on internal\n";
6063 : }
6064 : #endif
6065 : return;
6066 : }
6067 : // adapt best lanes to fit the current internal edge:
6068 : // keep the entries that are reachable from this edge
6069 5279516 : const MSEdge* nextEdge = startLane->getNextNormal();
6070 : assert(!nextEdge->isInternal());
6071 10408665 : for (std::vector<std::vector<LaneQ> >::iterator it = myBestLanes.begin(); it != myBestLanes.end();) {
6072 : std::vector<LaneQ>& lanes = *it;
6073 : assert(lanes.size() > 0);
6074 10408665 : if (&(lanes[0].lane->getEdge()) == nextEdge) {
6075 : // keep those lanes which are successors of internal lanes from the edge of startLane
6076 5279516 : std::vector<LaneQ> oldLanes = lanes;
6077 : lanes.clear();
6078 : const std::vector<MSLane*>& sourceLanes = startLane->getEdge().getLanes();
6079 11949487 : for (std::vector<MSLane*>::const_iterator it_source = sourceLanes.begin(); it_source != sourceLanes.end(); ++it_source) {
6080 11251813 : for (std::vector<LaneQ>::iterator it_lane = oldLanes.begin(); it_lane != oldLanes.end(); ++it_lane) {
6081 11251813 : if ((*it_source)->getLinkCont()[0]->getLane() == (*it_lane).lane) {
6082 6669971 : lanes.push_back(*it_lane);
6083 : break;
6084 : }
6085 : }
6086 : }
6087 : assert(lanes.size() == startLane->getEdge().getLanes().size());
6088 : // patch invalid bestLaneOffset and updated myCurrentLaneInBestLanes
6089 11949487 : for (int i = 0; i < (int)lanes.size(); ++i) {
6090 6669971 : if (i + lanes[i].bestLaneOffset < 0) {
6091 106754 : lanes[i].bestLaneOffset = -i;
6092 : }
6093 6669971 : if (i + lanes[i].bestLaneOffset >= (int)lanes.size()) {
6094 26539 : lanes[i].bestLaneOffset = (int)lanes.size() - i - 1;
6095 : }
6096 : assert(i + lanes[i].bestLaneOffset >= 0);
6097 : assert(i + lanes[i].bestLaneOffset < (int)lanes.size());
6098 6669971 : if (lanes[i].bestContinuations[0] != 0) {
6099 : // patch length of bestContinuation to match expectations (only once)
6100 6473664 : lanes[i].bestContinuations.insert(lanes[i].bestContinuations.begin(), (MSLane*)nullptr);
6101 : }
6102 6669971 : if (startLane->getLinkCont()[0]->getLane() == lanes[i].lane) {
6103 5323541 : myCurrentLaneInBestLanes = lanes.begin() + i;
6104 : }
6105 : assert(&(lanes[i].lane->getEdge()) == nextEdge);
6106 : }
6107 5279516 : myLastBestLanesInternalLane = startLane;
6108 5279516 : updateOccupancyAndCurrentBestLane(startLane);
6109 : #ifdef DEBUG_BESTLANES
6110 : if (DEBUG_COND) {
6111 : std::cout << " updated for internal\n";
6112 : }
6113 : #endif
6114 : return;
6115 5279516 : } else {
6116 : // remove passed edges
6117 5129149 : it = myBestLanes.erase(it);
6118 : }
6119 : }
6120 : assert(false); // should always find the next edge
6121 : }
6122 : // start rebuilding
6123 16186863 : myLastBestLanesInternalLane = nullptr;
6124 16186863 : myLastBestLanesEdge = &startLane->getEdge();
6125 : myBestLanes.clear();
6126 :
6127 : // get information about the next stop
6128 16186863 : MSRouteIterator nextStopEdge = myRoute->end();
6129 : const MSLane* nextStopLane = nullptr;
6130 : double nextStopPos = 0;
6131 16186863 : if (!myStops.empty()) {
6132 : const MSStop& nextStop = myStops.front();
6133 263003 : nextStopLane = nextStop.lane;
6134 263003 : if (nextStop.isOpposite) {
6135 : // target leftmost lane in forward direction
6136 340 : nextStopLane = nextStopLane->getEdge().getOppositeEdge()->getLanes().back();
6137 : }
6138 263003 : nextStopEdge = nextStop.edge;
6139 263003 : nextStopPos = nextStop.pars.startPos;
6140 : }
6141 : // myArrivalTime = -1 in the context of validating departSpeed with departLane=best
6142 16186863 : if (myParameter->arrivalLaneProcedure >= ArrivalLaneDefinition::GIVEN && nextStopEdge == myRoute->end() && myArrivalLane >= 0) {
6143 337533 : nextStopEdge = (myRoute->end() - 1);
6144 337533 : nextStopLane = (*nextStopEdge)->getLanes()[myArrivalLane];
6145 337533 : nextStopPos = myArrivalPos;
6146 : }
6147 16186863 : if (nextStopEdge != myRoute->end()) {
6148 : // make sure that the "wrong" lanes get a penalty. (penalty needs to be
6149 : // large enough to overcome a magic threshold in MSLaneChangeModel::DK2004.cpp:383)
6150 600536 : nextStopPos = MAX2(POSITION_EPS, MIN2((double)nextStopPos, (double)(nextStopLane->getLength() - 2 * POSITION_EPS)));
6151 600536 : if (nextStopLane->isInternal()) {
6152 : // switch to the correct lane before entering the intersection
6153 171 : nextStopPos = (*nextStopEdge)->getLength();
6154 : }
6155 : }
6156 :
6157 : // go forward along the next lanes; always look past stops to ensure that we
6158 : // know where to go once the stop ends
6159 : // trains do not have to deal with lane-changing for stops but their best
6160 : // lanes lookahead is needed for rail signal control
6161 : int seen = 0;
6162 : double seenLength = 0;
6163 : bool progress = true;
6164 : // bestLanes must cover the braking distance even when at the very end of the current lane to avoid unecessary slow down
6165 32373726 : const double maxBrakeDist = startLane->getLength() + getCarFollowModel().getHeadwayTime() * getMaxSpeed() + getCarFollowModel().brakeGap(getMaxSpeed()) + getVehicleType().getMinGap();
6166 16186863 : const double lookahead = getLaneChangeModel().getStrategicLookahead();
6167 81761906 : for (MSRouteIterator ce = myCurrEdge; progress;) {
6168 : std::vector<LaneQ> currentLanes;
6169 : const std::vector<MSLane*>* allowed = nullptr;
6170 : const MSEdge* nextEdge = nullptr;
6171 65575043 : if (ce != myRoute->end() && ce + 1 != myRoute->end()) {
6172 53525662 : nextEdge = *(ce + 1);
6173 53525662 : allowed = (*ce)->allowedLanes(*nextEdge, myType->getVehicleClass());
6174 : }
6175 65575043 : const std::vector<MSLane*>& lanes = (*ce)->getLanes();
6176 165817909 : for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
6177 : LaneQ q;
6178 100242866 : MSLane* cl = *i;
6179 100242866 : q.lane = cl;
6180 100242866 : q.bestContinuations.push_back(cl);
6181 100242866 : q.bestLaneOffset = 0;
6182 100242866 : q.length = cl->allowsVehicleClass(myType->getVehicleClass()) ? (*ce)->getLength() : 0;
6183 100242866 : q.currentLength = q.length;
6184 : // if all lanes are forbidden (i.e. due to a dynamic closing) we want to express no preference
6185 100242866 : q.allowsContinuation = allowed == nullptr || std::find(allowed->begin(), allowed->end(), cl) != allowed->end();
6186 100242866 : q.occupation = 0;
6187 100242866 : q.nextOccupation = 0;
6188 100242866 : currentLanes.push_back(q);
6189 : }
6190 : //
6191 : if (nextStopEdge == ce
6192 : // already past the stop edge
6193 65575043 : && !(ce == myCurrEdge && myLane != nullptr && myLane->isInternal())) {
6194 593236 : const MSLane* normalStopLane = nextStopLane->getNormalPredecessorLane();
6195 1879649 : for (std::vector<LaneQ>::iterator q = currentLanes.begin(); q != currentLanes.end(); ++q) {
6196 1286413 : if (nextStopLane != nullptr && normalStopLane != (*q).lane) {
6197 693177 : (*q).allowsContinuation = false;
6198 693177 : (*q).length = nextStopPos;
6199 693177 : (*q).currentLength = (*q).length;
6200 : }
6201 : }
6202 : }
6203 :
6204 65575043 : myBestLanes.push_back(currentLanes);
6205 65575043 : ++seen;
6206 65575043 : seenLength += currentLanes[0].lane->getLength();
6207 : ++ce;
6208 65575043 : if (lookahead >= 0) {
6209 45 : progress &= (seen <= 2 || seenLength < lookahead); // custom (but we need to look at least one edge ahead)
6210 : } else {
6211 87097863 : progress &= (seen <= 4 || seenLength < MAX2(maxBrakeDist, 3000.0)); // motorway
6212 70441908 : progress &= (seen <= 8 || seenLength < MAX2(maxBrakeDist, 200.0) || isRailway(getVClass())); // urban
6213 : }
6214 65575043 : progress &= ce != myRoute->end();
6215 : /*
6216 : if(progress) {
6217 : progress &= (currentLanes.size()!=1||(*ce)->getLanes().size()!=1);
6218 : }
6219 : */
6220 65575043 : }
6221 :
6222 : // we are examining the last lane explicitly
6223 16186863 : if (myBestLanes.size() != 0) {
6224 : double bestLength = -1;
6225 : // minimum and maximum lane index with best length
6226 : int bestThisIndex = 0;
6227 : int bestThisMaxIndex = 0;
6228 : int index = 0;
6229 : std::vector<LaneQ>& last = myBestLanes.back();
6230 42075996 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6231 25889133 : if ((*j).length > bestLength) {
6232 : bestLength = (*j).length;
6233 : bestThisIndex = index;
6234 : bestThisMaxIndex = index;
6235 6142075 : } else if ((*j).length == bestLength) {
6236 : bestThisMaxIndex = index;
6237 : }
6238 : }
6239 : index = 0;
6240 : bool requiredChangeRightForbidden = false;
6241 : int requireChangeToLeftForbidden = -1;
6242 42075996 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6243 25889133 : if ((*j).length < bestLength) {
6244 3960951 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6245 146959 : (*j).bestLaneOffset = bestThisIndex - index;
6246 : } else {
6247 3813992 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6248 : }
6249 3960951 : if (!(*j).allowsContinuation) {
6250 563150 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6251 251188 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6252 248535 : || requiredChangeRightForbidden)) {
6253 : // this lane and all further lanes to the left cannot be used
6254 : requiredChangeRightForbidden = true;
6255 2653 : (*j).length = 0;
6256 560497 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6257 311936 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6258 : // this lane and all previous lanes to the right cannot be used
6259 6427 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6260 : }
6261 : }
6262 : }
6263 : }
6264 16193300 : for (int i = requireChangeToLeftForbidden; i >= 0; i--) {
6265 6437 : if (last[i].bestLaneOffset > 0) {
6266 6437 : last[i].length = 0;
6267 : }
6268 : }
6269 : #ifdef DEBUG_BESTLANES
6270 : if (DEBUG_COND) {
6271 : std::cout << " last edge=" << last.front().lane->getEdge().getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6272 : std::vector<LaneQ>& laneQs = myBestLanes.back();
6273 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6274 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << "\n";
6275 : }
6276 : }
6277 : #endif
6278 : }
6279 : // go backward through the lanes
6280 : // track back best lane and compute the best prior lane(s)
6281 65575043 : for (std::vector<std::vector<LaneQ> >::reverse_iterator i = myBestLanes.rbegin() + 1; i != myBestLanes.rend(); ++i) {
6282 : std::vector<LaneQ>& nextLanes = (*(i - 1));
6283 : std::vector<LaneQ>& clanes = (*i);
6284 49388180 : MSEdge* const cE = &clanes[0].lane->getEdge();
6285 : int index = 0;
6286 : double bestConnectedLength = -1;
6287 : double bestLength = -1;
6288 123031408 : for (const LaneQ& j : nextLanes) {
6289 147286456 : if (j.lane->isApproachedFrom(cE) && bestConnectedLength < j.length) {
6290 : bestConnectedLength = j.length;
6291 : }
6292 73643228 : if (bestLength < j.length) {
6293 : bestLength = j.length;
6294 : }
6295 : }
6296 : // compute index of the best lane (highest length and least offset from the best next lane)
6297 : int bestThisIndex = 0;
6298 : int bestThisMaxIndex = 0;
6299 49388180 : if (bestConnectedLength > 0) {
6300 : index = 0;
6301 123706306 : for (LaneQ& j : clanes) {
6302 : const LaneQ* bestConnectedNext = nullptr;
6303 74330740 : if (j.allowsContinuation) {
6304 176850616 : for (const LaneQ& m : nextLanes) {
6305 122183883 : if ((m.lane->allowsVehicleClass(getVClass()) || m.lane->hadPermissionChanges())
6306 112583515 : && m.lane->isApproachedFrom(j.lane, getVClass())) {
6307 66467055 : if (betterContinuation(bestConnectedNext, m)) {
6308 : bestConnectedNext = &m;
6309 : }
6310 : }
6311 : }
6312 64324685 : if (bestConnectedNext != nullptr) {
6313 64324677 : if (bestConnectedNext->length == bestConnectedLength && abs(bestConnectedNext->bestLaneOffset) < 2) {
6314 62567136 : j.length += bestLength;
6315 : } else {
6316 1757541 : j.length += bestConnectedNext->length;
6317 : }
6318 64324677 : j.bestLaneOffset = bestConnectedNext->bestLaneOffset;
6319 : }
6320 : }
6321 64324677 : if (bestConnectedNext != nullptr && (bestConnectedNext->allowsContinuation || bestConnectedNext->length > 0)) {
6322 64286678 : copy(bestConnectedNext->bestContinuations.begin(), bestConnectedNext->bestContinuations.end(), back_inserter(j.bestContinuations));
6323 : } else {
6324 10044062 : j.allowsContinuation = false;
6325 : }
6326 74330740 : if (clanes[bestThisIndex].length < j.length
6327 67175892 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) > abs(j.bestLaneOffset))
6328 204312774 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset) &&
6329 62950484 : nextLinkPriority(clanes[bestThisIndex].bestContinuations) < nextLinkPriority(j.bestContinuations))
