Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2025 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSVehicle.cpp
15 : /// @author Christian Roessel
16 : /// @author Jakob Erdmann
17 : /// @author Bjoern Hendriks
18 : /// @author Daniel Krajzewicz
19 : /// @author Thimor Bohn
20 : /// @author Friedemann Wesner
21 : /// @author Laura Bieker
22 : /// @author Clemens Honomichl
23 : /// @author Michael Behrisch
24 : /// @author Axel Wegener
25 : /// @author Christoph Sommer
26 : /// @author Leonhard Luecken
27 : /// @author Lara Codeca
28 : /// @author Mirko Barthauer
29 : /// @date Mon, 05 Mar 2001
30 : ///
31 : // Representation of a vehicle in the micro simulation
32 : /****************************************************************************/
33 : #include <config.h>
34 :
35 : #include <iostream>
36 : #include <cassert>
37 : #include <cmath>
38 : #include <cstdlib>
39 : #include <algorithm>
40 : #include <map>
41 : #include <memory>
42 : #include <utils/common/ToString.h>
43 : #include <utils/common/FileHelpers.h>
44 : #include <utils/router/DijkstraRouter.h>
45 : #include <utils/common/MsgHandler.h>
46 : #include <utils/common/RandHelper.h>
47 : #include <utils/common/StringUtils.h>
48 : #include <utils/common/StdDefs.h>
49 : #include <utils/geom/GeomHelper.h>
50 : #include <utils/iodevices/OutputDevice.h>
51 : #include <utils/xml/SUMOSAXAttributes.h>
52 : #include <utils/vehicle/SUMOVehicleParserHelper.h>
53 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
54 : #include <microsim/transportables/MSPerson.h>
55 : #include <microsim/transportables/MSPModel.h>
56 : #include <microsim/devices/MSDevice_Transportable.h>
57 : #include <microsim/devices/MSDevice_DriverState.h>
58 : #include <microsim/devices/MSDevice_Friction.h>
59 : #include <microsim/devices/MSDevice_Taxi.h>
60 : #include <microsim/devices/MSDevice_Vehroutes.h>
61 : #include <microsim/devices/MSDevice_ElecHybrid.h>
62 : #include <microsim/devices/MSDevice_GLOSA.h>
63 : #include <microsim/output/MSStopOut.h>
64 : #include <microsim/trigger/MSChargingStation.h>
65 : #include <microsim/trigger/MSOverheadWire.h>
66 : #include <microsim/traffic_lights/MSTrafficLightLogic.h>
67 : #include <microsim/traffic_lights/MSRailSignalControl.h>
68 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
69 : #include <microsim/transportables/MSTransportableControl.h>
70 : #include <microsim/devices/MSDevice_Transportable.h>
71 : #include "MSEdgeControl.h"
72 : #include "MSVehicleControl.h"
73 : #include "MSInsertionControl.h"
74 : #include "MSVehicleTransfer.h"
75 : #include "MSGlobals.h"
76 : #include "MSJunctionLogic.h"
77 : #include "MSStop.h"
78 : #include "MSStoppingPlace.h"
79 : #include "MSParkingArea.h"
80 : #include "MSMoveReminder.h"
81 : #include "MSLane.h"
82 : #include "MSJunction.h"
83 : #include "MSEdge.h"
84 : #include "MSVehicleType.h"
85 : #include "MSNet.h"
86 : #include "MSRoute.h"
87 : #include "MSLeaderInfo.h"
88 : #include "MSDriverState.h"
89 : #include "MSVehicle.h"
90 :
91 :
92 : //#define DEBUG_PLAN_MOVE
93 : //#define DEBUG_PLAN_MOVE_LEADERINFO
94 : //#define DEBUG_CHECKREWINDLINKLANES
95 : //#define DEBUG_EXEC_MOVE
96 : //#define DEBUG_FURTHER
97 : //#define DEBUG_SETFURTHER
98 : //#define DEBUG_TARGET_LANE
99 : //#define DEBUG_STOPS
100 : //#define DEBUG_BESTLANES
101 : //#define DEBUG_IGNORE_RED
102 : //#define DEBUG_ACTIONSTEPS
103 : //#define DEBUG_NEXT_TURN
104 : //#define DEBUG_TRACI
105 : //#define DEBUG_REVERSE_BIDI
106 : //#define DEBUG_EXTRAPOLATE_DEPARTPOS
107 : //#define DEBUG_REMOTECONTROL
108 : //#define DEBUG_MOVEREMINDERS
109 : //#define DEBUG_COND (getID() == "ego")
110 : //#define DEBUG_COND (true)
111 : #define DEBUG_COND (isSelected())
112 : //#define DEBUG_COND2(obj) (obj->getID() == "ego")
113 : #define DEBUG_COND2(obj) (obj->isSelected())
114 :
115 : //#define PARALLEL_STOPWATCH
116 :
117 :
118 : #define STOPPING_PLACE_OFFSET 0.5
119 :
120 : #define CRLL_LOOK_AHEAD 5
121 :
122 : #define JUNCTION_BLOCKAGE_TIME 5 // s
123 :
124 : // @todo Calibrate with real-world values / make configurable
125 : #define DIST_TO_STOPLINE_EXPECT_PRIORITY 1.0
126 :
127 : #define NUMERICAL_EPS_SPEED (0.1 * NUMERICAL_EPS * TS)
128 :
129 : // ===========================================================================
130 : // static value definitions
131 : // ===========================================================================
132 : std::vector<MSLane*> MSVehicle::myEmptyLaneVector;
133 :
134 :
135 : // ===========================================================================
136 : // method definitions
137 : // ===========================================================================
138 : /* -------------------------------------------------------------------------
139 : * methods of MSVehicle::State
140 : * ----------------------------------------------------------------------- */
141 0 : MSVehicle::State::State(const State& state) {
142 0 : myPos = state.myPos;
143 0 : mySpeed = state.mySpeed;
144 0 : myPosLat = state.myPosLat;
145 0 : myBackPos = state.myBackPos;
146 0 : myPreviousSpeed = state.myPreviousSpeed;
147 0 : myLastCoveredDist = state.myLastCoveredDist;
148 0 : }
149 :
150 :
151 : MSVehicle::State&
152 3618849 : MSVehicle::State::operator=(const State& state) {
153 3618849 : myPos = state.myPos;
154 3618849 : mySpeed = state.mySpeed;
155 3618849 : myPosLat = state.myPosLat;
156 3618849 : myBackPos = state.myBackPos;
157 3618849 : myPreviousSpeed = state.myPreviousSpeed;
158 3618849 : myLastCoveredDist = state.myLastCoveredDist;
159 3618849 : 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 8205237 : MSVehicle::State::State(double pos, double speed, double posLat, double backPos, double previousSpeed) :
175 8205237 : myPos(pos), mySpeed(speed), myPosLat(posLat), myBackPos(backPos), myPreviousSpeed(previousSpeed), myLastCoveredDist(SPEED2DIST(speed)) {}
176 :
177 :
178 :
179 : /* -------------------------------------------------------------------------
180 : * methods of MSVehicle::WaitingTimeCollector
181 : * ----------------------------------------------------------------------- */
182 4586388 : MSVehicle::WaitingTimeCollector::WaitingTimeCollector(SUMOTime memory) : myMemorySize(memory) {}
183 :
184 :
185 : SUMOTime
186 1428993 : MSVehicle::WaitingTimeCollector::cumulatedWaitingTime(SUMOTime memorySpan) const {
187 : assert(memorySpan <= myMemorySize);
188 1428993 : if (memorySpan == -1) {
189 0 : memorySpan = myMemorySize;
190 : }
191 : SUMOTime totalWaitingTime = 0;
192 5945081 : for (const auto& interval : myWaitingIntervals) {
193 4516088 : if (interval.second >= memorySpan) {
194 655960 : if (interval.first >= memorySpan) {
195 : break;
196 : } else {
197 655960 : totalWaitingTime += memorySpan - interval.first;
198 : }
199 : } else {
200 3860128 : totalWaitingTime += interval.second - interval.first;
201 : }
202 : }
203 1428993 : return totalWaitingTime;
204 : }
205 :
206 :
207 : void
208 687092476 : MSVehicle::WaitingTimeCollector::passTime(SUMOTime dt, bool waiting) {
209 : auto i = myWaitingIntervals.begin();
210 : const auto end = myWaitingIntervals.end();
211 687092476 : const bool startNewInterval = i == end || (i->first != 0);
212 1106584707 : while (i != end) {
213 421679023 : i->first += dt;
214 421679023 : if (i->first >= myMemorySize) {
215 : break;
216 : }
217 419492231 : i->second += dt;
218 : i++;
219 : }
220 :
221 : // remove intervals beyond memorySize
222 : auto d = std::distance(i, end);
223 689279268 : while (d > 0) {
224 2186792 : myWaitingIntervals.pop_back();
225 2186792 : d--;
226 : }
227 :
228 687092476 : if (!waiting) {
229 : return;
230 84997431 : } else if (!startNewInterval) {
231 81570282 : myWaitingIntervals.begin()->first = 0;
232 : } else {
233 6854298 : myWaitingIntervals.push_front(std::make_pair(0, dt));
234 : }
235 : return;
236 : }
237 :
238 :
239 : const std::string
240 2477 : MSVehicle::WaitingTimeCollector::getState() const {
241 2477 : std::ostringstream state;
242 2477 : state << myMemorySize << " " << myWaitingIntervals.size();