6330 : ) {
6331 : bestThisIndex = index;
6332 : bestThisMaxIndex = index;
6333 67019679 : } else if (clanes[bestThisIndex].length == j.length
6334 62938745 : && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset)
6335 129958292 : && nextLinkPriority(clanes[bestThisIndex].bestContinuations) == nextLinkPriority(j.bestContinuations)) {
6336 : bestThisMaxIndex = index;
6337 : }
6338 74330740 : index++;
6339 : }
6340 :
6341 : //vehicle with elecHybrid device prefers running under an overhead wire
6342 49375566 : if (getDevice(typeid(MSDevice_ElecHybrid)) != nullptr) {
6343 : index = 0;
6344 491 : for (const LaneQ& j : clanes) {
6345 339 : std::string overheadWireSegmentID = MSNet::getInstance()->getStoppingPlaceID(j.lane, j.currentLength / 2., SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6346 339 : if (overheadWireSegmentID != "") {
6347 : bestThisIndex = index;
6348 : bestThisMaxIndex = index;
6349 : }
6350 339 : index++;
6351 : }
6352 : }
6353 :
6354 : } else {
6355 : // only needed in case of disconnected routes
6356 : int bestNextIndex = 0;
6357 12614 : int bestDistToNeeded = (int) clanes.size();
6358 : index = 0;
6359 35607 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6360 22993 : if ((*j).allowsContinuation) {
6361 : int nextIndex = 0;
6362 56876 : for (std::vector<LaneQ>::const_iterator m = nextLanes.begin(); m != nextLanes.end(); ++m, ++nextIndex) {
6363 34633 : if ((*m).lane->isApproachedFrom((*j).lane, getVClass())) {
6364 5023 : if (bestDistToNeeded > abs((*m).bestLaneOffset)) {
6365 : bestDistToNeeded = abs((*m).bestLaneOffset);
6366 : bestThisIndex = index;
6367 : bestThisMaxIndex = index;
6368 : bestNextIndex = nextIndex;
6369 : }
6370 : }
6371 : }
6372 : }
6373 : }
6374 12614 : clanes[bestThisIndex].length += nextLanes[bestNextIndex].length;
6375 12614 : copy(nextLanes[bestNextIndex].bestContinuations.begin(), nextLanes[bestNextIndex].bestContinuations.end(), back_inserter(clanes[bestThisIndex].bestContinuations));
6376 :
6377 : }
6378 : // set bestLaneOffset for all lanes
6379 : index = 0;
6380 : bool requiredChangeRightForbidden = false;
6381 : int requireChangeToLeftForbidden = -1;
6382 123741913 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6383 74353733 : if ((*j).length < clanes[bestThisIndex].length
6384 62608582 : || ((*j).length == clanes[bestThisIndex].length && abs((*j).bestLaneOffset) > abs(clanes[bestThisIndex].bestLaneOffset))
6385 136962083 : || (nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)
6386 : ) {
6387 11922088 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6388 772110 : (*j).bestLaneOffset = bestThisIndex - index;
6389 : } else {
6390 11149978 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6391 : }
6392 11922088 : if ((nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)) {
6393 : // try to move away from the lower-priority lane before it ends
6394 10209669 : (*j).length = (*j).currentLength;
6395 : }
6396 11922088 : if (!(*j).allowsContinuation) {
6397 10029196 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6398 2569418 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6399 2555632 : || requiredChangeRightForbidden)) {
6400 : // this lane and all further lanes to the left cannot be used
6401 : requiredChangeRightForbidden = true;
6402 28100 : if ((*j).length == (*j).currentLength) {
6403 28100 : (*j).length = 0;
6404 : }
6405 10001096 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6406 7402426 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6407 : // this lane and all previous lanes to the right cannot be used
6408 114586 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6409 : }
6410 : }
6411 : } else {
6412 62431645 : (*j).bestLaneOffset = 0;
6413 : }
6414 : }
6415 49521009 : for (int idx = requireChangeToLeftForbidden; idx >= 0; idx--) {
6416 132829 : if (clanes[idx].length == clanes[idx].currentLength) {
6417 132829 : clanes[idx].length = 0;
6418 : };
6419 : }
6420 :
6421 : //vehicle with elecHybrid device prefers running under an overhead wire
6422 49388180 : if (static_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid))) != 0) {
6423 : index = 0;
6424 152 : std::string overheadWireID = MSNet::getInstance()->getStoppingPlaceID(clanes[bestThisIndex].lane, (clanes[bestThisIndex].currentLength) / 2, SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6425 152 : if (overheadWireID != "") {
6426 373 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6427 261 : (*j).bestLaneOffset = bestThisIndex - index;
6428 : }
6429 : }
6430 : }
6431 :
6432 : #ifdef DEBUG_BESTLANES
6433 : if (DEBUG_COND) {
6434 : std::cout << " edge=" << cE->getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6435 : std::vector<LaneQ>& laneQs = clanes;
6436 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6437 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << " allowCont=" << (*j).allowsContinuation << "\n";
6438 : }
6439 : }
6440 : #endif
6441 :
6442 : }
6443 16186863 : if (myBestLanes.front().front().lane->isInternal()) {
6444 : // route starts on an internal lane
6445 36 : if (myLane != nullptr) {
6446 : startLane = myLane;
6447 : } else {
6448 : // vehicle not yet departed
6449 12 : startLane = myBestLanes.front().front().lane;
6450 : }
6451 : }
6452 16186863 : updateOccupancyAndCurrentBestLane(startLane);
6453 : #ifdef DEBUG_BESTLANES
6454 : if (DEBUG_COND) {
6455 : std::cout << SIMTIME << " veh=" << getID() << " bestCont=" << toString(getBestLanesContinuation()) << "\n";
6456 : }
6457 : #endif
6458 : }
6459 :
6460 : void
6461 225 : MSVehicle::updateLaneBruttoSum() {
6462 225 : if (myLane != nullptr) {
6463 225 : myLane->markRecalculateBruttoSum();
6464 : }
6465 225 : }
6466 :
6467 : bool
6468 66467055 : MSVehicle::betterContinuation(const LaneQ* bestConnectedNext, const LaneQ& m) const {
6469 66467055 : if (bestConnectedNext == nullptr) {
6470 : return true;
6471 2142378 : } else if (m.lane->getBidiLane() != nullptr && bestConnectedNext->lane->getBidiLane() == nullptr) {
6472 : return false;
6473 2141586 : } else if (bestConnectedNext->lane->getBidiLane() != nullptr && m.lane->getBidiLane() == nullptr) {
6474 : return true;
6475 2141586 : } else if (bestConnectedNext->length < m.length) {
6476 : return true;
6477 1775412 : } else if (bestConnectedNext->length == m.length) {
6478 1247439 : if (abs(bestConnectedNext->bestLaneOffset) > abs(m.bestLaneOffset)) {
6479 : return true;
6480 : }
6481 1081232 : const double contRight = getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_CONTRIGHT, 1);
6482 : if (contRight < 1
6483 : // if we don't check for adjacency, the rightmost line will get
6484 : // multiple chances to be better which leads to an uninituitve distribution
6485 1006 : && (m.lane->getIndex() - bestConnectedNext->lane->getIndex()) == 1
6486 1082011 : && RandHelper::rand(getRNG()) > contRight) {
6487 : return true;
6488 : }
6489 : }
6490 : return false;
6491 : }
6492 :
6493 :
6494 : int
6495 400839070 : MSVehicle::nextLinkPriority(const std::vector<MSLane*>& conts) {
6496 400839070 : if (conts.size() < 2) {
6497 : return -1;
6498 : } else {
6499 364900889 : const MSLink* const link = conts[0]->getLinkTo(conts[1]);
6500 364900889 : if (link != nullptr) {
6501 364879152 : return link->havePriority() ? 1 : 0;
6502 : } else {
6503 : // disconnected route
6504 : return -1;
6505 : }
6506 : }
6507 : }
6508 :
6509 :
6510 : void
6511 1871179667 : MSVehicle::updateOccupancyAndCurrentBestLane(const MSLane* startLane) {
6512 : std::vector<LaneQ>& currLanes = *myBestLanes.begin();
6513 : std::vector<LaneQ>::iterator i;
6514 : #ifdef _DEBUG
6515 : bool found = false;
6516 : #endif
6517 5343631617 : for (i = currLanes.begin(); i != currLanes.end(); ++i) {
6518 : double nextOccupation = 0;
6519 7669466444 : for (std::vector<MSLane*>::const_iterator j = (*i).bestContinuations.begin() + 1; j != (*i).bestContinuations.end(); ++j) {
6520 4197014494 : nextOccupation += (*j)->getBruttoVehLenSum();
6521 : }
6522 3472451950 : (*i).nextOccupation = nextOccupation;
6523 : #ifdef DEBUG_BESTLANES
6524 : if (DEBUG_COND) {
6525 : std::cout << " lane=" << (*i).lane->getID() << " nextOccupation=" << nextOccupation << "\n";
6526 : }
6527 : #endif
6528 3472451950 : if ((*i).lane == startLane) {
6529 1865900151 : myCurrentLaneInBestLanes = i;
6530 : #ifdef _DEBUG
6531 : found = true;
6532 : #endif
6533 : }
6534 : }
6535 : #ifdef _DEBUG
6536 : assert(found || startLane->isInternal());
6537 : #endif
6538 1871179667 : }
6539 :
6540 :
6541 : const std::vector<MSLane*>&
6542 2057221750 : MSVehicle::getBestLanesContinuation() const {
6543 2057221750 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6544 : return myEmptyLaneVector;
6545 : }
6546 2057221750 : return (*myCurrentLaneInBestLanes).bestContinuations;
6547 : }
6548 :
6549 :
6550 : const std::vector<MSLane*>&
6551 69590123 : MSVehicle::getBestLanesContinuation(const MSLane* const l) const {
6552 : const MSLane* lane = l;
6553 : // XXX: shouldn't this be a "while" to cover more than one internal lane? (Leo) Refs. #2575
6554 69590123 : if (lane->getEdge().isInternal()) {
6555 : // internal edges are not kept inside the bestLanes structure
6556 5110483 : lane = lane->getLinkCont()[0]->getLane();
6557 : }
6558 69590123 : if (myBestLanes.size() == 0) {
6559 : return myEmptyLaneVector;
6560 : }
6561 114906425 : for (std::vector<LaneQ>::const_iterator i = myBestLanes[0].begin(); i != myBestLanes[0].end(); ++i) {
6562 114893717 : if ((*i).lane == lane) {
6563 69577415 : return (*i).bestContinuations;
6564 : }
6565 : }
6566 : return myEmptyLaneVector;
6567 : }
6568 :
6569 : const std::vector<const MSLane*>
6570 290937 : MSVehicle::getUpcomingLanesUntil(double distance) const {
6571 : std::vector<const MSLane*> lanes;
6572 :
6573 290937 : if (distance <= 0. || hasArrived()) {
6574 : // WRITE_WARNINGF(TL("MSVehicle::getUpcomingLanesUntil(): distance ('%') should be greater than 0."), distance);
6575 : return lanes;
6576 : }
6577 :
6578 290729 : if (!myLaneChangeModel->isOpposite()) {
6579 287403 : distance += getPositionOnLane();
6580 : } else {
6581 3326 : distance += myLane->getOppositePos(getPositionOnLane());
6582 : }
6583 290729 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6584 298762 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6585 8033 : lanes.insert(lanes.end(), lane);
6586 8033 : distance -= lane->getLength();
6587 13513 : lane = lane->getLinkCont().front()->getViaLaneOrLane();
6588 : }
6589 :
6590 290729 : const std::vector<MSLane*>& contLanes = getBestLanesContinuation();
6591 290729 : if (contLanes.empty()) {
6592 : return lanes;
6593 : }
6594 : auto contLanesIt = contLanes.begin();
6595 290729 : MSRouteIterator routeIt = myCurrEdge; // keep track of covered edges in myRoute
6596 621921 : while (distance > 0.) {
6597 338998 : MSLane* l = nullptr;
6598 338998 : if (contLanesIt != contLanes.end()) {
6599 323118 : l = *contLanesIt;
6600 : if (l != nullptr) {
6601 : assert(l->getEdge().getID() == (*routeIt)->getLanes().front()->getEdge().getID());
6602 : }
6603 : ++contLanesIt;
6604 323118 : if (l != nullptr || myLane->isInternal()) {
6605 : ++routeIt;
6606 : }
6607 323118 : if (l == nullptr) {
6608 5476 : continue;
6609 : }
6610 15880 : } else if (routeIt != myRoute->end()) { // bestLanes didn't get us far enough
6611 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6612 8963 : l = (*routeIt)->getLanes().back();
6613 : ++routeIt;
6614 : } else { // the search distance goes beyond our route
6615 : break;
6616 : }
6617 :
6618 : assert(l != nullptr);
6619 :
6620 : // insert internal lanes if applicable
6621 326605 : const MSLane* internalLane = lanes.size() > 0 ? lanes.back()->getInternalFollowingLane(l) : nullptr;
6622 370758 : while ((internalLane != nullptr) && internalLane->isInternal() && (distance > 0.)) {
6623 44153 : lanes.insert(lanes.end(), internalLane);
6624 44153 : distance -= internalLane->getLength();
6625 70564 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6626 : }
6627 326605 : if (distance <= 0.) {
6628 : break;
6629 : }
6630 :
6631 325716 : lanes.insert(lanes.end(), l);
6632 325716 : distance -= l->getLength();
6633 : }
6634 :
6635 : return lanes;
6636 0 : }
6637 :
6638 : const std::vector<const MSLane*>
6639 6694 : MSVehicle::getPastLanesUntil(double distance) const {
6640 : std::vector<const MSLane*> lanes;
6641 :
6642 6694 : if (distance <= 0.) {
6643 : // WRITE_WARNINGF(TL("MSVehicle::getPastLanesUntil(): distance ('%') should be greater than 0."), distance);
6644 : return lanes;
6645 : }
6646 :
6647 6586 : MSRouteIterator routeIt = myCurrEdge;
6648 6586 : if (!myLaneChangeModel->isOpposite()) {
6649 6562 : distance += myLane->getLength() - getPositionOnLane();