243 3396 : for (const auto& interval : myWaitingIntervals) {
244 1838 : state << " " << interval.first << " " << interval.second;
245 : }
246 2477 : return state.str();
247 2477 : }
248 :
249 :
250 : void
251 4160 : MSVehicle::WaitingTimeCollector::setState(const std::string& state) {
252 4160 : std::istringstream is(state);
253 : int numIntervals;
254 : SUMOTime begin, end;
255 4160 : is >> myMemorySize >> numIntervals;
256 6915 : while (numIntervals-- > 0) {
257 : is >> begin >> end;
258 2755 : myWaitingIntervals.emplace_back(begin, end);
259 : }
260 4160 : }
261 :
262 :
263 : /* -------------------------------------------------------------------------
264 : * methods of MSVehicle::Influencer::GapControlState
265 : * ----------------------------------------------------------------------- */
266 : void
267 32 : MSVehicle::Influencer::GapControlVehStateListener::vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& /*info*/) {
268 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << ", to=" << to << std::endl;
269 32 : switch (to) {
270 5 : case MSNet::VehicleState::STARTING_TELEPORT:
271 : case MSNet::VehicleState::ARRIVED:
272 : case MSNet::VehicleState::STARTING_PARKING: {
273 : // Vehicle left road
274 : // Look up reference vehicle in refVehMap and in case deactivate corresponding gap control
275 5 : const MSVehicle* msVeh = static_cast<const MSVehicle*>(vehicle);
276 : // std::cout << "GapControlVehStateListener::vehicleStateChanged() vehicle=" << vehicle->getID() << " left the road." << std::endl;
277 5 : if (GapControlState::refVehMap.find(msVeh) != end(GapControlState::refVehMap)) {
278 : // std::cout << "GapControlVehStateListener::deactivating ref vehicle=" << vehicle->getID() << std::endl;
279 5 : GapControlState::refVehMap[msVeh]->deactivate();
280 : }
281 : }
282 5 : break;
283 32 : default:
284 : {};
285 : // do nothing, vehicle still on road
286 : }
287 32 : }
288 :
289 : std::map<const MSVehicle*, MSVehicle::Influencer::GapControlState*>
290 : MSVehicle::Influencer::GapControlState::refVehMap;
291 :
292 : MSVehicle::Influencer::GapControlVehStateListener* MSVehicle::Influencer::GapControlState::myVehStateListener(nullptr);
293 :
294 59 : MSVehicle::Influencer::GapControlState::GapControlState() :
295 59 : tauOriginal(-1), tauCurrent(-1), tauTarget(-1), addGapCurrent(-1), addGapTarget(-1),
296 59 : remainingDuration(-1), changeRate(-1), maxDecel(-1), referenceVeh(nullptr), active(false), gapAttained(false), prevLeader(nullptr),
297 59 : lastUpdate(-1), timeHeadwayIncrement(0.0), spaceHeadwayIncrement(0.0) {}
298 :
299 :
300 59 : MSVehicle::Influencer::GapControlState::~GapControlState() {
301 59 : deactivate();
302 59 : }
303 :
304 : void
305 59 : MSVehicle::Influencer::GapControlState::init() {
306 59 : if (MSNet::hasInstance()) {
307 59 : if (myVehStateListener == nullptr) {
308 : //std::cout << "GapControlState::init()" << std::endl;
309 59 : myVehStateListener = new GapControlVehStateListener();
310 59 : MSNet::getInstance()->addVehicleStateListener(myVehStateListener);
311 : }
312 : } else {
313 0 : WRITE_ERROR("MSVehicle::Influencer::GapControlState::init(): No MSNet instance found!")
314 : }
315 59 : }
316 :
317 : void
318 34009 : MSVehicle::Influencer::GapControlState::cleanup() {
319 34009 : if (myVehStateListener != nullptr) {
320 59 : MSNet::getInstance()->removeVehicleStateListener(myVehStateListener);
321 59 : delete myVehStateListener;
322 59 : myVehStateListener = nullptr;
323 : }
324 34009 : }
325 :
326 : void
327 59 : MSVehicle::Influencer::GapControlState::activate(double tauOrig, double tauNew, double additionalGap, double dur, double rate, double decel, const MSVehicle* refVeh) {
328 59 : if (MSGlobals::gUseMesoSim) {
329 0 : WRITE_ERROR(TL("No gap control available for meso."))
330 : } else {
331 : // always deactivate control before activating (triggers clean-up of refVehMap)
332 : // std::cout << "activate gap control with refVeh=" << (refVeh==nullptr? "NULL" : refVeh->getID()) << std::endl;
333 59 : tauOriginal = tauOrig;
334 59 : tauCurrent = tauOrig;
335 59 : tauTarget = tauNew;
336 59 : addGapCurrent = 0.0;
337 59 : addGapTarget = additionalGap;
338 59 : remainingDuration = dur;
339 59 : changeRate = rate;
340 59 : maxDecel = decel;
341 59 : referenceVeh = refVeh;
342 59 : active = true;
343 59 : gapAttained = false;
344 59 : prevLeader = nullptr;
345 59 : lastUpdate = SIMSTEP - DELTA_T;
346 59 : timeHeadwayIncrement = changeRate * TS * (tauTarget - tauOriginal);
347 59 : spaceHeadwayIncrement = changeRate * TS * addGapTarget;
348 :
349 59 : if (referenceVeh != nullptr) {
350 : // Add refVeh to refVehMap
351 13 : GapControlState::refVehMap[referenceVeh] = this;
352 : }
353 : }
354 59 : }
355 :
356 : void
357 118 : MSVehicle::Influencer::GapControlState::deactivate() {
358 118 : active = false;
359 118 : if (referenceVeh != nullptr) {
360 : // Remove corresponding refVehMapEntry if appropriate
361 13 : GapControlState::refVehMap.erase(referenceVeh);
362 13 : referenceVeh = nullptr;
363 : }
364 118 : }
365 :
366 :
367 : /* -------------------------------------------------------------------------
368 : * methods of MSVehicle::Influencer
369 : * ----------------------------------------------------------------------- */
370 3530 : MSVehicle::Influencer::Influencer() :
371 : myGapControlState(nullptr),
372 3530 : myOriginalSpeed(-1),
373 3530 : myLatDist(0),
374 3530 : mySpeedAdaptationStarted(true),
375 3530 : myConsiderSafeVelocity(true),
376 3530 : myConsiderSpeedLimit(true),
377 3530 : myConsiderMaxAcceleration(true),
378 3530 : myConsiderMaxDeceleration(true),
379 3530 : myRespectJunctionPriority(true),
380 3530 : myEmergencyBrakeRedLight(true),
381 3530 : myRespectJunctionLeaderPriority(true),
382 3530 : myLastRemoteAccess(-TIME2STEPS(20)),
383 3530 : myStrategicLC(LC_NOCONFLICT),
384 3530 : myCooperativeLC(LC_NOCONFLICT),
385 3530 : mySpeedGainLC(LC_NOCONFLICT),
386 3530 : myRightDriveLC(LC_NOCONFLICT),
387 3530 : mySublaneLC(LC_NOCONFLICT),
388 3530 : myTraciLaneChangePriority(LCP_URGENT),
389 3530 : myTraCISignals(-1)
390 3530 : {}
391 :
392 :
393 10590 : MSVehicle::Influencer::~Influencer() {}
394 :
395 : void
396 59 : MSVehicle::Influencer::init() {
397 59 : GapControlState::init();
398 59 : }
399 :
400 : void
401 34009 : MSVehicle::Influencer::cleanup() {
402 34009 : GapControlState::cleanup();
403 34009 : }
404 :
405 : void
406 42871 : MSVehicle::Influencer::setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine) {
407 42871 : mySpeedAdaptationStarted = true;
408 42871 : mySpeedTimeLine = speedTimeLine;
409 42871 : }
410 :
411 : void
412 59 : MSVehicle::Influencer::activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle* refVeh) {
413 59 : if (myGapControlState == nullptr) {
414 59 : myGapControlState = std::make_shared<GapControlState>();
415 59 : init(); // only does things on first call
416 : }
417 59 : myGapControlState->activate(originalTau, newTimeHeadway, newSpaceHeadway, duration, changeRate, maxDecel, refVeh);
418 59 : }
419 :
420 : void
421 10 : MSVehicle::Influencer::deactivateGapController() {
422 10 : if (myGapControlState != nullptr && myGapControlState->active) {
423 10 : myGapControlState->deactivate();
424 : }
425 10 : }
426 :
427 : void
428 8195 : MSVehicle::Influencer::setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine) {
429 8195 : myLaneTimeLine = laneTimeLine;
430 8195 : }
431 :
432 :
433 : void
434 9036 : MSVehicle::Influencer::adaptLaneTimeLine(int indexShift) {
435 19270 : for (auto& item : myLaneTimeLine) {
436 10234 : item.second += indexShift;
437 : }
438 9036 : }
439 :
440 :
441 : void
442 1487 : MSVehicle::Influencer::setSublaneChange(double latDist) {
443 1487 : myLatDist = latDist;
444 1487 : }
445 :
446 : int
447 74 : MSVehicle::Influencer::getSpeedMode() const {
448 74 : return (1 * myConsiderSafeVelocity +
449 74 : 2 * myConsiderMaxAcceleration +
450 74 : 4 * myConsiderMaxDeceleration +
451 74 : 8 * myRespectJunctionPriority +
452 74 : 16 * myEmergencyBrakeRedLight +
453 74 : 32 * !myRespectJunctionLeaderPriority + // inverted!
454 74 : 64 * !myConsiderSpeedLimit // inverted!
455 74 : );
456 : }
457 :
458 :
459 : int
460 1476 : MSVehicle::Influencer::getLaneChangeMode() const {
461 1476 : return (1 * myStrategicLC +
462 1476 : 4 * myCooperativeLC +
463 1476 : 16 * mySpeedGainLC +
464 1476 : 64 * myRightDriveLC +
465 1476 : 256 * myTraciLaneChangePriority +
466 1476 : 1024 * mySublaneLC);
467 : }
468 :
469 : SUMOTime
470 71 : MSVehicle::Influencer::getLaneTimeLineDuration() {
471 : SUMOTime duration = -1;
472 213 : for (std::vector<std::pair<SUMOTime, int>>::iterator i = myLaneTimeLine.begin(); i != myLaneTimeLine.end(); ++i) {
473 142 : if (duration < 0) {
474 71 : duration = i->first;
475 : } else {
476 71 : duration -= i->first;
477 : }
478 : }
479 71 : return -duration;
480 : }
481 :
482 : SUMOTime
483 0 : MSVehicle::Influencer::getLaneTimeLineEnd() {
484 0 : if (!myLaneTimeLine.empty()) {
485 0 : return myLaneTimeLine.back().first;
486 : } else {
487 : return -1;
488 : }
489 : }
490 :
491 :
492 : double
493 993643 : MSVehicle::Influencer::influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax) {
494 : // remove leading commands which are no longer valid
495 994975 : while (mySpeedTimeLine.size() == 1 || (mySpeedTimeLine.size() > 1 && currentTime > mySpeedTimeLine[1].first)) {
496 : mySpeedTimeLine.erase(mySpeedTimeLine.begin());
497 : }
498 :
499 993643 : if (!(mySpeedTimeLine.size() < 2 || currentTime < mySpeedTimeLine[0].first)) {
500 : // Speed advice is active -> compute new speed according to speedTimeLine
501 54372 : if (!mySpeedAdaptationStarted) {
502 0 : mySpeedTimeLine[0].second = speed;
503 0 : mySpeedAdaptationStarted = true;
504 : }
505 54372 : 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 108405 : const double td = MIN2(1.0, STEPS2TIME(currentTime - mySpeedTimeLine[0].first) / MAX2(TS, STEPS2TIME(mySpeedTimeLine[1].first - mySpeedTimeLine[0].first)));
507 :
508 54372 : speed = mySpeedTimeLine[0].second - (mySpeedTimeLine[0].second - mySpeedTimeLine[1].second) * td;
509 54372 : if (myConsiderSafeVelocity) {
510 : speed = MIN2(speed, vSafe);
511 : }
512 54372 : if (myConsiderMaxAcceleration) {
513 : speed = MIN2(speed, vMax);
514 : }
515 54372 : if (myConsiderMaxDeceleration) {
516 : speed = MAX2(speed, vMin);
517 : }
518 : }
519 993643 : return speed;
520 : }
521 :
522 : double
523 493531 : 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 493531 : if (myGapControlState != nullptr && myGapControlState->active) {
535 : // Determine leader and the speed that would be chosen by the gap controller
536 7778 : const double currentSpeed = veh->getSpeed();
537 7778 : const MSVehicle* msVeh = dynamic_cast<const MSVehicle*>(veh);
538 : assert(msVeh != nullptr);
539 7778 : const double desiredTargetTimeSpacing = myGapControlState->tauTarget * currentSpeed;
540 : std::pair<const MSVehicle*, double> leaderInfo;
541 7778 : if (myGapControlState->referenceVeh == nullptr) {
542 : // No reference vehicle specified -> use current leader as reference
543 7340 : const double brakeGap = msVeh->getBrakeGap(true);
544 14680 : leaderInfo = msVeh->getLeader(MAX2(desiredTargetTimeSpacing, myGapControlState->addGapCurrent) + MAX2(brakeGap, 20.0));
545 : #ifdef DEBUG_TRACI
546 : if DEBUG_COND2(veh) {
547 : std::cout << " --- no refVeh; myGapControlState->addGapCurrent: " << myGapControlState->addGapCurrent << ", brakeGap: " << brakeGap << " in simstep: " << SIMSTEP << std::endl;
548 : }
549 : #endif
550 : } else {
551 : // Control gap wrt reference vehicle
552 : const MSVehicle* leader = myGapControlState->referenceVeh;
553 438 : double dist = msVeh->getDistanceToPosition(leader->getPositionOnLane(), leader->getLane()) - leader->getLength();
554 438 : if (dist > 100000) {
555 : // Reference vehicle was not found downstream the ego's route
556 : // Maybe, it is behind the ego vehicle
557 42 : dist = - leader->getDistanceToPosition(msVeh->getPositionOnLane(), msVeh->getLane()) - leader->getLength();
558 : #ifdef DEBUG_TRACI
559 : if DEBUG_COND2(veh) {
560 : if (dist < -100000) {
561 : // also the ego vehicle is not ahead of the reference vehicle -> no CF-relation
562 : std::cout << " Ego and reference vehicle are not in CF relation..." << std::endl;
563 : } else {
564 : std::cout << " Reference vehicle is behind ego..." << std::endl;
565 : }
566 : }
567 : #endif
568 : }
569 438 : leaderInfo = std::make_pair(leader, dist - msVeh->getVehicleType().getMinGap());
570 : }
571 7778 : const double fakeDist = MAX2(0.0, leaderInfo.second - myGapControlState->addGapCurrent);
572 : #ifdef DEBUG_TRACI
573 : if DEBUG_COND2(veh) {
574 : const double desiredCurrentSpacing = myGapControlState->tauCurrent * currentSpeed;
575 : std::cout << " Gap control active:"
576 : << " currentSpeed=" << currentSpeed
577 : << ", desiredTargetTimeSpacing=" << desiredTargetTimeSpacing
578 : << ", desiredCurrentSpacing=" << desiredCurrentSpacing
579 : << ", leader=" << (leaderInfo.first == nullptr ? "NULL" : leaderInfo.first->getID())
580 : << ", dist=" << leaderInfo.second
581 : << ", fakeDist=" << fakeDist
582 : << ",\n tauOriginal=" << myGapControlState->tauOriginal
583 : << ", tauTarget=" << myGapControlState->tauTarget
584 : << ", tauCurrent=" << myGapControlState->tauCurrent
585 : << std::endl;
586 : }
587 : #endif
588 7778 : if (leaderInfo.first != nullptr) {
589 : if (myGapControlState->prevLeader != nullptr && myGapControlState->prevLeader != leaderInfo.first) {
590 : // TODO: The leader changed. What to do?