6650 : } else {
6651 24 : distance += myLane->getParallelOpposite()->getLength() - myLane->getOppositePos(getPositionOnLane());
6652 : }
6653 6586 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6654 6607 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6655 21 : lanes.insert(lanes.end(), lane);
6656 21 : distance -= lane->getLength();
6657 21 : lane = lane->getLogicalPredecessorLane();
6658 : }
6659 :
6660 10136 : while (distance > 0.) {
6661 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6662 8799 : MSLane* l = (*routeIt)->getLanes().back();
6663 :
6664 : // insert internal lanes if applicable
6665 8799 : const MSEdge* internalEdge = lanes.size() > 0 ? (*routeIt)->getInternalFollowingEdge(&(lanes.back()->getEdge()), getVClass()) : nullptr;
6666 8820 : const MSLane* internalLane = internalEdge != nullptr ? internalEdge->getLanes().front() : nullptr;
6667 : std::vector<const MSLane*> internalLanes;
6668 11018 : while ((internalLane != nullptr) && internalLane->isInternal()) { // collect all internal successor lanes
6669 2219 : internalLanes.insert(internalLanes.begin(), internalLane);
6670 4432 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6671 : }
6672 11018 : for (auto it = internalLanes.begin(); (it != internalLanes.end()) && (distance > 0.); ++it) { // check remaining distance in correct order
6673 2219 : lanes.insert(lanes.end(), *it);
6674 2219 : distance -= (*it)->getLength();
6675 : }
6676 8799 : if (distance <= 0.) {
6677 : break;
6678 : }
6679 :
6680 8783 : lanes.insert(lanes.end(), l);
6681 8783 : distance -= l->getLength();
6682 :
6683 : // NOTE: we're going backwards with the (bi-directional) Iterator
6684 : // TODO: consider make reverse_iterator() when moving on to C++14 or later
6685 8783 : if (routeIt != myRoute->begin()) {
6686 : --routeIt;
6687 : } else { // we went backwards to begin() and already processed the first and final element
6688 : break;
6689 : }
6690 8799 : }
6691 :
6692 : return lanes;
6693 0 : }
6694 :
6695 :
6696 : const std::vector<MSLane*>
6697 6358 : MSVehicle::getUpstreamOppositeLanes() const {
6698 6358 : const std::vector<const MSLane*> routeLanes = getPastLanesUntil(myLane->getMaximumBrakeDist());
6699 : std::vector<MSLane*> result;
6700 15551 : for (const MSLane* lane : routeLanes) {
6701 9917 : MSLane* opposite = lane->getOpposite();
6702 9917 : if (opposite != nullptr) {
6703 9193 : result.push_back(opposite);
6704 : } else {
6705 : break;
6706 : }
6707 : }
6708 6358 : return result;
6709 6358 : }
6710 :
6711 :
6712 : int
6713 311173455 : MSVehicle::getBestLaneOffset() const {
6714 311173455 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6715 : return 0;
6716 : } else {
6717 310882032 : return (*myCurrentLaneInBestLanes).bestLaneOffset;
6718 : }
6719 : }
6720 :
6721 : double
6722 23228 : MSVehicle::getBestLaneDist() const {
6723 23228 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6724 : return -1;
6725 : } else {
6726 23228 : return (*myCurrentLaneInBestLanes).length;
6727 : }
6728 : }
6729 :
6730 :
6731 :
6732 : void
6733 644924572 : MSVehicle::adaptBestLanesOccupation(int laneIndex, double density) {
6734 : std::vector<MSVehicle::LaneQ>& preb = myBestLanes.front();
6735 : assert(laneIndex < (int)preb.size());
6736 644924572 : preb[laneIndex].occupation = density + preb[laneIndex].nextOccupation;
6737 644924572 : }
6738 :
6739 :
6740 : void
6741 71298 : MSVehicle::fixPosition() {
6742 71298 : if (MSGlobals::gLaneChangeDuration > 0 && !myLaneChangeModel->isChangingLanes()) {
6743 39640 : myState.myPosLat = 0;
6744 : }
6745 71298 : }
6746 :
6747 : std::pair<const MSLane*, double>
6748 303 : MSVehicle::getLanePosAfterDist(double distance) const {
6749 303 : if (distance == 0) {
6750 255 : return std::make_pair(myLane, getPositionOnLane());
6751 : }
6752 48 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(distance);
6753 48 : distance += getPositionOnLane();
6754 48 : for (const MSLane* lane : lanes) {
6755 48 : if (lane->getLength() > distance) {
6756 : return std::make_pair(lane, distance);
6757 : }
6758 0 : distance -= lane->getLength();
6759 : }
6760 0 : return std::make_pair(nullptr, -1);
6761 48 : }
6762 :
6763 :
6764 : double
6765 16113 : MSVehicle::getDistanceToPosition(double destPos, const MSLane* destLane) const {
6766 16113 : if (isOnRoad() && destLane != nullptr) {
6767 16076 : return myRoute->getDistanceBetween(getPositionOnLane(), destPos, myLane, destLane);
6768 : }
6769 : return std::numeric_limits<double>::max();
6770 : }
6771 :
6772 :
6773 : std::pair<const MSVehicle* const, double>
6774 76421763 : MSVehicle::getLeader(double dist, bool considerCrossingFoes) const {
6775 76421763 : if (myLane == nullptr) {
6776 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6777 : }
6778 76421763 : if (dist == 0) {
6779 2460 : dist = getCarFollowModel().brakeGap(getSpeed()) + getVehicleType().getMinGap();
6780 : }
6781 : const MSVehicle* lead = nullptr;
6782 76421763 : const MSLane* lane = myLane; // ensure lane does not change between getVehiclesSecure and releaseVehicles;
6783 76421763 : const MSLane::VehCont& vehs = lane->getVehiclesSecure();
6784 : // vehicle might be outside the road network
6785 76421763 : MSLane::VehCont::const_iterator it = std::find(vehs.begin(), vehs.end(), this);
6786 76421763 : if (it != vehs.end() && it + 1 != vehs.end()) {
6787 72700050 : lead = *(it + 1);
6788 : }
6789 72700050 : if (lead != nullptr) {
6790 : std::pair<const MSVehicle* const, double> result(
6791 72700050 : lead, lead->getBackPositionOnLane(myLane) - getPositionOnLane() - getVehicleType().getMinGap());
6792 72700050 : lane->releaseVehicles();
6793 72700050 : return result;
6794 : }
6795 3721713 : const double seen = myLane->getLength() - getPositionOnLane();
6796 3721713 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(myLane);
6797 3721713 : std::pair<const MSVehicle* const, double> result = myLane->getLeaderOnConsecutive(dist, seen, getSpeed(), *this, bestLaneConts, considerCrossingFoes);
6798 3721710 : lane->releaseVehicles();
6799 3721710 : return result;
6800 : }
6801 :
6802 :
6803 : std::pair<const MSVehicle* const, double>
6804 2267653 : MSVehicle::getFollower(double dist) const {
6805 2267653 : if (myLane == nullptr) {
6806 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6807 : }
6808 2267653 : if (dist == 0) {
6809 810978 : dist = getCarFollowModel().brakeGap(myLane->getEdge().getSpeedLimit() * 2, 4.5, 0);
6810 : }
6811 2267653 : return myLane->getFollower(this, getPositionOnLane(), dist, MSLane::MinorLinkMode::FOLLOW_NEVER);
6812 : }
6813 :
6814 :
6815 : double
6816 0 : MSVehicle::getTimeGapOnLane() const {
6817 : // calling getLeader with 0 would induce a dist calculation but we only want to look for the leaders on the current lane
6818 0 : std::pair<const MSVehicle* const, double> leaderInfo = getLeader(-1);
6819 0 : if (leaderInfo.first == nullptr || getSpeed() == 0) {
6820 0 : return -1;
6821 : }
6822 0 : return (leaderInfo.second + getVehicleType().getMinGap()) / getSpeed();
6823 : }
6824 :
6825 :
6826 : void
6827 3729392 : MSVehicle::addTransportable(MSTransportable* transportable) {
6828 3729392 : MSBaseVehicle::addTransportable(transportable);
6829 41246 : if (myStops.size() > 0 && myStops.front().reached) {
6830 37802 : if (transportable->isPerson()) {
6831 37223 : if (myStops.front().triggered && myStops.front().numExpectedPerson > 0) {
6832 1838 : myStops.front().numExpectedPerson -= (int)myStops.front().pars.awaitedPersons.count(transportable->getID());
6833 : }
6834 : } else {
6835 579 : if (myStops.front().pars.containerTriggered && myStops.front().numExpectedContainer > 0) {
6836 20 : myStops.front().numExpectedContainer -= (int)myStops.front().pars.awaitedContainers.count(transportable->getID());
6837 : }
6838 : }
6839 : }
6840 41246 : }
6841 :
6842 :
6843 : void
6844 701641505 : MSVehicle::setBlinkerInformation() {
6845 : switchOffSignal(VEH_SIGNAL_BLINKER_RIGHT | VEH_SIGNAL_BLINKER_LEFT);
6846 701641505 : int state = myLaneChangeModel->getOwnState();
6847 : // do not set blinker for sublane changes or when blocked from changing to the right
6848 701641505 : const bool blinkerManoeuvre = (((state & LCA_SUBLANE) == 0) && (
6849 610023979 : (state & LCA_KEEPRIGHT) == 0 || (state & LCA_BLOCKED) == 0));
6850 : Signalling left = VEH_SIGNAL_BLINKER_LEFT;
6851 : Signalling right = VEH_SIGNAL_BLINKER_RIGHT;
6852 701641505 : if (MSGlobals::gLefthand) {
6853 : // lane indices increase from left to right
6854 : std::swap(left, right);
6855 : }
6856 701641505 : if ((state & LCA_LEFT) != 0 && blinkerManoeuvre) {
6857 20014485 : switchOnSignal(left);
6858 681627020 : } else if ((state & LCA_RIGHT) != 0 && blinkerManoeuvre) {
6859 5545635 : switchOnSignal(right);
6860 676081385 : } else if (myLaneChangeModel->isChangingLanes()) {
6861 254915 : if (myLaneChangeModel->getLaneChangeDirection() == 1) {
6862 165402 : switchOnSignal(left);
6863 : } else {
6864 89513 : switchOnSignal(right);
6865 : }
6866 : } else {
6867 675826470 : const MSLane* lane = getLane();
6868 675826470 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, 1, *lane, getBestLanesContinuation());
6869 675826470 : if (link != lane->getLinkCont().end() && lane->getLength() - getPositionOnLane() < lane->getVehicleMaxSpeed(this) * (double) 7.) {
6870 170534373 : switch ((*link)->getDirection()) {
6871 : case LinkDirection::TURN:
6872 : case LinkDirection::LEFT:
6873 : case LinkDirection::PARTLEFT:
6874 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT);
6875 : break;
6876 : case LinkDirection::RIGHT:
6877 : case LinkDirection::PARTRIGHT:
6878 : switchOnSignal(VEH_SIGNAL_BLINKER_RIGHT);
6879 : break;
6880 : default:
6881 : break;
6882 : }
6883 : }
6884 : }
6885 : // stopping related signals
6886 701641505 : if (hasStops()
6887 701641505 : && (myStops.begin()->reached ||
6888 15399275 : (myStopDist < (myLane->getLength() - getPositionOnLane())
6889 4314913 : && myStopDist < getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this), getCarFollowModel().getMaxDecel(), 3)))) {
6890 17311340 : if (myStops.begin()->lane->getIndex() > 0 && myStops.begin()->lane->getParallelLane(-1)->allowsVehicleClass(getVClass())) {
6891 : // not stopping on the right. Activate emergency blinkers
6892 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT | VEH_SIGNAL_BLINKER_RIGHT);
6893 17055377 : } else if (!myStops.begin()->reached && (myStops.begin()->pars.parking == ParkingType::OFFROAD)) {
6894 : // signal upcoming parking stop on the current lane when within braking distance (~2 seconds before braking)
6895 1636276 : switchOnSignal(MSGlobals::gLefthand ? VEH_SIGNAL_BLINKER_LEFT : VEH_SIGNAL_BLINKER_RIGHT);
6896 : }
6897 : }
6898 701641505 : if (myInfluencer != nullptr && myInfluencer->getSignals() >= 0) {
6899 14 : mySignals = myInfluencer->getSignals();
6900 : myInfluencer->setSignals(-1); // overwrite computed signals only once
6901 : }
6902 701641505 : }
6903 :
6904 : void
6905 85867 : MSVehicle::setEmergencyBlueLight(SUMOTime currentTime) {
6906 :
6907 : //TODO look if timestep ist SIMSTEP
6908 85867 : if (currentTime % 1000 == 0) {
6909 26076 : if (signalSet(VEH_SIGNAL_EMERGENCY_BLUE)) {
6910 : switchOffSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6911 : } else {
6912 : switchOnSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6913 : }
6914 : }
6915 85867 : }
6916 :
6917 :
6918 : int
6919 22439224 : MSVehicle::getLaneIndex() const {
6920 22439224 : return myLane == nullptr ? -1 : myLane->getIndex();
6921 : }
6922 :
6923 :
6924 : void
6925 14752066 : MSVehicle::setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat) {
6926 14752066 : myLane = lane;
6927 14752066 : myState.myPos = pos;
6928 14752066 : myState.myPosLat = posLat;
6929 14752066 : myState.myBackPos = pos - getVehicleType().getLength();
6930 14752066 : }
6931 :
6932 :
6933 : double
6934 395317436 : MSVehicle::getRightSideOnLane() const {
6935 395317436 : return myState.myPosLat + 0.5 * myLane->getWidth() - 0.5 * getVehicleType().getWidth();
6936 : }
6937 :
6938 :
6939 : double
6940 390038962 : MSVehicle::getLeftSideOnLane() const {
6941 390038962 : return myState.myPosLat + 0.5 * myLane->getWidth() + 0.5 * getVehicleType().getWidth();
6942 : }
6943 :
6944 :
6945 : double
6946 315970365 : MSVehicle::getRightSideOnLane(const MSLane* lane) const {
6947 315970365 : return myState.myPosLat + 0.5 * lane->getWidth() - 0.5 * getVehicleType().getWidth();
6948 : }
6949 :
6950 :
6951 : double
6952 315481231 : MSVehicle::getLeftSideOnLane(const MSLane* lane) const {
6953 315481231 : return myState.myPosLat + 0.5 * lane->getWidth() + 0.5 * getVehicleType().getWidth();