591 : }
592 : // Remember leader
593 7778 : myGapControlState->prevLeader = leaderInfo.first;
594 :
595 : // Calculate desired following speed assuming the alternative headway time
596 7778 : MSCFModel* cfm = (MSCFModel*) & (msVeh->getVehicleType().getCarFollowModel());
597 7778 : const double origTau = cfm->getHeadwayTime();
598 7778 : cfm->setHeadwayTime(myGapControlState->tauCurrent);
599 7778 : gapControlSpeed = MIN2(gapControlSpeed,
600 7778 : cfm->followSpeed(msVeh, currentSpeed, fakeDist, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first));
601 7778 : cfm->setHeadwayTime(origTau);
602 : #ifdef DEBUG_TRACI
603 : if DEBUG_COND2(veh) {
604 : std::cout << " -> gapControlSpeed=" << gapControlSpeed;
605 : if (myGapControlState->maxDecel > 0) {
606 : std::cout << ", with maxDecel bound: " << MAX2(gapControlSpeed, currentSpeed - TS * myGapControlState->maxDecel);
607 : }
608 : std::cout << std::endl;
609 : }
610 : #endif
611 7778 : if (myGapControlState->maxDecel > 0) {
612 2568 : gapControlSpeed = MAX2(gapControlSpeed, currentSpeed - TS * myGapControlState->maxDecel);
613 : }
614 : }
615 :
616 : // Update gap controller
617 : // Check (1) if the gap control has established the desired gap,
618 : // and (2) if it has maintained active for the given duration afterwards
619 7778 : if (myGapControlState->lastUpdate < currentTime) {
620 : #ifdef DEBUG_TRACI
621 : if DEBUG_COND2(veh) {
622 : std::cout << " Updating GapControlState." << std::endl;
623 : }
624 : #endif
625 7778 : if (myGapControlState->tauCurrent == myGapControlState->tauTarget && myGapControlState->addGapCurrent == myGapControlState->addGapTarget) {
626 2992 : if (!myGapControlState->gapAttained) {
627 : // Check if the desired gap was established (add the POSITION_EPS to avoid infinite asymptotic behavior without having established the gap)
628 4180 : myGapControlState->gapAttained = leaderInfo.first == nullptr || leaderInfo.second > MAX2(desiredTargetTimeSpacing, myGapControlState->addGapTarget) - POSITION_EPS;
629 : #ifdef DEBUG_TRACI
630 : if DEBUG_COND2(veh) {
631 : if (myGapControlState->gapAttained) {
632 : std::cout << " Target gap was established." << std::endl;
633 : }
634 : }
635 : #endif
636 : } else {
637 : // Count down remaining time if desired gap was established
638 924 : myGapControlState->remainingDuration -= TS;
639 : #ifdef DEBUG_TRACI
640 : if DEBUG_COND2(veh) {
641 : std::cout << " Gap control remaining duration: " << myGapControlState->remainingDuration << std::endl;
642 : }
643 : #endif
644 924 : if (myGapControlState->remainingDuration <= 0) {
645 : #ifdef DEBUG_TRACI
646 : if DEBUG_COND2(veh) {
647 : std::cout << " Gap control duration expired, deactivating control." << std::endl;
648 : }
649 : #endif
650 : // switch off gap control
651 44 : myGapControlState->deactivate();
652 : }
653 : }
654 : } else {
655 : // Adjust current headway values
656 4786 : myGapControlState->tauCurrent = MIN2(myGapControlState->tauCurrent + myGapControlState->timeHeadwayIncrement, myGapControlState->tauTarget);
657 5168 : myGapControlState->addGapCurrent = MIN2(myGapControlState->addGapCurrent + myGapControlState->spaceHeadwayIncrement, myGapControlState->addGapTarget);
658 : }
659 : }
660 7778 : if (myConsiderSafeVelocity) {
661 : gapControlSpeed = MIN2(gapControlSpeed, vSafe);
662 : }
663 7778 : if (myConsiderMaxAcceleration) {
664 : gapControlSpeed = MIN2(gapControlSpeed, vMax);
665 : }
666 7778 : if (myConsiderMaxDeceleration) {
667 : gapControlSpeed = MAX2(gapControlSpeed, vMin);
668 : }
669 : return MIN2(speed, gapControlSpeed);
670 : } else {
671 : return speed;
672 : }
673 : }
674 :
675 : double
676 7086 : MSVehicle::Influencer::getOriginalSpeed() const {
677 7086 : return myOriginalSpeed;
678 : }
679 :
680 : void
681 500112 : MSVehicle::Influencer::setOriginalSpeed(double speed) {
682 500112 : myOriginalSpeed = speed;
683 500112 : }
684 :
685 :
686 : int
687 2815542 : MSVehicle::Influencer::influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state) {
688 : // remove leading commands which are no longer valid
689 2815844 : 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 2815542 : if (myLaneTimeLine.size() >= 2 && currentTime >= myLaneTimeLine[0].first) {
695 177680 : const int destinationLaneIndex = myLaneTimeLine[1].second;
696 177680 : if (destinationLaneIndex < (int)currentEdge.getLanes().size()) {
697 177319 : if (currentLaneIndex > destinationLaneIndex) {
698 : changeRequest = REQUEST_RIGHT;
699 176236 : } else if (currentLaneIndex < destinationLaneIndex) {
700 : changeRequest = REQUEST_LEFT;
701 : } else {
702 : changeRequest = REQUEST_HOLD;
703 : }
704 361 : } else if (currentEdge.getLanes().back()->getOpposite() != nullptr) { // change to opposite direction driving
705 : changeRequest = REQUEST_LEFT;
706 361 : state = state | LCA_TRACI;
707 : }
708 : }
709 : // check whether the current reason shall be canceled / overridden
710 2815542 : if ((state & LCA_WANTS_LANECHANGE_OR_STAY) != 0) {
711 : // flags for the current reason
712 : LaneChangeMode mode = LC_NEVER;
713 1589592 : if ((state & LCA_TRACI) != 0 && myLatDist != 0) {
714 : // security checks
715 2825 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
716 670 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
717 2685 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
718 : }
719 : // continue sublane change manoeuvre
720 2825 : return state;
721 1586767 : } else if ((state & LCA_STRATEGIC) != 0) {
722 480032 : mode = myStrategicLC;
723 1106735 : } else if ((state & LCA_COOPERATIVE) != 0) {
724 172 : mode = myCooperativeLC;
725 1106563 : } else if ((state & LCA_SPEEDGAIN) != 0) {
726 42364 : mode = mySpeedGainLC;
727 1064199 : } else if ((state & LCA_KEEPRIGHT) != 0) {
728 5828 : mode = myRightDriveLC;
729 1058371 : } else if ((state & LCA_SUBLANE) != 0) {
730 1058369 : 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 1586765 : if (mode == LC_NEVER) {
737 : // cancel all lcModel requests
738 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
739 44249 : state &= ~LCA_URGENT;
740 44249 : if (changeRequest == REQUEST_NONE) {
741 : // also remove all reasons except TRACI
742 43685 : state &= ~LCA_CHANGE_REASONS | LCA_TRACI;
743 : }
744 1542518 : } else if (mode == LC_NOCONFLICT && changeRequest != REQUEST_NONE) {
745 6869 : if (
746 6869 : ((state & LCA_LEFT) != 0 && changeRequest != REQUEST_LEFT) ||
747 6619 : ((state & LCA_RIGHT) != 0 && changeRequest != REQUEST_RIGHT) ||
748 6098 : ((state & LCA_STAY) != 0 && changeRequest != REQUEST_HOLD)) {
749 : // cancel conflicting lcModel request
750 : state &= ~LCA_WANTS_LANECHANGE_OR_STAY;
751 935 : state &= ~LCA_URGENT;
752 : }
753 1535649 : } else if (mode == LC_ALWAYS) {
754 : // ignore any TraCI requests
755 : return state;
756 : }
757 : }
758 : // apply traci requests
759 2806293 : if (changeRequest == REQUEST_NONE) {
760 2635493 : return state;
761 : } else {
762 177214 : state |= LCA_TRACI;
763 : // security checks
764 177214 : if ((myTraciLaneChangePriority == LCP_ALWAYS)
765 174945 : || (myTraciLaneChangePriority == LCP_NOOVERLAP && (state & LCA_OVERLAPPING) == 0)) {
766 2761 : state &= ~(LCA_BLOCKED | LCA_OVERLAPPING);
767 : }
768 177214 : if (changeRequest != REQUEST_HOLD && myTraciLaneChangePriority != LCP_OPPORTUNISTIC) {
769 2531 : state |= LCA_URGENT;
770 : }
771 2560 : switch (changeRequest) {
772 : case REQUEST_HOLD:
773 174654 : return state | LCA_STAY;
774 1577 : case REQUEST_LEFT:
775 1577 : return state | LCA_LEFT;
776 983 : case REQUEST_RIGHT:
777 983 : return state | LCA_RIGHT;
778 : default:
779 : throw ProcessError(TL("should not happen"));
780 : }
781 : }
782 : }
783 :
784 :
785 : double
786 442 : MSVehicle::Influencer::changeRequestRemainingSeconds(const SUMOTime currentTime) const {
787 : assert(myLaneTimeLine.size() >= 2);
788 : assert(currentTime >= myLaneTimeLine[0].first);
789 442 : return STEPS2TIME(myLaneTimeLine[1].first - currentTime);
790 : }
791 :
792 :
793 : void
794 5063 : MSVehicle::Influencer::setSpeedMode(int speedMode) {
795 5063 : myConsiderSafeVelocity = ((speedMode & 1) != 0);
796 5063 : myConsiderMaxAcceleration = ((speedMode & 2) != 0);
797 5063 : myConsiderMaxDeceleration = ((speedMode & 4) != 0);
798 5063 : myRespectJunctionPriority = ((speedMode & 8) != 0);
799 5063 : myEmergencyBrakeRedLight = ((speedMode & 16) != 0);
800 5063 : myRespectJunctionLeaderPriority = ((speedMode & 32) == 0); // inverted!