6954 : }
6955 :
6956 :
6957 : double
6958 249255473 : MSVehicle::getRightSideOnEdge(const MSLane* lane) const {
6959 249255473 : return getCenterOnEdge(lane) - 0.5 * getVehicleType().getWidth();
6960 : }
6961 :
6962 :
6963 : double
6964 30974258 : MSVehicle::getLeftSideOnEdge(const MSLane* lane) const {
6965 30974258 : return getCenterOnEdge(lane) + 0.5 * getVehicleType().getWidth();
6966 : }
6967 :
6968 :
6969 : double
6970 730162631 : MSVehicle::getCenterOnEdge(const MSLane* lane) const {
6971 730162631 : if (lane == nullptr || &lane->getEdge() == &myLane->getEdge()) {
6972 729700673 : return myLane->getRightSideOnEdge() + myState.myPosLat + 0.5 * myLane->getWidth();
6973 461958 : } else if (lane == myLaneChangeModel->getShadowLane()) {
6974 13739 : if (myLaneChangeModel->isOpposite() && &lane->getEdge() != &myLane->getEdge()) {
6975 13730 : return lane->getRightSideOnEdge() + lane->getWidth() - myState.myPosLat + 0.5 * myLane->getWidth();
6976 : }
6977 9 : if (myLaneChangeModel->getShadowDirection() == -1) {
6978 0 : return lane->getRightSideOnEdge() + lane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6979 : } else {
6980 9 : return lane->getRightSideOnEdge() - myLane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6981 : }
6982 448219 : } else if (lane == myLane->getBidiLane()) {
6983 17033 : return lane->getRightSideOnEdge() - myState.myPosLat + 0.5 * lane->getWidth();
6984 : } else {
6985 : assert(myFurtherLanes.size() == myFurtherLanesPosLat.size());
6986 507611 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6987 481731 : if (myFurtherLanes[i] == lane) {
6988 : #ifdef DEBUG_FURTHER
6989 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat=" << myFurtherLanesPosLat[i]
6990 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6991 : << "\n";
6992 : #endif
6993 405227 : return lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6994 76504 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6995 : #ifdef DEBUG_FURTHER
6996 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat(bidi)=" << myFurtherLanesPosLat[i]
6997 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6998 : << "\n";
6999 : #endif
7000 79 : return lane->getRightSideOnEdge() - myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
7001 : }
7002 : }
7003 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
7004 25880 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
7005 26153 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
7006 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
7007 26153 : if (shadowFurther[i] == lane) {
7008 : assert(myLaneChangeModel->getShadowLane() != 0);
7009 25880 : return (lane->getRightSideOnEdge() + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] + 0.5 * lane->getWidth()
7010 25880 : + (myLane->getCenterOnEdge() - myLaneChangeModel->getShadowLane()->getCenterOnEdge()));
7011 : }
7012 : }
7013 : assert(false);
7014 0 : throw ProcessError("Request lateral pos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
7015 : }
7016 : }
7017 :
7018 :
7019 : double
7020 3387441498 : MSVehicle::getLatOffset(const MSLane* lane) const {
7021 : assert(lane != 0);
7022 3387441498 : if (&lane->getEdge() == &myLane->getEdge()) {
7023 3337121342 : return myLane->getRightSideOnEdge() - lane->getRightSideOnEdge();
7024 50320156 : } else if (myLane->getParallelOpposite() == lane) {
7025 2134265 : return (myLane->getWidth() + lane->getWidth()) * 0.5 - 2 * getLateralPositionOnLane();
7026 48185891 : } else if (myLane->getBidiLane() == lane) {
7027 808173 : return -2 * getLateralPositionOnLane();
7028 : } else {
7029 : // Check whether the lane is a further lane for the vehicle
7030 53504919 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
7031 52560124 : if (myFurtherLanes[i] == lane) {
7032 : #ifdef DEBUG_FURTHER
7033 : if (DEBUG_COND) {
7034 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherLat=" << myFurtherLanesPosLat[i] << "\n";
7035 : }
7036 : #endif
7037 46399415 : return myFurtherLanesPosLat[i] - myState.myPosLat;
7038 6160709 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
7039 : #ifdef DEBUG_FURTHER
7040 : if (DEBUG_COND) {
7041 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
7042 : }
7043 : #endif
7044 33508 : return -2 * (myFurtherLanesPosLat[i] - myState.myPosLat);
7045 : }
7046 : }
7047 : #ifdef DEBUG_FURTHER
7048 : if (DEBUG_COND) {
7049 : std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
7050 : }
7051 : #endif
7052 : // Check whether the lane is a "shadow further lane" for the vehicle
7053 944795 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
7054 956559 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
7055 952879 : if (shadowFurther[i] == lane) {
7056 : #ifdef DEBUG_FURTHER
7057 : if (DEBUG_COND) std::cout << " getLatOffset veh=" << getID()
7058 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
7059 : << " lane=" << lane->getID()
7060 : << " i=" << i
7061 : << " posLat=" << myState.myPosLat
7062 : << " shadowPosLat=" << getLatOffset(myLaneChangeModel->getShadowLane())
7063 : << " shadowFurtherLat=" << myLaneChangeModel->getShadowFurtherLanesPosLat()[i]
7064 : << "\n";
7065 : #endif
7066 940441 : return getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
7067 12438 : } else if (shadowFurther[i]->getBidiLane() == lane) {
7068 : #ifdef DEBUG_FURTHER
7069 : if (DEBUG_COND) {
7070 : std::cout << " getLatOffset veh=" << getID() << " shadowbidilane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
7071 : }
7072 : #endif
7073 674 : return -2 * getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
7074 : }
7075 : }
7076 : // Check whether the vehicle issued a maneuverReservation on the lane.
7077 3680 : const std::vector<MSLane*>& furtherTargets = myLaneChangeModel->getFurtherTargetLanes();
7078 5215 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
7079 : // Further target lanes are just neighboring lanes of the vehicle's further lanes, @see MSAbstractLaneChangeModel::updateTargetLane()
7080 5211 : MSLane* targetLane = furtherTargets[i];
7081 5211 : if (targetLane == lane) {
7082 3676 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
7083 3676 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
7084 : #ifdef DEBUG_TARGET_LANE
7085 : if (DEBUG_COND) {
7086 : std::cout << " getLatOffset veh=" << getID()
7087 : << " wrt targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
7088 : << "\n i=" << i
7089 : << " posLat=" << myState.myPosLat
7090 : << " furtherPosLat=" << myFurtherLanesPosLat[i]
7091 : << " maneuverDist=" << myLaneChangeModel->getManeuverDist()
7092 : << " targetDir=" << targetDir
7093 : << " latOffset=" << latOffset
7094 : << std::endl;
7095 : }
7096 : #endif
7097 3676 : return latOffset;
7098 1535 : } else if (targetLane != nullptr && targetLane->getBidiLane() == lane) {
7099 0 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
7100 0 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
7101 : #ifdef DEBUG_FURTHER
7102 : if (DEBUG_COND) {
7103 : std::cout << " getLatOffset veh=" << getID() << " furthertargetbidilane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
7104 : }
7105 : #endif
7106 0 : return -2 * latOffset;
7107 : }
7108 : }
7109 : assert(false);
7110 24 : throw ProcessError("Request lateral offset of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
7111 : }
7112 : }
7113 :
7114 :
7115 : double
7116 36269696 : MSVehicle::lateralDistanceToLane(const int offset) const {
7117 : // compute the distance when changing to the neighboring lane
7118 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
7119 : assert(offset == 0 || offset == 1 || offset == -1);
7120 : assert(myLane != nullptr);
7121 : assert(myLane->getParallelLane(offset) != nullptr || myLane->getParallelOpposite() != nullptr);
7122 36269696 : const double halfCurrentLaneWidth = 0.5 * myLane->getWidth();
7123 36269696 : const double halfVehWidth = 0.5 * (getWidth() + NUMERICAL_EPS);
7124 36269696 : const double latPos = getLateralPositionOnLane();
7125 36269696 : const double oppositeSign = getLaneChangeModel().isOpposite() ? -1 : 1;
7126 36269696 : double leftLimit = halfCurrentLaneWidth - halfVehWidth - oppositeSign * latPos;
7127 36269696 : double rightLimit = -halfCurrentLaneWidth + halfVehWidth - oppositeSign * latPos;
7128 : double latLaneDist = 0; // minimum distance to move the vehicle fully onto the new lane
7129 36269696 : if (offset == 0) {
7130 8 : if (latPos + halfVehWidth > halfCurrentLaneWidth) {
7131 : // correct overlapping left
7132 4 : latLaneDist = halfCurrentLaneWidth - latPos - halfVehWidth;
7133 4 : } else if (latPos - halfVehWidth < -halfCurrentLaneWidth) {
7134 : // correct overlapping right
7135 4 : latLaneDist = -halfCurrentLaneWidth - latPos + halfVehWidth;
7136 : }
7137 8 : latLaneDist *= oppositeSign;
7138 36269688 : } else if (offset == -1) {
7139 16759961 : latLaneDist = rightLimit - (getWidth() + NUMERICAL_EPS);
7140 19509727 : } else if (offset == 1) {
7141 19509727 : latLaneDist = leftLimit + (getWidth() + NUMERICAL_EPS);
7142 : }
7143 : #ifdef DEBUG_ACTIONSTEPS
7144 : if (DEBUG_COND) {
7145 : std::cout << SIMTIME
7146 : << " veh=" << getID()
7147 : << " halfCurrentLaneWidth=" << halfCurrentLaneWidth
7148 : << " halfVehWidth=" << halfVehWidth
7149 : << " latPos=" << latPos
7150 : << " latLaneDist=" << latLaneDist
7151 : << " leftLimit=" << leftLimit
7152 : << " rightLimit=" << rightLimit
7153 : << "\n";
7154 : }
7155 : #endif
7156 36269696 : return latLaneDist;
7157 : }
7158 :
7159 :
7160 : double
7161 5192077222 : MSVehicle::getLateralOverlap(double posLat, const MSLane* lane) const {
7162 5192077222 : return (fabs(posLat) + 0.5 * getVehicleType().getWidth()
7163 5192077222 : - 0.5 * lane->getWidth());
7164 : }
7165 :
7166 : double
7167 0 : MSVehicle::getLateralOverlap(const MSLane* lane) const {
7168 0 : return getLateralOverlap(getLateralPositionOnLane(), lane);
7169 : }
7170 :
7171 : double
7172 4995095677 : MSVehicle::getLateralOverlap() const {
7173 4995095677 : return getLateralOverlap(getLateralPositionOnLane(), myLane);
7174 : }
7175 :
7176 :
7177 : void
7178 645011233 : MSVehicle::removeApproachingInformation(const DriveItemVector& lfLinks) const {
7179 1881099756 : for (const DriveProcessItem& dpi : lfLinks) {
7180 1236088523 : if (dpi.myLink != nullptr) {
7181 880581444 : dpi.myLink->removeApproaching(this);
7182 : }
7183 : }
7184 : // unregister on all shadow links
7185 645011233 : myLaneChangeModel->removeShadowApproachingInformation();
7186 645011233 : }
7187 :
7188 :
7189 : bool
7190 847241 : MSVehicle::unsafeLinkAhead(const MSLane* lane, double zipperDist) const {
7191 : // the following links are unsafe:
7192 : // - zipper links if they are close enough and have approaching vehicles in the relevant time range
7193 : // - unprioritized links if the vehicle is currently approaching a prioritzed link and unable to stop in time
7194 847241 : double seen = myLane->getLength() - getPositionOnLane();
7195 847241 : const double dist = MAX2(zipperDist, getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0));
7196 847241 : if (seen < dist) {
7197 71195 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(lane);
7198 : int view = 1;
7199 71195 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7200 : DriveItemVector::const_iterator di = myLFLinkLanes.begin();
7201 118475 : while (!lane->isLinkEnd(link) && seen <= dist) {
7202 71920 : if ((!lane->isInternal()
7203 49296 : && (((*link)->getState() == LINKSTATE_ZIPPER && seen < (*link)->getFoeVisibilityDistance())
7204 26694 : || !(*link)->havePriority()))
7205 98381 : || (lane->isInternal() && zipperDist > 0)) {
7206 : // find the drive item corresponding to this link
7207 : bool found = false;
7208 52288 : while (di != myLFLinkLanes.end() && !found) {
7209 27086 : if ((*di).myLink != nullptr) {
7210 : const MSLane* diPredLane = (*di).myLink->getLaneBefore();
7211 27081 : if (diPredLane != nullptr) {
7212 27081 : if (&diPredLane->getEdge() == &lane->getEdge()) {
7213 : found = true;
7214 : }
7215 : }
7216 : }
7217 27086 : if (!found) {
7218 : di++;
7219 : }
7220 : }
7221 25202 : if (found) {
7222 25197 : const SUMOTime leaveTime = (*link)->getLeaveTime((*di).myArrivalTime, (*di).myArrivalSpeed,
7223 25197 : (*di).getLeaveSpeed(), getVehicleType().getLength());
7224 25197 : const MSLink* entry = (*link)->getCorrespondingEntryLink();
7225 : //if (DEBUG_COND) {
7226 : // 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";
7227 : //}
7228 25197 : if (entry->hasApproachingFoe((*di).myArrivalTime, leaveTime, (*di).myArrivalSpeed, getCarFollowModel().getMaxDecel())) {
7229 : //std::cout << SIMTIME << " veh=" << getID() << " aborting changeTo=" << Named::getIDSecure(bestLaneConts.front()) << " linkState=" << toString((*link)->getState()) << " seen=" << seen << " dist=" << dist << "\n";
7230 : return true;
7231 : }
7232 : }
7233 : // no drive item is found if the vehicle aborts its request within dist
7234 : }
7235 47280 : lane = (*link)->getViaLaneOrLane();
7236 47280 : if (!lane->getEdge().isInternal()) {
7237 24628 : view++;
7238 : }
7239 47280 : seen += lane->getLength();
7240 47280 : link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7241 : }
7242 : }
7243 : return false;
7244 : }
7245 :
7246 :
7247 : PositionVector
7248 6886975 : MSVehicle::getBoundingBox(double offset) const {
7249 6886975 : PositionVector centerLine;
7250 6886975 : Position pos = getPosition();
7251 6886975 : centerLine.push_back(pos);
7252 6886975 : switch (myType->getGuiShape()) {
7253 29069 : case SUMOVehicleShape::BUS_FLEXIBLE:
7254 : case SUMOVehicleShape::RAIL:
7255 : case SUMOVehicleShape::RAIL_CAR:
7256 : case SUMOVehicleShape::RAIL_CARGO:
7257 : case SUMOVehicleShape::TRUCK_SEMITRAILER:
7258 : case SUMOVehicleShape::TRUCK_1TRAILER: {
7259 60781 : for (MSLane* lane : myFurtherLanes) {
7260 31712 : centerLine.push_back(lane->getShape().back());
7261 : }
7262 : break;
7263 : }
7264 : default:
7265 : break;
7266 : }
7267 6886975 : double l = getLength();
7268 6886975 : Position backPos = getBackPosition();
7269 6886975 : if (pos.distanceTo2D(backPos) > l + NUMERICAL_EPS) {
7270 : // getBackPosition may not match the visual back in networks without internal lanes
7271 348778 : double a = getAngle() + M_PI; // angle pointing backwards
7272 348778 : backPos = pos + Position(l * cos(a), l * sin(a));
7273 : }
7274 6886975 : centerLine.push_back(backPos);
7275 6886975 : if (offset != 0) {
7276 6543 : centerLine.extrapolate2D(offset);
7277 : }
7278 : PositionVector result = centerLine;
7279 13769660 : result.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7280 13769660 : centerLine.move2side(MIN2(0.0, -0.5 * myType->getWidth() - offset));
7281 6886975 : result.append(centerLine.reverse(), POSITION_EPS);
7282 6886975 : return result;
7283 6886975 : }
7284 :
7285 :
7286 : PositionVector
7287 72897 : MSVehicle::getBoundingPoly(double offset) const {
7288 72897 : switch (myType->getGuiShape()) {
7289 72371 : case SUMOVehicleShape::PASSENGER:
7290 : case SUMOVehicleShape::PASSENGER_SEDAN:
7291 : case SUMOVehicleShape::PASSENGER_HATCHBACK:
7292 : case SUMOVehicleShape::PASSENGER_WAGON:
7293 : case SUMOVehicleShape::PASSENGER_VAN: {
7294 : // box with corners cut off
7295 72371 : PositionVector result;
7296 72371 : PositionVector centerLine;
7297 72371 : centerLine.push_back(getPosition());
7298 72371 : centerLine.push_back(getBackPosition());
7299 72371 : if (offset != 0) {
7300 1600 : centerLine.extrapolate2D(offset);
7301 : }
7302 : PositionVector line1 = centerLine;
7303 : PositionVector line2 = centerLine;
7304 144742 : line1.move2side(MAX2(0.0, 0.3 * myType->getWidth() + offset));
7305 144742 : line2.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7306 72371 : line2.scaleRelative(0.8);
7307 72371 : result.push_back(line1[0]);
7308 72371 : result.push_back(line2[0]);
7309 72371 : result.push_back(line2[1]);
7310 72371 : result.push_back(line1[1]);
7311 144742 : line1.move2side(MIN2(0.0, -0.6 * myType->getWidth() - offset));
7312 144742 : line2.move2side(MIN2(0.0, -1.0 * myType->getWidth() - offset));
7313 72371 : result.push_back(line1[1]);
7314 72371 : result.push_back(line2[1]);
7315 72371 : result.push_back(line2[0]);
7316 72371 : result.push_back(line1[0]);
7317 : return result;
7318 72371 : }
7319 526 : default:
7320 526 : return getBoundingBox();
7321 : }
7322 : }
7323 :
7324 :
7325 : bool
7326 12727452 : MSVehicle::onFurtherEdge(const MSEdge* edge) const {
7327 13741521 : for (std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
7328 1597412 : if (&(*i)->getEdge() == edge) {
7329 : return true;
7330 : }
7331 : }
7332 : return false;
7333 : }
7334 :
7335 :
7336 : bool
7337 7790682885 : MSVehicle::isBidiOn(const MSLane* lane) const {
7338 7806745283 : return lane->getBidiLane() != nullptr && (
7339 16062398 : myLane == lane->getBidiLane()
7340 12727452 : || onFurtherEdge(&lane->getBidiLane()->getEdge()));
7341 : }
7342 :
7343 :
7344 : bool
7345 16 : MSVehicle::rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg) {
7346 : // this function is based on MSTriggeredRerouter::rerouteParkingArea in order to keep
7347 : // consistency in the behaviour.
7348 :
7349 : // get vehicle params
7350 16 : MSParkingArea* destParkArea = getNextParkingArea();
7351 16 : const MSRoute& route = getRoute();
7352 16 : const MSEdge* lastEdge = route.getLastEdge();
7353 :
7354 16 : if (destParkArea == nullptr) {
7355 : // not driving towards a parking area
7356 0 : errorMsg = "Vehicle " + getID() + " is not driving to a parking area so it cannot be rerouted.";
7357 0 : return false;
7358 : }
7359 :
7360 : // if the current route ends at the parking area, the new route will also and at the new area
7361 16 : bool newDestination = (&destParkArea->getLane().getEdge() == route.getLastEdge()
7362 8 : && getArrivalPos() >= destParkArea->getBeginLanePosition()
7363 24 : && getArrivalPos() <= destParkArea->getEndLanePosition());
7364 :
7365 : // retrieve info on the new parking area
7366 16 : MSParkingArea* newParkingArea = (MSParkingArea*) MSNet::getInstance()->getStoppingPlace(
7367 : parkingAreaID, SumoXMLTag::SUMO_TAG_PARKING_AREA);
7368 :
7369 16 : if (newParkingArea == nullptr) {
7370 0 : errorMsg = "Parking area ID " + toString(parkingAreaID) + " not found in the network.";
7371 0 : return false;
7372 : }
7373 :
7374 16 : const MSEdge* newEdge = &(newParkingArea->getLane().getEdge());
7375 16 : SUMOAbstractRouter<MSEdge, SUMOVehicle>& router = getRouterTT();
7376 :
7377 : // Compute the route from the current edge to the parking area edge
7378 : ConstMSEdgeVector edgesToPark;
7379 16 : router.compute(getEdge(), getPositionOnLane(), newEdge, newParkingArea->getEndLanePosition(), this, MSNet::getInstance()->getCurrentTimeStep(), edgesToPark);
7380 :
7381 : // Compute the route from the parking area edge to the end of the route
7382 : ConstMSEdgeVector edgesFromPark;
7383 16 : if (!newDestination) {
7384 12 : router.compute(newEdge, lastEdge, this, MSNet::getInstance()->getCurrentTimeStep(), edgesFromPark);
7385 : } else {
7386 : // adapt plans of any riders
7387 8 : for (MSTransportable* p : getPersons()) {
7388 4 : p->rerouteParkingArea(getNextParkingArea(), newParkingArea);
7389 : }
7390 : }
7391 :
7392 : // we have a new destination, let's replace the vehicle route
7393 16 : ConstMSEdgeVector edges = edgesToPark;
7394 16 : if (edgesFromPark.size() > 0) {
7395 12 : edges.insert(edges.end(), edgesFromPark.begin() + 1, edgesFromPark.end());
7396 : }
7397 :
7398 16 : if (newDestination && getParameter().arrivalPosProcedure != ArrivalPosDefinition::DEFAULT) {
7399 4 : SUMOVehicleParameter* newParameter = new SUMOVehicleParameter();
7400 4 : *newParameter = getParameter();
7401 4 : newParameter->arrivalPosProcedure = ArrivalPosDefinition::GIVEN;
7402 4 : newParameter->arrivalPos = newParkingArea->getEndLanePosition();
7403 4 : replaceParameter(newParameter);
7404 : }
7405 16 : const double routeCost = router.recomputeCosts(edges, this, MSNet::getInstance()->getCurrentTimeStep());
7406 16 : ConstMSEdgeVector prevEdges(myCurrEdge, myRoute->end());
7407 16 : const double savings = router.recomputeCosts(prevEdges, this, MSNet::getInstance()->getCurrentTimeStep());
7408 16 : if (replaceParkingArea(newParkingArea, errorMsg)) {
7409 16 : const bool onInit = myLane == nullptr;
7410 32 : replaceRouteEdges(edges, routeCost, savings, "TraCI:" + toString(SUMO_TAG_PARKING_AREA_REROUTE), onInit, false, false);
7411 : } else {
7412 0 : WRITE_WARNINGF("Vehicle '%' could not reroute to new parkingArea '%' reason=%, time=%.",
7413 : getID(), newParkingArea->getID(), errorMsg, time2string(SIMSTEP));
7414 0 : return false;
7415 : }
7416 16 : return true;
7417 16 : }
7418 :
7419 :
7420 : bool
7421 46192 : MSVehicle::addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) {
7422 46192 : const int numStops = (int)myStops.size();
7423 46192 : const bool result = MSBaseVehicle::addTraciStop(stop, errorMsg);
7424 46192 : if (myLane != nullptr && numStops != (int)myStops.size()) {
7425 44577 : updateBestLanes(true);
7426 : }
7427 46192 : return result;
7428 : }
7429 :
7430 :
7431 : bool
7432 3238 : MSVehicle::handleCollisionStop(MSStop& stop, const double distToStop) {
7433 3238 : if (myCurrEdge == stop.edge && distToStop + POSITION_EPS < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0)) {
7434 1495 : if (distToStop < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)) {
7435 1086 : double vNew = getCarFollowModel().maximumSafeStopSpeed(distToStop, getCarFollowModel().getMaxDecel(), getSpeed(), false, 0);
7436 : //std::cout << SIMTIME << " veh=" << getID() << " v=" << myState.mySpeed << " distToStop=" << distToStop
7437 : // << " vMinNex=" << getCarFollowModel().minNextSpeed(getSpeed(), this)
7438 : // << " bg1=" << getCarFollowModel().brakeGap(myState.mySpeed)
7439 : // << " bg2=" << getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)
7440 : // << " vNew=" << vNew
7441 : // << "\n";
7442 1086 : myState.mySpeed = MIN2(myState.mySpeed, vNew + ACCEL2SPEED(getCarFollowModel().getEmergencyDecel()));
7443 1086 : myState.myPos = MIN2(myState.myPos, stop.pars.endPos);
7444 1086 : myCachedPosition = Position::INVALID;
7445 1086 : if (myState.myPos < myType->getLength()) {
7446 453 : computeFurtherLanes(myLane, myState.myPos, true);
7447 453 : myAngle = computeAngle();
7448 453 : if (myLaneChangeModel->isOpposite()) {
7449 0 : myAngle += M_PI;
7450 : }
7451 : }
7452 : }
7453 : }
7454 3238 : return true;
7455 : }
7456 :
7457 :
7458 : bool
7459 24173029 : MSVehicle::resumeFromStopping() {
7460 24173029 : if (isStopped()) {
7461 49368 : if (myAmRegisteredAsWaiting) {
7462 750 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
7463 750 : myAmRegisteredAsWaiting = false;
7464 : }
7465 : MSStop& stop = myStops.front();
7466 : // we have waited long enough and fulfilled any passenger-requirements
7467 49368 : if (stop.busstop != nullptr) {
7468 : // inform bus stop about leaving it
7469 18592 : stop.busstop->leaveFrom(this);
7470 : }
7471 : // we have waited long enough and fulfilled any container-requirements
7472 49368 : if (stop.containerstop != nullptr) {
7473 : // inform container stop about leaving it
7474 530 : stop.containerstop->leaveFrom(this);
7475 : }
7476 49368 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
7477 : // inform parking area about leaving it
7478 8435 : stop.parkingarea->leaveFrom(this);
7479 : }
7480 49368 : if (stop.chargingStation != nullptr) {
7481 : // inform charging station about leaving it
7482 3583 : stop.chargingStation->leaveFrom(this);
7483 : }
7484 : // the current stop is no longer valid
7485 49368 : myLane->getEdge().removeWaiting(this);
7486 : // MSStopOut needs to know whether the stop had a loaded 'ended' value so we call this before replacing the value
7487 49368 : if (stop.pars.started == -1) {
7488 : // waypoint edge was passed in a single step
7489 334 : stop.pars.started = MSNet::getInstance()->getCurrentTimeStep();
7490 : }
7491 49368 : if (MSStopOut::active()) {
7492 4265 : MSStopOut::getInstance()->stopEnded(this, stop);
7493 : }
7494 49368 : stop.pars.ended = MSNet::getInstance()->getCurrentTimeStep();
7495 112403 : for (const auto& rem : myMoveReminders) {
7496 63035 : rem.first->notifyStopEnded();
7497 : }
7498 49368 : if (stop.pars.collision && MSLane::getCollisionAction() == MSLane::COLLISION_ACTION_WARN) {
7499 425 : myCollisionImmunity = TIME2STEPS(5); // leave the conflict area
7500 : }
7501 49368 : if (stop.pars.posLat != INVALID_DOUBLE && MSGlobals::gLateralResolution <= 0) {
7502 : // reset lateral position to default
7503 195 : myState.myPosLat = 0;
7504 : }
7505 49368 : const bool wasWaypoint = stop.getSpeed() > 0;
7506 49368 : myPastStops.push_back(stop.pars);
7507 49368 : myPastStops.back().routeIndex = (int)(stop.edge - myRoute->begin());
7508 49368 : myStops.pop_front();
7509 49368 : myStopDist = std::numeric_limits<double>::max();
7510 : // do not count the stopping time towards gridlock time.
7511 : // Other outputs use an independent counter and are not affected.
7512 49368 : myWaitingTime = 0;
7513 49368 : myStopSpeed = getCarFollowModel().maxNextSpeed(getSpeed(), this);
7514 : // maybe the next stop is on the same edge; let's rebuild best lanes
7515 49368 : updateBestLanes(true);
7516 : // continue as wished...