801 5063 : myConsiderSpeedLimit = ((speedMode & 64) == 0); // inverted!
802 5063 : }
803 :
804 :
805 : void
806 18513 : MSVehicle::Influencer::setLaneChangeMode(int value) {
807 18513 : myStrategicLC = (LaneChangeMode)(value & (1 + 2));
808 18513 : myCooperativeLC = (LaneChangeMode)((value & (4 + 8)) >> 2);
809 18513 : mySpeedGainLC = (LaneChangeMode)((value & (16 + 32)) >> 4);
810 18513 : myRightDriveLC = (LaneChangeMode)((value & (64 + 128)) >> 6);
811 18513 : myTraciLaneChangePriority = (TraciLaneChangePriority)((value & (256 + 512)) >> 8);
812 18513 : mySublaneLC = (LaneChangeMode)((value & (1024 + 2048)) >> 10);
813 18513 : }
814 :
815 :
816 : void
817 7800 : MSVehicle::Influencer::setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t) {
818 7800 : myRemoteXYPos = xyPos;
819 7800 : myRemoteLane = l;
820 7800 : myRemotePos = pos;
821 7800 : myRemotePosLat = posLat;
822 7800 : myRemoteAngle = angle;
823 7800 : myRemoteEdgeOffset = edgeOffset;
824 7800 : myRemoteRoute = route;
825 7800 : myLastRemoteAccess = t;
826 7800 : }
827 :
828 :
829 : bool
830 1023799 : MSVehicle::Influencer::isRemoteControlled() const {
831 1023799 : return myLastRemoteAccess == MSNet::getInstance()->getCurrentTimeStep();
832 : }
833 :
834 :
835 : bool
836 488103 : MSVehicle::Influencer::isRemoteAffected(SUMOTime t) const {
837 488103 : return myLastRemoteAccess >= t - TIME2STEPS(10);
838 : }
839 :
840 :
841 : void
842 493531 : MSVehicle::Influencer::updateRemoteControlRoute(MSVehicle* v) {
843 493531 : if (myRemoteRoute.size() != 0 && myRemoteRoute != v->getRoute().getEdges()) {
844 : // only replace route at this time if the vehicle is moving with the flow
845 62 : const bool isForward = v->getLane() != 0 && &v->getLane()->getEdge() == myRemoteRoute[0];
846 : #ifdef DEBUG_REMOTECONTROL
847 : std::cout << SIMSTEP << " updateRemoteControlRoute veh=" << v->getID() << " old=" << toString(v->getRoute().getEdges()) << " new=" << toString(myRemoteRoute) << " fwd=" << isForward << "\n";
848 : #endif
849 : if (isForward) {
850 10 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
851 10 : v->updateBestLanes();
852 : }
853 : }
854 493531 : }
855 :
856 :
857 : void
858 7775 : MSVehicle::Influencer::postProcessRemoteControl(MSVehicle* v) {
859 7775 : const bool wasOnRoad = v->isOnRoad();
860 7775 : const bool withinLane = myRemoteLane != nullptr && fabs(myRemotePosLat) < 0.5 * (myRemoteLane->getWidth() + v->getVehicleType().getWidth());
861 7775 : const bool keepLane = wasOnRoad && v->getLane() == myRemoteLane;
862 7775 : if (v->isOnRoad() && !(keepLane && withinLane)) {
863 150 : if (myRemoteLane != nullptr && &v->getLane()->getEdge() == &myRemoteLane->getEdge()) {
864 : // correct odometer which gets incremented via onRemovalFromNet->leaveLane
865 71 : v->myOdometer -= v->getLane()->getLength();
866 : }
867 150 : v->onRemovalFromNet(MSMoveReminder::NOTIFICATION_TELEPORT);
868 150 : v->getMutableLane()->removeVehicle(v, MSMoveReminder::NOTIFICATION_TELEPORT, false);
869 : }
870 7775 : if (myRemoteRoute.size() != 0 && myRemoteRoute != v->getRoute().getEdges()) {
871 : // needed for the insertion step
872 : #ifdef DEBUG_REMOTECONTROL
873 : std::cout << SIMSTEP << " postProcessRemoteControl veh=" << v->getID()
874 : << "\n oldLane=" << Named::getIDSecure(v->getLane())
875 : << " oldRoute=" << toString(v->getRoute().getEdges())
876 : << "\n newLane=" << Named::getIDSecure(myRemoteLane)
877 : << " newRoute=" << toString(myRemoteRoute)
878 : << " newRouteEdge=" << myRemoteRoute[myRemoteEdgeOffset]->getID()
879 : << "\n";
880 : #endif
881 : // clear any prior stops because they cannot apply to the new route
882 67 : const_cast<SUMOVehicleParameter&>(v->getParameter()).stops.clear();
883 134 : v->replaceRouteEdges(myRemoteRoute, -1, 0, "traci:moveToXY", true);
884 : myRemoteRoute.clear();
885 : }
886 7775 : v->myCurrEdge = v->getRoute().begin() + myRemoteEdgeOffset;
887 7775 : if (myRemoteLane != nullptr && myRemotePos > myRemoteLane->getLength()) {
888 0 : myRemotePos = myRemoteLane->getLength();
889 : }
890 7775 : if (myRemoteLane != nullptr && withinLane) {
891 7593 : if (keepLane) {
892 : // TODO this handles only the case when the new vehicle is completely on the edge
893 7415 : const bool needFurtherUpdate = v->myState.myPos < v->getVehicleType().getLength() && myRemotePos >= v->getVehicleType().getLength();
894 7415 : v->myState.myPos = myRemotePos;
895 7415 : v->myState.myPosLat = myRemotePosLat;
896 7415 : if (needFurtherUpdate) {
897 5 : v->myState.myBackPos = v->updateFurtherLanes(v->myFurtherLanes, v->myFurtherLanesPosLat, std::vector<MSLane*>());
898 : }
899 : } else {
900 178 : MSMoveReminder::Notification notify = v->getDeparture() == NOT_YET_DEPARTED
901 178 : ? MSMoveReminder::NOTIFICATION_DEPARTED
902 : : MSMoveReminder::NOTIFICATION_TELEPORT_ARRIVED;
903 178 : if (!v->isOnRoad()) {
904 178 : MSVehicleTransfer::getInstance()->remove(v); // TODO may need optimization, this is linear in the number of vehicles in transfer
905 : }
906 178 : myRemoteLane->forceVehicleInsertion(v, myRemotePos, notify, myRemotePosLat);
907 178 : v->updateBestLanes();
908 : }
909 7593 : if (!wasOnRoad) {
910 65 : v->drawOutsideNetwork(false);
911 : }
912 : //std::cout << "on road network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << " pos=" << myRemotePos << " posLat=" << myRemotePosLat << "\n";
913 7593 : myRemoteLane->requireCollisionCheck();
914 : } else {
915 182 : if (v->getDeparture() == NOT_YET_DEPARTED) {
916 5 : v->onDepart();
917 : }
918 182 : v->drawOutsideNetwork(true);
919 : // see updateState
920 182 : double vNext = v->processTraCISpeedControl(
921 182 : v->getMaxSpeed(), v->getSpeed());
922 182 : v->setBrakingSignals(vNext);
923 182 : v->myState.myPreviousSpeed = v->getSpeed();
924 182 : v->myAcceleration = SPEED2ACCEL(vNext - v->getSpeed());
925 182 : v->myState.mySpeed = vNext;
926 182 : v->updateWaitingTime(vNext);
927 : //std::cout << "outside network p=" << myRemoteXYPos << " a=" << myRemoteAngle << " l=" << Named::getIDSecure(myRemoteLane) << "\n";
928 : }
929 : // ensure that the position is correct (i.e. when the lanePosition is ambiguous at corners)
930 7775 : v->setRemoteState(myRemoteXYPos);
931 7775 : v->setAngle(GeomHelper::fromNaviDegree(myRemoteAngle));
932 7775 : }
933 :
934 :
935 : double
936 7752 : MSVehicle::Influencer::implicitSpeedRemote(const MSVehicle* veh, double oldSpeed) {
937 7752 : if (veh->getPosition() == Position::INVALID) {
938 10 : return oldSpeed;
939 : }
940 7742 : double dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
941 7742 : if (myRemoteLane != nullptr) {
942 : // if the vehicles is frequently placed on a new edge, the route may
943 : // consist only of a single edge. In this case the new edge may not be
944 : // on the route so distAlongRoute will be double::max.
945 : // In this case we still want a sensible speed value
946 7600 : const double distAlongRoute = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
947 7600 : if (distAlongRoute != std::numeric_limits<double>::max()) {
948 : dist = distAlongRoute;
949 : }
950 : }
951 : //std::cout << SIMTIME << " veh=" << veh->getID() << " oldPos=" << veh->getPosition() << " traciPos=" << myRemoteXYPos << " dist=" << dist << "\n";
952 7742 : const double minSpeed = myConsiderMaxDeceleration ?
953 5034 : veh->getCarFollowModel().minNextSpeedEmergency(oldSpeed, veh) : 0;
954 7742 : const double maxSpeed = (myRemoteLane != nullptr
955 7742 : ? myRemoteLane->getVehicleMaxSpeed(veh)
956 142 : : (veh->getLane() != nullptr
957 142 : ? veh->getLane()->getVehicleMaxSpeed(veh)
958 5 : : veh->getMaxSpeed()));
959 7742 : return MIN2(maxSpeed, MAX2(minSpeed, DIST2SPEED(dist)));
960 : }
961 :
962 :
963 : double
964 7580 : MSVehicle::Influencer::implicitDeltaPosRemote(const MSVehicle* veh) {
965 : double dist = 0;
966 7580 : if (myRemoteLane == nullptr) {
967 6 : dist = veh->getPosition().distanceTo2D(myRemoteXYPos);
968 : } else {
969 : // if the vehicles is frequently placed on a new edge, the route may
970 : // consist only of a single edge. In this case the new edge may not be
971 : // on the route so getDistanceToPosition will return double::max.
972 : // In this case we would rather not move the vehicle in executeMove
973 : // (updateState) as it would result in emergency braking
974 7574 : dist = veh->getDistanceToPosition(myRemotePos, myRemoteLane);
975 : }
976 7580 : if (dist == std::numeric_limits<double>::max()) {
977 : return 0;
978 : } else {
979 7339 : if (DIST2SPEED(dist) > veh->getMaxSpeed() * 1.1) {
980 48 : WRITE_WARNINGF(TL("Vehicle '%' moved by TraCI from % to % (dist %) with implied speed of % (exceeding maximum speed %). time=%."),
981 : veh->getID(), veh->getPosition(), myRemoteXYPos, dist, DIST2SPEED(dist), veh->getMaxSpeed(), time2string(SIMSTEP));
982 : // some sanity check here
983 16 : dist = MIN2(dist, SPEED2DIST(veh->getMaxSpeed() * 2));
984 : }
985 7339 : return dist;
986 : }
987 : }
988 :
989 :
990 : /* -------------------------------------------------------------------------
991 : * MSVehicle-methods
992 : * ----------------------------------------------------------------------- */
993 4586388 : MSVehicle::MSVehicle(SUMOVehicleParameter* pars, ConstMSRoutePtr route,
994 4586388 : MSVehicleType* type, const double speedFactor) :
995 : MSBaseVehicle(pars, route, type, speedFactor),
996 4586388 : myWaitingTime(0),
997 4586388 : myWaitingTimeCollector(),
998 4586388 : myTimeLoss(0),
999 4586388 : myState(0, 0, 0, 0, 0),
1000 4586388 : myDriverState(nullptr),
1001 4586388 : myActionStep(true),
1002 4586388 : myLastActionTime(0),
1003 4586388 : myLane(nullptr),
1004 4586388 : myLaneChangeModel(nullptr),
1005 4586388 : myLastBestLanesEdge(nullptr),
1006 4586388 : myLastBestLanesInternalLane(nullptr),
1007 4586388 : myAcceleration(0),
1008 : myNextTurn(0., nullptr),
1009 4586388 : mySignals(0),
1010 4586388 : myAmOnNet(false),
1011 4586388 : myAmIdling(false),
1012 4586388 : myHaveToWaitOnNextLink(false),
1013 4586388 : myAngle(0),
1014 4586388 : myStopDist(std::numeric_limits<double>::max()),
1015 4586388 : myCollisionImmunity(-1),
1016 4586388 : myCachedPosition(Position::INVALID),
1017 4586388 : myJunctionEntryTime(SUMOTime_MAX),
1018 4586388 : myJunctionEntryTimeNeverYield(SUMOTime_MAX),
1019 4586388 : myJunctionConflictEntryTime(SUMOTime_MAX),
1020 4586388 : myTimeSinceStartup(TIME2STEPS(3600 * 24)),
1021 4586388 : myHaveStoppedFor(nullptr),
1022 13759164 : myInfluencer(nullptr) {
1023 4586388 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
1024 4586388 : myNextDriveItem = myLFLinkLanes.begin();
1025 4586388 : }
1026 :
1027 :
1028 8673656 : MSVehicle::~MSVehicle() {
1029 4586300 : cleanupFurtherLanes();
1030 4586300 : delete myLaneChangeModel;
1031 4586300 : if (myType->isVehicleSpecific()) {
1032 309 : MSNet::getInstance()->getVehicleControl().removeVType(myType);
1033 : }
1034 4586300 : delete myInfluencer;
1035 4586300 : delete myCFVariables;
1036 13259956 : }
1037 :
1038 :
1039 : void
1040 4586862 : MSVehicle::cleanupFurtherLanes() {
1041 4589144 : for (MSLane* further : myFurtherLanes) {
1042 2282 : further->resetPartialOccupation(this);
1043 2282 : if (further->getBidiLane() != nullptr
1044 2282 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
1045 0 : further->getBidiLane()->resetPartialOccupation(this);
1046 : }
1047 : }
1048 4586862 : if (myLaneChangeModel != nullptr) {
1049 4586828 : removeApproachingInformation(myLFLinkLanes);
1050 4586828 : myLaneChangeModel->cleanupShadowLane();
1051 4586828 : myLaneChangeModel->cleanupTargetLane();
1052 : // still needed when calling resetPartialOccupation (getShadowLane) and when removing
1053 : // approach information from parallel links
1054 : }
1055 : myFurtherLanes.clear();
1056 : myFurtherLanesPosLat.clear();
1057 4586862 : }
1058 :
1059 :
1060 : void
1061 3455634 : MSVehicle::onRemovalFromNet(const MSMoveReminder::Notification reason) {
1062 : #ifdef DEBUG_ACTIONSTEPS
1063 : if (DEBUG_COND) {
1064 : std::cout << SIMTIME << " Removing vehicle '" << getID() << "' (reason: " << toString(reason) << ")" << std::endl;
1065 : }
1066 : #endif
1067 3455634 : MSVehicleTransfer::getInstance()->remove(this);
1068 3455634 : removeApproachingInformation(myLFLinkLanes);
1069 3455634 : leaveLane(reason);
1070 3455634 : if (reason == MSMoveReminder::NOTIFICATION_VAPORIZED_COLLISION) {
1071 562 : cleanupFurtherLanes();
1072 : }
1073 3455634 : }
1074 :
1075 :
1076 : void
1077 4586388 : MSVehicle::initDevices() {
1078 4586388 : MSBaseVehicle::initDevices();
1079 4586376 : myLaneChangeModel = MSAbstractLaneChangeModel::build(myType->getLaneChangeModel(), *this);
1080 4586354 : myDriverState = static_cast<MSDevice_DriverState*>(getDevice(typeid(MSDevice_DriverState)));
1081 4586354 : myFrictionDevice = static_cast<MSDevice_Friction*>(getDevice(typeid(MSDevice_Friction)));
1082 4586354 : }
1083 :
1084 :
1085 : // ------------ interaction with the route
1086 : bool
1087 6972191833 : MSVehicle::hasValidRouteStart(std::string& msg) {
1088 : // note: not a const method because getDepartLane may call updateBestLanes
1089 6972191833 : if (!(*myCurrEdge)->isTazConnector()) {
1090 6971761501 : if (myParameter->departLaneProcedure == DepartLaneDefinition::GIVEN) {
1091 50427626 : if ((*myCurrEdge)->getDepartLane(*this) == nullptr) {
1092 122 : msg = "Invalid departlane definition for vehicle '" + getID() + "'.";
1093 61 : if (myParameter->departLane >= (int)(*myCurrEdge)->getLanes().size()) {
1094 11 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1095 : } else {
1096 50 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1097 : }
1098 61 : return false;
1099 : }
1100 : } else {
1101 6921333875 : if ((*myCurrEdge)->allowedLanes(getVClass(), ignoreTransientPermissions()) == nullptr) {
1102 146 : msg = "Vehicle '" + getID() + "' is not allowed to depart on any lane of edge '" + (*myCurrEdge)->getID() + "'.";
1103 73 : myRouteValidity |= ROUTE_START_INVALID_PERMISSIONS;
1104 73 : return false;
1105 : }
1106 : }
1107 6971761367 : if (myParameter->departSpeedProcedure == DepartSpeedDefinition::GIVEN && myParameter->departSpeed > myType->getMaxSpeed() + SPEED_EPS) {