7517 49368 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::ENDING_STOP);
7518 49368 : MSNet::getInstance()->getVehicleControl().registerStopEnded();
7519 49368 : return !wasWaypoint;
7520 : }
7521 : return false;
7522 : }
7523 :
7524 :
7525 : MSVehicle::Influencer&
7526 4566636 : MSVehicle::getInfluencer() {
7527 4566636 : if (myInfluencer == nullptr) {
7528 3487 : myInfluencer = new Influencer();
7529 : }
7530 4566636 : return *myInfluencer;
7531 : }
7532 :
7533 : MSVehicle::BaseInfluencer&
7534 24 : MSVehicle::getBaseInfluencer() {
7535 24 : return getInfluencer();
7536 : }
7537 :
7538 :
7539 : const MSVehicle::Influencer*
7540 0 : MSVehicle::getInfluencer() const {
7541 0 : return myInfluencer;
7542 : }
7543 :
7544 : const MSVehicle::BaseInfluencer*
7545 237154 : MSVehicle::getBaseInfluencer() const {
7546 237154 : return myInfluencer;
7547 : }
7548 :
7549 :
7550 : double
7551 4078 : MSVehicle::getSpeedWithoutTraciInfluence() const {
7552 4078 : if (myInfluencer != nullptr && myInfluencer->getOriginalSpeed() >= 0) {
7553 : // influencer original speed is -1 on initialization
7554 1655 : return myInfluencer->getOriginalSpeed();
7555 : }
7556 2423 : return myState.mySpeed;
7557 : }
7558 :
7559 :
7560 : int
7561 999585049 : MSVehicle::influenceChangeDecision(int state) {
7562 999585049 : if (hasInfluencer()) {
7563 2829460 : state = getInfluencer().influenceChangeDecision(
7564 : MSNet::getInstance()->getCurrentTimeStep(),
7565 2829460 : myLane->getEdge(),
7566 : getLaneIndex(),
7567 : state);
7568 : }
7569 999585049 : return state;
7570 : }
7571 :
7572 :
7573 : void
7574 7339 : MSVehicle::setRemoteState(Position xyPos) {
7575 7339 : myCachedPosition = xyPos;
7576 7339 : }
7577 :
7578 :
7579 : bool
7580 796881565 : MSVehicle::isRemoteControlled() const {
7581 796881565 : return myInfluencer != nullptr && myInfluencer->isRemoteControlled();
7582 : }
7583 :
7584 :
7585 : bool
7586 20568 : MSVehicle::wasRemoteControlled(SUMOTime lookBack) const {
7587 20568 : return myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() + lookBack >= MSNet::getInstance()->getCurrentTimeStep();
7588 : }
7589 :
7590 :
7591 : bool
7592 541451501 : MSVehicle::keepClear(const MSLink* link) const {
7593 541451501 : if (link->hasFoes() && link->keepClear() /* && item.myLink->willHaveBlockedFoe()*/) {
7594 174550944 : const double keepClearTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_KEEPCLEAR_TIME, -1);
7595 : //std::cout << SIMTIME << " veh=" << getID() << " keepClearTime=" << keepClearTime << " accWait=" << getAccumulatedWaitingSeconds() << " keepClear=" << (keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime) << "\n";
7596 175973289 : return keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime;
7597 : } else {
7598 : return false;
7599 : }
7600 : }
7601 :
7602 :
7603 : bool
7604 731606905 : MSVehicle::ignoreRed(const MSLink* link, bool canBrake) const {
7605 731606905 : if ((myInfluencer != nullptr && !myInfluencer->getEmergencyBrakeRedLight())) {
7606 : return true;
7607 : }
7608 731299094 : const double ignoreRedTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME, -1);
7609 : #ifdef DEBUG_IGNORE_RED
7610 : if (DEBUG_COND) {
7611 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID() << " state=" << toString(link->getState()) << "\n";
7612 : }
7613 : #endif
7614 731299094 : if (ignoreRedTime < 0) {
7615 731293695 : const double ignoreYellowTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_YELLOW_TIME, 0);
7616 731293695 : if (ignoreYellowTime > 0 && link->haveYellow()) {
7617 : assert(link->getTLLogic() != 0);
7618 52 : const double yellowDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7619 : // when activating ignoreYellow behavior, vehicles will drive if they cannot brake
7620 92 : return !canBrake || ignoreYellowTime > yellowDuration;
7621 : } else {
7622 : return false;
7623 : }
7624 5399 : } else if (link->haveYellow()) {
7625 : // always drive at yellow when ignoring red
7626 : return true;
7627 5243 : } else if (link->haveRed()) {
7628 : assert(link->getTLLogic() != 0);
7629 3832 : const double redDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7630 : #ifdef DEBUG_IGNORE_RED
7631 : if (DEBUG_COND) {
7632 : std::cout
7633 : // << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID()
7634 : << " ignoreRedTime=" << ignoreRedTime
7635 : << " spentRed=" << redDuration
7636 : << " canBrake=" << canBrake << "\n";
7637 : }
7638 : #endif
7639 : // when activating ignoreRed behavior, vehicles will always drive if they cannot brake
7640 6356 : return !canBrake || ignoreRedTime > redDuration;
7641 : } else {
7642 : return false;
7643 : }
7644 : }
7645 :
7646 : bool
7647 1338114981 : MSVehicle::ignoreFoe(const SUMOTrafficObject* foe) const {
7648 1338114981 : if (!getParameter().wasSet(VEHPARS_CFMODEL_PARAMS_SET)) {
7649 : return false;
7650 : }
7651 2548 : for (const std::string& typeID : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_TYPES), "")).getVector()) {
7652 398 : if (typeID == foe->getVehicleType().getID()) {
7653 : return true;
7654 : }
7655 1274 : }
7656 2161 : for (const std::string& id : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_IDS), "")).getVector()) {
7657 876 : if (id == foe->getID()) {
7658 : return true;
7659 : }
7660 876 : }
7661 409 : return false;
7662 : }
7663 :
7664 : bool
7665 548958683 : MSVehicle::passingMinor() const {
7666 : // either on an internal lane that was entered via minor link
7667 : // or on approach to minor link below visibility distance
7668 548958683 : if (myLane == nullptr) {
7669 : return false;
7670 : }
7671 548958683 : if (myLane->getEdge().isInternal()) {
7672 10362557 : return !myLane->getIncomingLanes().front().viaLink->havePriority();
7673 538596126 : } else if (myLFLinkLanes.size() > 0 && myLFLinkLanes.front().myLink != nullptr) {
7674 : MSLink* link = myLFLinkLanes.front().myLink;
7675 281376995 : return !link->havePriority() && myLFLinkLanes.front().myDistance <= link->getFoeVisibilityDistance();
7676 : }
7677 : return false;
7678 : }
7679 :
7680 : bool
7681 21592940 : MSVehicle::isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const {
7682 : assert(link->fromInternalLane());
7683 21592940 : if (veh == nullptr) {
7684 : return false;
7685 : }
7686 21592940 : if (!myLane->isInternal() || myLane->getEdge().getToJunction() != link->getJunction()) {
7687 : // if this vehicle is not yet on the junction, every vehicle is a leader
7688 : return true;
7689 : }
7690 1984089 : if (veh->getLaneChangeModel().hasBlueLight()) {
7691 : // blue light device automatically gets right of way
7692 : return true;
7693 : }
7694 1983775 : const MSLane* foeLane = veh->getLane();
7695 1983775 : if (foeLane->isInternal()) {
7696 1486337 : if (foeLane->getEdge().getFromJunction() == link->getJunction()) {
7697 1465841 : SUMOTime egoET = myJunctionConflictEntryTime;
7698 1465841 : SUMOTime foeET = veh->myJunctionEntryTime;
7699 : // check relationship between link and foeLane
7700 1465841 : if (foeLane->getNormalPredecessorLane() == link->getInternalLaneBefore()->getNormalPredecessorLane()) {
7701 : // we are entering the junction from the same lane
7702 496795 : egoET = myJunctionEntryTimeNeverYield;
7703 496795 : foeET = veh->myJunctionEntryTimeNeverYield;
7704 496795 : if (link->isExitLinkAfterInternalJunction() && link->getInternalLaneBefore()->getLogicalPredecessorLane()->getEntryLink()->isIndirect()) {
7705 73850 : egoET = myJunctionConflictEntryTime;
7706 : }
7707 : } else {
7708 969046 : const MSLink* foeLink = foeLane->getIncomingLanes()[0].viaLink;
7709 969046 : const MSJunctionLogic* logic = link->getJunction()->getLogic();
7710 : assert(logic != nullptr);
7711 : // determine who has right of way
7712 : bool response; // ego response to foe
7713 : bool response2; // foe response to ego
7714 : // attempt 1: tlLinkState
7715 969046 : const MSLink* entry = link->getCorrespondingEntryLink();
7716 969046 : const MSLink* foeEntry = foeLink->getCorrespondingEntryLink();
7717 969046 : if (entry->haveRed() || foeEntry->haveRed()) {
7718 : // ensure that vehicles which are stuck on the intersection may exit
7719 116985 : if (!foeEntry->haveRed() && veh->getSpeed() > SUMO_const_haltingSpeed && gap < 0) {
7720 : // foe might be oncoming, don't drive unless foe can still brake safely
7721 11722 : const double foeNextSpeed = veh->getSpeed() + ACCEL2SPEED(veh->getCarFollowModel().getMaxAccel());
7722 11722 : const double foeBrakeGap = veh->getCarFollowModel().brakeGap(
7723 11722 : foeNextSpeed, veh->getCarFollowModel().getMaxDecel(), veh->getCarFollowModel().getHeadwayTime());
7724 : // the minGap was subtracted from gap in MSLink::getLeaderInfo (enlarging the negative gap)
7725 : // so the -2* makes it point in the right direction
7726 11722 : const double foeGap = -gap - veh->getLength() - 2 * getVehicleType().getMinGap();
7727 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7728 : if (DEBUG_COND) {
7729 : std::cout << " foeGap=" << foeGap << " foeBGap=" << foeBrakeGap << "\n";
7730 :
7731 : }
7732 : #endif
7733 11722 : if (foeGap < foeBrakeGap) {
7734 : response = true;
7735 : response2 = false;
7736 : } else {
7737 : response = false;
7738 : response2 = true;
7739 : }
7740 : } else {
7741 : // let conflict entry time decide
7742 : response = true;
7743 : response2 = true;
7744 : }
7745 852061 : } else if (entry->havePriority() != foeEntry->havePriority()) {
7746 642868 : response = !entry->havePriority();
7747 642868 : response2 = !foeEntry->havePriority();
7748 209193 : } else if (entry->haveYellow() && foeEntry->haveYellow()) {
7749 : // let the faster vehicle keep moving
7750 5720 : response = veh->getSpeed() >= getSpeed();
7751 5720 : response2 = getSpeed() >= veh->getSpeed();
7752 : } else {
7753 : // fallback if pedestrian crossings are involved
7754 203473 : response = logic->getResponseFor(link->getIndex()).test(foeLink->getIndex());
7755 203473 : response2 = logic->getResponseFor(foeLink->getIndex()).test(link->getIndex());
7756 : }
7757 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7758 : if (DEBUG_COND) {
7759 : std::cout << SIMTIME
7760 : << " foeLane=" << foeLane->getID()
7761 : << " foeLink=" << foeLink->getViaLaneOrLane()->getID()
7762 : << " linkIndex=" << link->getIndex()
7763 : << " foeLinkIndex=" << foeLink->getIndex()
7764 : << " entryState=" << toString(entry->getState())
7765 : << " entryState2=" << toString(foeEntry->getState())
7766 : << " response=" << response
7767 : << " response2=" << response2
7768 : << "\n";
7769 : }
7770 : #endif
7771 969046 : if (!response) {
7772 : // if we have right of way over the foe, entryTime does not matter
7773 82290 : foeET = veh->myJunctionConflictEntryTime;
7774 82290 : egoET = myJunctionEntryTime;
7775 886756 : } else if (response && response2) {
7776 : // in a mutual conflict scenario, use entry time to avoid deadlock
7777 128740 : foeET = veh->myJunctionConflictEntryTime;
7778 128740 : egoET = myJunctionConflictEntryTime;
7779 : }
7780 : }
7781 1465841 : if (egoET == foeET) {
7782 : // try to use speed as tie braker
7783 105570 : if (getSpeed() == veh->getSpeed()) {
7784 : // use ID as tie braker
7785 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7786 : if (DEBUG_COND) {
7787 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7788 : << " foeIsLeaderByID=" << (getID() < veh->getID()) << "\n";
7789 : }
7790 : #endif
7791 55370 : return getID() < veh->getID();
7792 : } else {
7793 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7794 : if (DEBUG_COND) {
7795 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7796 : << " foeIsLeaderBySpeed=" << (getSpeed() < veh->getSpeed())
7797 : << " v=" << getSpeed() << " foeV=" << veh->getSpeed()
7798 : << "\n";
7799 : }
7800 : #endif
7801 50200 : return getSpeed() < veh->getSpeed();
7802 : }
7803 : } else {
7804 : // leader was on the junction first
7805 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7806 : if (DEBUG_COND) {
7807 : std::cout << SIMTIME << " veh=" << getID() << " egoET " << egoET << " with foe " << veh->getID()
7808 : << " foeET=" << foeET << " isLeader=" << (egoET > foeET) << "\n";
7809 : }
7810 : #endif
7811 1360271 : return egoET > foeET;
7812 : }
7813 : } else {
7814 : // vehicle can only be partially on the junction. Must be a leader
7815 : return true;
7816 : }
7817 : } else {
7818 : // vehicle can only be partially on the junction. Must be a leader
7819 : return true;
7820 : }
7821 : }
7822 :
7823 : void
7824 2625 : MSVehicle::saveState(OutputDevice& out) {
7825 2625 : MSBaseVehicle::saveState(out);
7826 : // here starts the vehicle internal part (see loading)
7827 : std::vector<std::string> internals;