1108 38 : msg = "Departure speed for vehicle '" + getID() + "' is too high for the vehicle type '" + myType->getID() + "'.";
1109 19 : myRouteValidity |= ROUTE_START_INVALID_LANE;
1110 19 : return false;
1111 : }
1112 : }
1113 6972191680 : myRouteValidity &= ~(ROUTE_START_INVALID_LANE | ROUTE_START_INVALID_PERMISSIONS);
1114 6972191680 : return true;
1115 : }
1116 :
1117 :
1118 : bool
1119 701415126 : MSVehicle::hasArrived() const {
1120 701415126 : return hasArrivedInternal(false);
1121 : }
1122 :
1123 :
1124 : bool
1125 1411349891 : MSVehicle::hasArrivedInternal(bool oppositeTransformed) const {
1126 2286465187 : return ((myCurrEdge == myRoute->end() - 1 || (myParameter->arrivalEdge >= 0 && getRoutePosition() >= myParameter->arrivalEdge))
1127 536283684 : && (myStops.empty() || myStops.front().edge != myCurrEdge || myStops.front().getSpeed() > 0)
1128 1004385036 : && ((myLaneChangeModel->isOpposite() && !oppositeTransformed) ? myLane->getLength() - myState.myPos : myState.myPos) > MIN2(myLane->getLength(), myArrivalPos) - POSITION_EPS
1129 1423311259 : && !isRemoteControlled());
1130 : }
1131 :
1132 :
1133 : bool
1134 1704317 : MSVehicle::replaceRoute(ConstMSRoutePtr newRoute, const std::string& info, bool onInit, int offset, bool addRouteStops, bool removeStops, std::string* msgReturn) {
1135 3408634 : if (MSBaseVehicle::replaceRoute(newRoute, info, onInit, offset, addRouteStops, removeStops, msgReturn)) {
1136 : // update best lanes (after stops were added)
1137 1704299 : myLastBestLanesEdge = nullptr;
1138 1704299 : myLastBestLanesInternalLane = nullptr;
1139 1704299 : updateBestLanes(true, onInit ? (*myCurrEdge)->getLanes().front() : 0);
1140 : assert(!removeStops || haveValidStopEdges());
1141 1704299 : if (myStops.size() == 0) {
1142 1671533 : myStopDist = std::numeric_limits<double>::max();
1143 : }
1144 1704299 : return true;
1145 : }
1146 : return false;
1147 : }
1148 :
1149 :
1150 : // ------------ Interaction with move reminders
1151 : void
1152 687199929 : MSVehicle::workOnMoveReminders(double oldPos, double newPos, double newSpeed) {
1153 : // This erasure-idiom works for all stl-sequence-containers
1154 : // See Meyers: Effective STL, Item 9
1155 1818020867 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
1156 : // XXX: calling notifyMove with newSpeed seems not the best choice. For the ballistic update, the average speed is calculated and used
1157 : // although a higher order quadrature-formula might be more adequate.
1158 : // For the euler case (where the speed is considered constant for each time step) it is conceivable that
1159 : // the current calculations may lead to systematic errors for large time steps (compared to reality). Refs. #2579
1160 2261641876 : if (!rem->first->notifyMove(*this, oldPos + rem->second, newPos + rem->second, MAX2(0., newSpeed))) {
1161 : #ifdef _DEBUG
1162 : if (myTraceMoveReminders) {
1163 : traceMoveReminder("notifyMove", rem->first, rem->second, false);
1164 : }
1165 : #endif
1166 : rem = myMoveReminders.erase(rem);
1167 : } else {
1168 : #ifdef _DEBUG
1169 : if (myTraceMoveReminders) {
1170 : traceMoveReminder("notifyMove", rem->first, rem->second, true);
1171 : }
1172 : #endif
1173 : ++rem;
1174 : }
1175 : }
1176 687199929 : if (myEnergyParams != nullptr) {
1177 : // TODO make the vehicle energy params a derived class which is a move reminder
1178 129234770 : myEnergyParams->setDynamicValues(isStopped() ? getNextStop().duration : -1, isParking(), getWaitingTime(), getAngle());
1179 : }
1180 687199929 : }
1181 :
1182 :
1183 : void
1184 106321 : MSVehicle::workOnIdleReminders() {
1185 106321 : updateWaitingTime(0.); // cf issue 2233
1186 :
1187 : // vehicle move reminders
1188 132071 : for (const auto& rem : myMoveReminders) {
1189 25750 : rem.first->notifyIdle(*this);
1190 : }
1191 :
1192 : // lane move reminders - for aggregated values
1193 242827 : for (MSMoveReminder* rem : getLane()->getMoveReminders()) {
1194 136506 : rem->notifyIdle(*this);
1195 : }
1196 106321 : }
1197 :
1198 : // XXX: consider renaming...
1199 : void
1200 19767725 : MSVehicle::adaptLaneEntering2MoveReminder(const MSLane& enteredLane) {
1201 : // save the old work reminders, patching the position information
1202 : // add the information about the new offset to the old lane reminders
1203 19767725 : const double oldLaneLength = myLane->getLength();
1204 55894153 : for (auto& rem : myMoveReminders) {
1205 36126428 : rem.second += oldLaneLength;
1206 : #ifdef _DEBUG
1207 : // if (rem->first==0) std::cout << "Null reminder (?!)" << std::endl;
1208 : // std::cout << "Adapted MoveReminder on lane " << ((rem->first->getLane()==0) ? "NULL" : rem->first->getLane()->getID()) <<" position to " << rem->second << std::endl;
1209 : if (myTraceMoveReminders) {
1210 : traceMoveReminder("adaptedPos", rem.first, rem.second, true);
1211 : }
1212 : #endif
1213 : }
1214 34136441 : for (MSMoveReminder* const rem : enteredLane.getMoveReminders()) {
1215 14368716 : addReminder(rem);
1216 : }
1217 19767725 : }
1218 :
1219 :
1220 : // ------------ Other getter methods
1221 : double
1222 157608303 : MSVehicle::getSlope() const {
1223 157608303 : if (isParking() && getStops().begin()->parkingarea != nullptr) {
1224 3901 : return getStops().begin()->parkingarea->getVehicleSlope(*this);
1225 : }
1226 157604402 : if (myLane == nullptr) {
1227 : return 0;
1228 : }
1229 157604402 : const double posLat = myState.myPosLat; // @todo get rid of the '-'
1230 157604402 : Position p1 = getPosition();
1231 157604402 : Position p2 = getBackPosition();
1232 : if (p2 == Position::INVALID) {
1233 : // Handle special case of vehicle's back reaching out of the network
1234 6 : if (myFurtherLanes.size() > 0) {
1235 6 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1236 : if (p2 == Position::INVALID) {
1237 : // unsuitable lane geometry
1238 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1239 : }
1240 : } else {
1241 0 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1242 : }
1243 : }
1244 157604402 : return (p1 != p2 ? RAD2DEG(p2.slopeTo2D(p1)) : myLane->getShape().slopeDegreeAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1245 : }
1246 :
1247 :
1248 : Position
1249 911079915 : MSVehicle::getPosition(const double offset) const {
1250 911079915 : if (myLane == nullptr) {
1251 : // when called in the context of GUI-Drawing, the simulation step is already incremented
1252 174 : if (myInfluencer != nullptr && myInfluencer->isRemoteAffected(MSNet::getInstance()->getCurrentTimeStep())) {
1253 50 : return myCachedPosition;
1254 : } else {
1255 124 : return Position::INVALID;
1256 : }
1257 : }
1258 911079741 : if (isParking()) {
1259 4067170 : if (myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() > getNextStopParameter()->started) {
1260 153 : return myCachedPosition;
1261 : }
1262 4067017 : if (myStops.begin()->parkingarea != nullptr) {
1263 22395 : return myStops.begin()->parkingarea->getVehiclePosition(*this);
1264 : } else {
1265 : // position beside the road
1266 4044622 : PositionVector shp = myLane->getEdge().getLanes()[0]->getShape();
1267 8089124 : shp.move2side(SUMO_const_laneWidth * (MSGlobals::gLefthand ? -1 : 1));
1268 4044622 : return shp.positionAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane() + offset));
1269 4044622 : }
1270 : }
1271 907012571 : const bool changingLanes = myLaneChangeModel->isChangingLanes();
1272 1803874597 : const double posLat = (MSGlobals::gLefthand ? 1 : -1) * getLateralPositionOnLane();