7828 2625 : internals.push_back(toString(myParameter->parametersSet));
7829 2625 : internals.push_back(toString(myDeparture));
7830 2625 : internals.push_back(toString(distance(myRoute->begin(), myCurrEdge)));
7831 2625 : internals.push_back(toString(myDepartPos));
7832 2625 : internals.push_back(toString(myWaitingTime));
7833 2625 : internals.push_back(toString(myTimeLoss));
7834 2625 : internals.push_back(toString(myLastActionTime));
7835 2625 : internals.push_back(toString(isStopped()));
7836 2625 : internals.push_back(toString(isStopped() ? myStops.front().duration : 0));
7837 2625 : internals.push_back(toString(myPastStops.size()));
7838 2625 : out.writeAttr(SUMO_ATTR_STATE, internals);
7839 2625 : out.writeAttr(SUMO_ATTR_POSITION, std::vector<double> { myState.myPos, myState.myBackPos, myState.myLastCoveredDist });
7840 2625 : out.writeAttr(SUMO_ATTR_SPEED, std::vector<double> { myState.mySpeed, myState.myPreviousSpeed });
7841 2625 : out.writeAttr(SUMO_ATTR_ANGLE, GeomHelper::naviDegree(myAngle));
7842 2625 : out.writeAttr(SUMO_ATTR_POSITION_LAT, myState.myPosLat);
7843 2625 : out.writeAttr(SUMO_ATTR_WAITINGTIME, myWaitingTimeCollector.getState());
7844 2625 : if (isStopped() && myStops.front().entryPos != getPositionOnLane()) {
7845 1 : out.writeAttr(SUMO_ATTR_ENTRYPOS, myStops.front().entryPos);
7846 : }
7847 2625 : myLaneChangeModel->saveState(out);
7848 : // save past stops
7849 5704 : for (SUMOVehicleParameter::Stop stop : myPastStops) {
7850 3079 : stop.write(out, false);
7851 : // do not write started and ended twice
7852 3079 : if ((stop.parametersSet & STOP_STARTED_SET) == 0) {
7853 3074 : out.writeAttr(SUMO_ATTR_STARTED, time2string(stop.started));
7854 : }
7855 3079 : if ((stop.parametersSet & STOP_ENDED_SET) == 0) {
7856 3074 : out.writeAttr(SUMO_ATTR_ENDED, time2string(stop.ended));
7857 : }
7858 3079 : stop.writeParams(out);
7859 3079 : out.closeTag();
7860 3079 : }
7861 : // save upcoming stops
7862 3114 : for (MSStop& stop : myStops) {
7863 489 : stop.write(out);
7864 : }
7865 : // save parameters and device states
7866 2625 : myParameter->writeParams(out);
7867 6619 : for (MSVehicleDevice* const dev : myDevices) {
7868 3994 : dev->saveState(out);
7869 : }
7870 2625 : if (myCFVariables != nullptr) {
7871 110 : myCFVariables->saveState(out, getCarFollowModel());
7872 : }
7873 2625 : out.closeTag();
7874 2625 : }
7875 :
7876 : void
7877 3483 : MSVehicle::loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) {
7878 3483 : if (!attrs.hasAttribute(SUMO_ATTR_POSITION)) {
7879 0 : throw ProcessError(TL("Error: Invalid vehicles in state (may be a meso state)!"));
7880 : }
7881 : bool ok;
7882 : int routeOffset;
7883 : bool stopped;
7884 : SUMOTime stopDuration;
7885 : int pastStops;
7886 :
7887 3483 : std::istringstream bis(attrs.getString(SUMO_ATTR_STATE));
7888 3483 : bis >> myParameter->parametersSet;
7889 3483 : bis >> myDeparture;
7890 3483 : bis >> routeOffset;
7891 3483 : bis >> myDepartPos;
7892 3483 : bis >> myWaitingTime;
7893 3483 : bis >> myTimeLoss;
7894 3483 : bis >> myLastActionTime;
7895 : bis >> stopped;
7896 : bis >> stopDuration;
7897 3483 : bis >> pastStops;
7898 :
7899 3483 : if (attrs.hasAttribute(SUMO_ATTR_ARRIVALPOS_RANDOMIZED)) {
7900 4 : myArrivalPos = attrs.get<double>(SUMO_ATTR_ARRIVALPOS_RANDOMIZED, getID().c_str(), ok);
7901 : }
7902 : // load stops
7903 : myStops.clear();
7904 3483 : addStops(!MSGlobals::gCheckRoutes, &myCurrEdge, false);
7905 :
7906 3483 : if (hasDeparted()) {
7907 1671 : myCurrEdge = myRoute->begin() + routeOffset;
7908 1671 : myDeparture -= offset;
7909 : // fix stops
7910 4726 : while (pastStops > 0) {
7911 : SUMOVehicleParameter::Stop& pars = const_cast<SUMOVehicleParameter::Stop&>(myStops.front().pars);
7912 : // assumed these attributes were only added to restore vehroute-output.exit-times
7913 3055 : if (!MSGlobals::gUseStopEnded) {
7914 3055 : pars.parametersSet &= ~STOP_ENDED_SET;
7915 : }
7916 3055 : if (!MSGlobals::gUseStopStarted) {
7917 3055 : pars.parametersSet &= ~STOP_STARTED_SET;
7918 : }
7919 6135 : for (const auto& rem : myMoveReminders) {
7920 3080 : rem.first->notifyStopEnded();
7921 : }
7922 3055 : myPastStops.push_back(myStops.front().pars);
7923 3055 : myPastStops.back().routeIndex = (int)(myStops.front().edge - myRoute->begin());
7924 3055 : myStops.pop_front();
7925 3055 : pastStops--;
7926 : }
7927 : // see MSBaseVehicle constructor
7928 1671 : if (myParameter->wasSet(VEHPARS_FORCE_REROUTE)) {
7929 1147 : calculateArrivalParams(true);
7930 : }
7931 : // a (tentative lane is needed for calling hasArrivedInternal
7932 1671 : myLane = (*myCurrEdge)->getLanes()[0];
7933 : }
7934 3483 : if (getActionStepLength() == DELTA_T && !isActionStep(SIMSTEP)) {
7935 1 : myLastActionTime -= (myLastActionTime - SIMSTEP) % DELTA_T;
7936 3 : WRITE_WARNINGF(TL("Action steps are out of sync for loaded vehicle '%'."), getID());
7937 : }
7938 3483 : std::istringstream pis(attrs.getString(SUMO_ATTR_POSITION));
7939 3483 : pis >> myState.myPos >> myState.myBackPos >> myState.myLastCoveredDist;
7940 3483 : std::istringstream sis(attrs.getString(SUMO_ATTR_SPEED));
7941 3483 : sis >> myState.mySpeed >> myState.myPreviousSpeed;
7942 3483 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7943 3483 : myAngle = GeomHelper::fromNaviDegree(attrs.getFloat(SUMO_ATTR_ANGLE));
7944 3483 : myRawAngle = myAngle;
7945 3483 : myState.myPosLat = attrs.getFloat(SUMO_ATTR_POSITION_LAT);
7946 3483 : std::istringstream dis(attrs.getString(SUMO_ATTR_DISTANCE));
7947 3483 : dis >> myOdometer >> myNumberReroutes;
7948 3483 : myWaitingTimeCollector.setState(attrs.getString(SUMO_ATTR_WAITINGTIME));
7949 3483 : if (stopped) {
7950 234 : double realPos = getPositionOnLane();
7951 234 : double entryPos = attrs.getOpt<double>(SUMO_ATTR_ENTRYPOS, getID().c_str(), ok, realPos);
7952 234 : myStops.front().startedFromState = true;
7953 234 : if (entryPos != realPos) {
7954 1 : myStops.front().entryPos = entryPos;
7955 : }
7956 234 : myLane = const_cast<MSLane*>(myStops.front().lane);
7957 234 : myStopDist = 0;
7958 234 : myState.myPos = entryPos; // fake position for replication stop entry which happened before the position was updated
7959 234 : processNextStop(getSpeed());
7960 234 : myState.myPos = realPos; // reset fake position
7961 234 : if (myStops.front().pars.parking != ParkingType::ONROAD) {
7962 : // processNextStop is called again during MSVehicleTransfer::loadState
7963 216 : stopDuration += getActionStepLength();
7964 : }
7965 234 : myStops.front().duration = stopDuration;
7966 234 : if (!MSGlobals::gUseStopStarted) {
7967 : SUMOVehicleParameter::Stop& pars = const_cast<SUMOVehicleParameter::Stop&>(myStops.front().pars);
7968 234 : pars.parametersSet &= ~STOP_STARTED_SET;
7969 : }
7970 : }
7971 3483 : myLaneChangeModel->loadState(attrs);
7972 : // no need to reset myCachedPosition here since state loading happens directly after creation
7973 3483 : }
7974 :
7975 : void
7976 32 : MSVehicle::loadPreviousApproaching(MSLink* link, bool setRequest,
7977 : SUMOTime arrivalTime, double arrivalSpeed,
7978 : double arrivalSpeedBraking,
7979 : double dist, double leaveSpeed) {
7980 : // ensure that approach information is reset on the next call to setApproachingForAllLinks
7981 32 : myLFLinkLanes.push_back(DriveProcessItem(link, 0, 0, setRequest,
7982 : arrivalTime, arrivalSpeed, arrivalSpeedBraking, dist, leaveSpeed));
7983 :
7984 32 : }
7985 :
7986 :
7987 : std::shared_ptr<MSSimpleDriverState>
7988 2565182 : MSVehicle::getDriverState() const {
7989 2565182 : return myDriverState->getDriverState();
7990 : }
7991 :
7992 :
7993 : double
7994 627638502 : MSVehicle::getFriction() const {
7995 627638502 : return myFrictionDevice == nullptr ? 1. : myFrictionDevice->getMeasuredFriction();
7996 : }
7997 :
7998 :
7999 : void
8000 196 : MSVehicle::setPreviousSpeed(double prevSpeed, double prevAcceleration) {
8001 196 : myState.mySpeed = MAX2(0., prevSpeed);
8002 : // also retcon acceleration
8003 196 : if (prevAcceleration != std::numeric_limits<double>::min()) {
8004 8 : myAcceleration = prevAcceleration;
8005 : } else {
8006 188 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
8007 : }
8008 196 : }
8009 :
8010 :
8011 : double
8012 1910676333 : MSVehicle::getCurrentApparentDecel() const {
8013 : //return MAX2(-myAcceleration, getCarFollowModel().getApparentDecel());
8014 1910676333 : return getCarFollowModel().getApparentDecel();
8015 : }
8016 :
8017 : /****************************************************************************/
8018 : bool
8019 32 : MSVehicle::setExitManoeuvre() {
8020 32 : return (myManoeuvre.configureExitManoeuvre(this));
8021 : }
8022 :
8023 : /* -------------------------------------------------------------------------
8024 : * methods of MSVehicle::manoeuvre
8025 : * ----------------------------------------------------------------------- */
8026 :
8027 4534083 : MSVehicle::Manoeuvre::Manoeuvre() : myManoeuvreStop(""), myManoeuvreStartTime(0), myManoeuvreCompleteTime(0), myManoeuvreType(MSVehicle::MANOEUVRE_NONE), myGUIIncrement(0) {}
8028 :
8029 :
8030 0 : MSVehicle::Manoeuvre::Manoeuvre(const Manoeuvre& manoeuvre) {
8031 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
8032 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
8033 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
8034 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
8035 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
8036 0 : }
8037 :
8038 :
8039 : MSVehicle::Manoeuvre&
8040 0 : MSVehicle::Manoeuvre::operator=(const Manoeuvre& manoeuvre) {
8041 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
8042 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
8043 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
8044 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
8045 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
8046 0 : return *this;
8047 : }
8048 :
8049 :
8050 : bool
8051 0 : MSVehicle::Manoeuvre::operator!=(const Manoeuvre& manoeuvre) {
8052 0 : return (myManoeuvreStop != manoeuvre.myManoeuvreStop ||
8053 0 : myManoeuvreStartTime != manoeuvre.myManoeuvreStartTime ||
8054 0 : myManoeuvreCompleteTime != manoeuvre.myManoeuvreCompleteTime ||
8055 0 : myManoeuvreType != manoeuvre.myManoeuvreType ||
8056 0 : myGUIIncrement != manoeuvre.myGUIIncrement
8057 0 : );
8058 : }
8059 :
8060 :
8061 : double
8062 450 : MSVehicle::Manoeuvre::getGUIIncrement() const {
8063 450 : return (myGUIIncrement);
8064 : }
8065 :
8066 :
8067 : MSVehicle::ManoeuvreType
8068 2971 : MSVehicle::Manoeuvre::getManoeuvreType() const {
8069 2971 : return (myManoeuvreType);
8070 : }
8071 :
8072 :
8073 : MSVehicle::ManoeuvreType
8074 2971 : MSVehicle::getManoeuvreType() const {
8075 2971 : return (myManoeuvre.getManoeuvreType());
8076 : }
8077 :
8078 :
8079 : void
8080 30 : MSVehicle::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
8081 30 : myManoeuvre.setManoeuvreType(mType);
8082 30 : }
8083 :
8084 :
8085 : void
8086 30 : MSVehicle::Manoeuvre::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
8087 30 : myManoeuvreType = mType;
8088 30 : }
8089 :
8090 :
8091 : bool
8092 30 : MSVehicle::Manoeuvre::configureEntryManoeuvre(MSVehicle* veh) {
8093 30 : if (!veh->hasStops()) {
8094 : return false; // should never happen - checked before call
8095 : }
8096 :
8097 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
8098 30 : const MSStop& stop = veh->getNextStop();
8099 :
8100 30 : int manoeuverAngle = stop.parkingarea->getLastFreeLotAngle();
8101 30 : double GUIAngle = stop.parkingarea->getLastFreeLotGUIAngle();
8102 30 : if (abs(GUIAngle) < 0.1) {
8103 : GUIAngle = -0.1; // Wiggle vehicle on parallel entry
8104 : }
8105 30 : myManoeuvreVehicleID = veh->getID();
8106 30 : myManoeuvreStop = stop.parkingarea->getID();
8107 30 : myManoeuvreType = MSVehicle::MANOEUVRE_ENTRY;
8108 30 : myManoeuvreStartTime = currentTime;
8109 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getEntryManoeuvreTime(manoeuverAngle);
8110 30 : myGUIIncrement = GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
8111 :
8112 : #ifdef DEBUG_STOPS
8113 : if (veh->isSelected()) {
8114 : 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 <<
8115 : " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
8116 : }
8117 : #endif
8118 :
8119 30 : return (true);
8120 : }
8121 :
8122 :
8123 : bool
8124 32 : MSVehicle::Manoeuvre::configureExitManoeuvre(MSVehicle* veh) {
8125 : // At the moment we only want to set for parking areas
8126 32 : if (!veh->hasStops()) {
8127 : return true;
8128 : }
8129 32 : if (veh->getNextStop().parkingarea == nullptr) {
8130 : return true;
8131 : }
8132 :
8133 30 : if (myManoeuvreType != MSVehicle::MANOEUVRE_NONE) {
8134 : return (false);
8135 : }
8136 :
8137 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
8138 :
8139 30 : int manoeuverAngle = veh->getCurrentParkingArea()->getManoeuverAngle(*veh);
8140 30 : double GUIAngle = veh->getCurrentParkingArea()->getGUIAngle(*veh);
8141 30 : if (abs(GUIAngle) < 0.1) {
8142 : GUIAngle = 0.1; // Wiggle vehicle on parallel exit
8143 : }
8144 :
8145 30 : myManoeuvreVehicleID = veh->getID();
8146 30 : myManoeuvreStop = veh->getCurrentParkingArea()->getID();
8147 30 : myManoeuvreType = MSVehicle::MANOEUVRE_EXIT;
8148 30 : myManoeuvreStartTime = currentTime;
8149 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getExitManoeuvreTime(manoeuverAngle);
8150 30 : myGUIIncrement = -GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
8151 30 : if (veh->remainingStopDuration() > 0) {
8152 20 : myManoeuvreCompleteTime += veh->remainingStopDuration();
8153 : }
8154 :
8155 : #ifdef DEBUG_STOPS
8156 : if (veh->isSelected()) {
8157 : std::cout << "EXIT manoeuvre start: vehicle=" << veh->getID() << " Manoeuvre Angle=" << manoeuverAngle << " increment=" << RAD2DEG(myGUIIncrement) << " currentTime=" << currentTime
8158 : << " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
8159 : }
8160 : #endif
8161 :
8162 : return (true);
8163 : }
8164 :
8165 :
8166 : bool
8167 222 : MSVehicle::Manoeuvre::entryManoeuvreIsComplete(MSVehicle* veh) {
8168 : // At the moment we only want to consider parking areas - need to check because we could be setting up a manoeuvre
8169 222 : if (!veh->hasStops()) {
8170 : return (true);
8171 : }
8172 : MSStop* currentStop = &veh->myStops.front();
8173 222 : if (currentStop->parkingarea == nullptr) {
8174 : return true;
8175 220 : } else if (currentStop->parkingarea->getID() != myManoeuvreStop || MSVehicle::MANOEUVRE_ENTRY != myManoeuvreType) {
8176 30 : if (configureEntryManoeuvre(veh)) {
8177 30 : MSNet::getInstance()->informVehicleStateListener(veh, MSNet::VehicleState::MANEUVERING);
8178 30 : return (false);
8179 : } else { // cannot configure entry so stop trying
8180 : return true;
8181 : }
8182 190 : } else if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8183 : return false;
8184 : } else { // manoeuvre complete
8185 30 : myManoeuvreType = MSVehicle::MANOEUVRE_NONE;
8186 30 : return true;
8187 : }
8188 : }
8189 :
8190 :
8191 : bool
8192 0 : MSVehicle::Manoeuvre::manoeuvreIsComplete(const ManoeuvreType checkType) const {
8193 0 : if (checkType != myManoeuvreType) {
8194 : return true; // we're not maneuvering / wrong manoeuvre
8195 : }
8196 :
8197 0 : if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8198 : return false;
8199 : } else {
8200 : return true;
8201 : }
8202 : }
8203 :
8204 :
8205 : bool
8206 6266 : MSVehicle::Manoeuvre::manoeuvreIsComplete() const {
8207 6266 : return (MSNet::getInstance()->getCurrentTimeStep() >= myManoeuvreCompleteTime);
8208 : }
8209 :
8210 :
8211 : bool
8212 6266 : MSVehicle::manoeuvreIsComplete() const {
8213 6266 : return (myManoeuvre.manoeuvreIsComplete());
8214 : }
8215 :
8216 :
8217 : std::pair<double, double>
8218 7440 : MSVehicle::estimateTimeToNextStop() const {
8219 7440 : if (hasStops()) {
8220 7440 : MSLane* lane = myLane;
8221 7440 : if (lane == nullptr) {
8222 : // not in network
8223 84 : lane = getEdge()->getLanes()[0];
8224 : }
8225 : const MSStop& stop = myStops.front();
8226 : auto it = myCurrEdge + 1;
8227 : // drive to end of current edge
8228 7440 : double dist = (lane->getLength() - getPositionOnLane());
8229 7440 : double travelTime = lane->getEdge().getMinimumTravelTime(this) * dist / lane->getLength();
8230 : // drive until stop edge
8231 8804 : while (it != myRoute->end() && it < stop.edge) {
8232 1364 : travelTime += (*it)->getMinimumTravelTime(this);
8233 1364 : dist += (*it)->getLength();
8234 : it++;
8235 : }
8236 : // drive up to the stop position
8237 7440 : const double stopEdgeDist = stop.pars.endPos - (lane == stop.lane ? lane->getLength() : 0);
8238 7440 : dist += stopEdgeDist;
8239 7440 : travelTime += stop.lane->getEdge().getMinimumTravelTime(this) * (stopEdgeDist / stop.lane->getLength());
8240 : // estimate time loss due to acceleration and deceleration
8241 : // maximum speed is limited by available distance:
8242 : const double a = getCarFollowModel().getMaxAccel();
8243 : const double b = getCarFollowModel().getMaxDecel();
8244 7440 : const double c = getSpeed();
8245 : const double d = dist;
8246 7440 : const double len = getVehicleType().getLength();
8247 7440 : const double vs = MIN2(MAX2(stop.getSpeed(), 0.0), stop.lane->getVehicleMaxSpeed(this));
8248 : // distAccel = (v - c)^2 / (2a)
8249 : // distDecel = (v + vs)*(v - vs) / 2b = (v^2 - vs^2) / (2b)
8250 : // distAccel + distDecel < d
8251 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))))
8252 14592 : + pow((a * vs), 2))))) * 0.5) + (c * b)) / (b + a));
8253 7440 : it = myCurrEdge;
8254 : double v0 = c;
8255 7440 : bool v0Stable = getAcceleration() == 0 && v0 > 0;
8256 : double timeLossAccel = 0;
8257 : double timeLossDecel = 0;
8258 : double timeLossLength = 0;
8259 17742 : while (it != myRoute->end() && it <= stop.edge) {
8260 10302 : double v = MIN2(maxVD, (*it)->getVehicleMaxSpeed(this));
8261 10302 : double edgeLength = (it == stop.edge ? stop.pars.endPos : (*it)->getLength()) - (it == myCurrEdge ? getPositionOnLane() : 0);
8262 10302 : if (edgeLength <= len && v0Stable && v0 < v) {
8263 : const double lengthDist = MIN2(len, edgeLength);
8264 20 : const double dTL = lengthDist / v0 - lengthDist / v;
8265 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " el=" << edgeLength << " lDist=" << lengthDist << " newTLL=" << dTL<< "\n";
8266 20 : timeLossLength += dTL;
8267 : }
8268 10302 : if (edgeLength > len) {
8269 9166 : const double dv = v - v0;
8270 9166 : if (dv > 0) {
8271 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8272 6504 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8273 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8274 6504 : timeLossAccel += dTA;
8275 : // time loss from vehicle length
8276 2662 : } else if (dv < 0) {
8277 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8278 540 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8279 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8280 540 : timeLossDecel += dTD;
8281 : }
8282 : v0 = v;
8283 : v0Stable = true;
8284 : }
8285 : it++;
8286 : }
8287 : // final deceleration to stop (may also be acceleration or deceleration to waypoint speed)
8288 : double v = vs;
8289 7440 : const double dv = v - v0;
8290 7440 : if (dv > 0) {
8291 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8292 144 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8293 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8294 144 : timeLossAccel += dTA;
8295 : // time loss from vehicle length
8296 7296 : } else if (dv < 0) {
8297 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8298 7268 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8299 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8300 7268 : timeLossDecel += dTD;
8301 : }
8302 7440 : const double result = travelTime + timeLossAccel + timeLossDecel + timeLossLength;
8303 : //std::cout << SIMTIME << " v=" << c << " a=" << a << " b=" << b << " maxVD=" << maxVD << " tt=" << travelTime
8304 : // << " ta=" << timeLossAccel << " td=" << timeLossDecel << " tl=" << timeLossLength << " res=" << result << "\n";
8305 7440 : return {MAX2(0.0, result), dist};
8306 : } else {
8307 0 : return {INVALID_DOUBLE, INVALID_DOUBLE};
8308 : }
8309 : }
8310 :
8311 :
8312 : double
8313 2457 : MSVehicle::getStopDelay() const {
8314 2457 : if (hasStops() && myStops.front().pars.until >= 0) {
8315 : const MSStop& stop = myStops.front();
8316 1612 : SUMOTime estimatedDepart = MSNet::getInstance()->getCurrentTimeStep() - DELTA_T;
8317 1612 : if (stop.reached) {
8318 802 : return STEPS2TIME(estimatedDepart + stop.duration - stop.pars.until);
8319 : }
8320 810 : if (stop.pars.duration > 0) {
8321 608 : estimatedDepart += stop.pars.duration;
8322 : }
8323 810 : estimatedDepart += TIME2STEPS(estimateTimeToNextStop().first);
8324 810 : const double result = MAX2(0.0, STEPS2TIME(estimatedDepart - stop.pars.until));
8325 810 : return result;
8326 : } else {
8327 : // vehicles cannot drive before 'until' so stop delay can never be
8328 : // negative and we can use -1 to signal "undefined"
8329 : return -1;
8330 : }
8331 : }
8332 :
8333 :
8334 : double
8335 5510 : MSVehicle::getStopArrivalDelay() const {
8336 5510 : if (hasStops() && myStops.front().pars.arrival >= 0) {
8337 : const MSStop& stop = myStops.front();
8338 4334 : if (stop.reached) {
8339 1304 : return STEPS2TIME(stop.pars.started - stop.pars.arrival);
8340 : } else {
8341 3030 : return STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep()) + estimateTimeToNextStop().first - STEPS2TIME(stop.pars.arrival);
8342 : }
8343 : } else {
8344 : // vehicles can arrive earlier than planned so arrival delay can be negative
8345 : return INVALID_DOUBLE;
8346 : }
8347 : }
8348 :
8349 :
8350 : const MSEdge*
8351 3135807465 : MSVehicle::getCurrentEdge() const {
8352 3135807465 : return myLane != nullptr ? &myLane->getEdge() : getEdge();
8353 : }
8354 :
8355 :
8356 : const MSEdge*
8357 3932 : MSVehicle::getNextEdgePtr() const {
8358 3932 : if (myLane == nullptr || (myCurrEdge + 1) == myRoute->end()) {
8359 8 : return nullptr;
8360 : }
8361 3924 : if (myLane->isInternal()) {
8362 568 : return &myLane->getCanonicalSuccessorLane()->getEdge();
8363 : } else {
8364 3356 : const MSEdge* nextNormal = succEdge(1);
8365 3356 : const MSEdge* nextInternal = myLane->getEdge().getInternalFollowingEdge(nextNormal, getVClass());
8366 3356 : return nextInternal ? nextInternal : nextNormal;
8367 : }
8368 : }
8369 :
8370 :
8371 : const MSLane*
8372 1602 : MSVehicle::getPreviousLane(const MSLane* current, int& furtherIndex) const {
8373 1602 : if (furtherIndex < (int)myFurtherLanes.size()) {
8374 1225 : return myFurtherLanes[furtherIndex++];
8375 : } else {
8376 : // try to use route information
8377 377 : int routeIndex = getRoutePosition();
8378 : bool resultInternal;
8379 377 : if (MSGlobals::gUsingInternalLanes && MSNet::getInstance()->hasInternalLinks()) {
8380 0 : if (myLane->isInternal()) {
8381 0 : if (furtherIndex % 2 == 0) {
8382 0 : routeIndex -= (furtherIndex + 0) / 2;
8383 : resultInternal = false;
8384 : } else {
8385 0 : routeIndex -= (furtherIndex + 1) / 2;
8386 : resultInternal = false;
8387 : }
8388 : } else {
8389 0 : if (furtherIndex % 2 != 0) {
8390 0 : routeIndex -= (furtherIndex + 1) / 2;
8391 : resultInternal = false;
8392 : } else {
8393 0 : routeIndex -= (furtherIndex + 2) / 2;
8394 : resultInternal = true;
8395 : }
8396 : }
8397 : } else {
8398 377 : routeIndex -= furtherIndex;
8399 : resultInternal = false;
8400 : }
8401 377 : furtherIndex++;
8402 377 : if (routeIndex >= 0) {
8403 163 : if (resultInternal) {
8404 0 : const MSEdge* prevNormal = myRoute->getEdges()[routeIndex];
8405 0 : for (MSLane* cand : prevNormal->getLanes()) {
8406 0 : for (MSLink* link : cand->getLinkCont()) {
8407 0 : if (link->getLane() == current) {
8408 0 : if (link->getViaLane() != nullptr) {
8409 : return link->getViaLane();
8410 : } else {
8411 0 : return const_cast<MSLane*>(link->getLaneBefore());
8412 : }
8413 : }
8414 : }
8415 : }
8416 : } else {
8417 163 : return myRoute->getEdges()[routeIndex]->getLanes()[0];
8418 : }
8419 : }
8420 : }
8421 : return current;
8422 : }
8423 :
8424 : SUMOTime
8425 1547622944 : MSVehicle::getWaitingTimeFor(const MSLink* link) const {
8426 : // this vehicle currently has the highest priority on the allway_stop
8427 1547622944 : return link == myHaveStoppedFor ? SUMOTime_MAX : getWaitingTime();
8428 : }
8429 :
8430 :
8431 : void
8432 694 : MSVehicle::resetApproachOnReroute() {
8433 : bool diverged = false;
8434 : const ConstMSEdgeVector& route = myRoute->getEdges();
8435 694 : int ri = getRoutePosition();
8436 2928 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
8437 2234 : if (dpi.myLink != nullptr) {
8438 2231 : if (!diverged) {
8439 2000 : const MSEdge* next = route[ri + 1];
8440 2000 : if (&dpi.myLink->getLane()->getEdge() != next) {
8441 : diverged = true;
8442 : } else {
8443 1935 : if (dpi.myLink->getViaLane() == nullptr) {
8444 : ri++;
8445 : }
8446 : }
8447 : }
8448 : if (diverged) {
8449 296 : dpi.myLink->removeApproaching(this);
8450 : }
8451 : }
8452 : }
8453 694 : }
8454 :
8455 :
8456 : bool
8457 14860139 : MSVehicle::instantStopping() const {
8458 14860139 : return myInfluencer && !myInfluencer->considerMaxDeceleration();
8459 : }
8460 :
8461 : /****************************************************************************/
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