1273 907012571 : if (offset == 0. && !changingLanes) {
1274 : if (myCachedPosition == Position::INVALID) {
1275 691616652 : myCachedPosition = validatePosition(myLane->geometryPositionAtOffset(myState.myPos, posLat));
1276 691616652 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1277 58610 : interpolateLateralZ(myCachedPosition, myState.myPos, posLat);
1278 : }
1279 : }
1280 900419811 : return myCachedPosition;
1281 : }
1282 6592760 : Position result = validatePosition(myLane->geometryPositionAtOffset(getPositionOnLane() + offset, posLat), offset);
1283 6592760 : interpolateLateralZ(result, getPositionOnLane() + offset, posLat);
1284 6592760 : return result;
1285 : }
1286 :
1287 :
1288 : void
1289 6932605 : MSVehicle::interpolateLateralZ(Position& pos, double offset, double posLat) const {
1290 6932605 : const MSLane* shadow = myLaneChangeModel->getShadowLane();
1291 6932605 : if (shadow != nullptr && pos != Position::INVALID) {
1292 : // ignore negative offset
1293 : const Position shadowPos = shadow->geometryPositionAtOffset(MAX2(0.0, offset));
1294 58284 : if (shadowPos != Position::INVALID && pos.z() != shadowPos.z()) {
1295 133 : const double centerDist = (myLane->getWidth() + shadow->getWidth()) * 0.5;
1296 133 : double relOffset = fabs(posLat) / centerDist;
1297 133 : double newZ = (1 - relOffset) * pos.z() + relOffset * shadowPos.z();
1298 : pos.setz(newZ);
1299 : }
1300 : }
1301 6932605 : }
1302 :
1303 :
1304 : double
1305 93474 : MSVehicle::getDistanceToLeaveJunction() const {
1306 93474 : double result = getLength() - getPositionOnLane();
1307 93474 : if (myLane->isNormal()) {
1308 : return MAX2(0.0, result);
1309 : }
1310 376 : const MSLane* lane = myLane;
1311 752 : while (lane->isInternal()) {
1312 376 : result += lane->getLength();
1313 376 : lane = lane->getCanonicalSuccessorLane();
1314 : }
1315 : return result;
1316 : }
1317 :
1318 :
1319 : Position
1320 103258 : MSVehicle::getPositionAlongBestLanes(double offset) const {
1321 : assert(MSGlobals::gUsingInternalLanes);
1322 103258 : if (!isOnRoad()) {
1323 0 : return Position::INVALID;
1324 : }
1325 103258 : const std::vector<MSLane*>& bestLanes = getBestLanesContinuation();
1326 : auto nextBestLane = bestLanes.begin();
1327 103258 : const bool opposite = myLaneChangeModel->isOpposite();
1328 103258 : double pos = opposite ? myLane->getLength() - myState.myPos : myState.myPos;
1329 103258 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : getLane();
1330 : assert(lane != 0);
1331 : bool success = true;
1332 :
1333 304861 : while (offset > 0) {
1334 : // take into account lengths along internal lanes
1335 308239 : while (lane->isInternal() && offset > 0) {
1336 106636 : if (offset > lane->getLength() - pos) {
1337 3569 : offset -= lane->getLength() - pos;
1338 3569 : lane = lane->getLinkCont()[0]->getViaLaneOrLane();
1339 : pos = 0.;
1340 3569 : if (lane == nullptr) {
1341 : success = false;
1342 : offset = 0.;
1343 : }
1344 : } else {
1345 103067 : pos += offset;
1346 : offset = 0;
1347 : }
1348 : }
1349 : // set nextBestLane to next non-internal lane
1350 206740 : while (nextBestLane != bestLanes.end() && *nextBestLane == nullptr) {
1351 : ++nextBestLane;
1352 : }
1353 201603 : if (offset > 0) {
1354 : assert(!lane->isInternal());
1355 : assert(lane == *nextBestLane);
1356 98536 : if (offset > lane->getLength() - pos) {
1357 98353 : offset -= lane->getLength() - pos;
1358 : ++nextBestLane;
1359 : assert(nextBestLane == bestLanes.end() || *nextBestLane != 0);
1360 98353 : if (nextBestLane == bestLanes.end()) {
1361 : success = false;
1362 : offset = 0.;
1363 : } else {
1364 98353 : const MSLink* link = lane->getLinkTo(*nextBestLane);
1365 : assert(link != nullptr);
1366 : lane = link->getViaLaneOrLane();
1367 : pos = 0.;
1368 : }
1369 : } else {
1370 183 : pos += offset;
1371 : offset = 0;
1372 : }
1373 : }
1374 :
1375 : }
1376 :
1377 103258 : if (success) {
1378 103258 : return lane->geometryPositionAtOffset(pos, -getLateralPositionOnLane());
1379 : } else {
1380 0 : return Position::INVALID;
1381 : }
1382 : }
1383 :
1384 :
1385 : double
1386 709058 : MSVehicle::getMaxSpeedOnLane() const {
1387 709058 : if (myLane != nullptr) {
1388 709058 : return myLane->getVehicleMaxSpeed(this);
1389 : }
1390 0 : return myType->getMaxSpeed();
1391 : }
1392 :
1393 :
1394 : Position
1395 698209412 : MSVehicle::validatePosition(Position result, double offset) const {
1396 : int furtherIndex = 0;
1397 698209412 : double lastLength = getPositionOnLane();
1398 698209412 : while (result == Position::INVALID) {
1399 270841 : if (furtherIndex >= (int)myFurtherLanes.size()) {
1400 : //WRITE_WARNINGF(TL("Could not compute position for vehicle '%', time=%."), getID(), time2string(MSNet::getInstance()->getCurrentTimeStep()));
1401 : break;
1402 : }
1403 : //std::cout << SIMTIME << " veh=" << getID() << " lane=" << myLane->getID() << " pos=" << getPositionOnLane() << " posLat=" << getLateralPositionOnLane() << " offset=" << offset << " result=" << result << " i=" << furtherIndex << " further=" << myFurtherLanes.size() << "\n";
1404 192075 : MSLane* further = myFurtherLanes[furtherIndex];
1405 192075 : offset += lastLength;
1406 192075 : result = further->geometryPositionAtOffset(further->getLength() + offset, -getLateralPositionOnLane());
1407 : lastLength = further->getLength();
1408 192075 : furtherIndex++;
1409 : //std::cout << SIMTIME << " newResult=" << result << "\n";
1410 : }
1411 698209412 : return result;
1412 : }
1413 :
1414 :
1415 : ConstMSEdgeVector::const_iterator
1416 2937779 : MSVehicle::getRerouteOrigin() const {
1417 : // too close to the next junction, so avoid an emergency brake here
1418 2937779 : if (myLane != nullptr && (myCurrEdge + 1) != myRoute->end() && !isRailway(getVClass())) {
1419 917752 : if (myLane->isInternal()) {
1420 : return myCurrEdge + 1;
1421 : }
1422 910774 : if (myState.myPos > myLane->getLength() - getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)) {
1423 : return myCurrEdge + 1;
1424 : }
1425 908098 : if (myLane->getEdge().hasChangeProhibitions(getVClass(), myLane->getIndex())) {
1426 : return myCurrEdge + 1;
1427 : }
1428 : }
1429 2928013 : return myCurrEdge;
1430 : }
1431 :
1432 : void
1433 5168858 : MSVehicle::setAngle(double angle, bool straightenFurther) {
1434 : #ifdef DEBUG_FURTHER
1435 : if (DEBUG_COND) {
1436 : std::cout << SIMTIME << " veh '" << getID() << " setAngle(" << angle << ") straightenFurther=" << straightenFurther << std::endl;
1437 : }
1438 : #endif
1439 5168858 : myAngle = angle;
1440 5168858 : MSLane* next = myLane;
1441 5168858 : if (straightenFurther && myFurtherLanesPosLat.size() > 0) {
1442 196805 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
1443 101062 : MSLane* further = myFurtherLanes[i];
1444 101062 : const MSLink* link = further->getLinkTo(next);
1445 101062 : if (link != nullptr) {
1446 100681 : myFurtherLanesPosLat[i] = getLateralPositionOnLane() - link->getLateralShift();
1447 : next = further;
1448 : } else {
1449 : break;
1450 : }
1451 : }
1452 : }
1453 5168858 : }
1454 :
1455 :
1456 : void
1457 406490 : MSVehicle::setActionStepLength(double actionStepLength, bool resetOffset) {
1458 406490 : SUMOTime actionStepLengthMillisecs = SUMOVehicleParserHelper::processActionStepLength(actionStepLength);
1459 : SUMOTime previousActionStepLength = getActionStepLength();
1460 : const bool newActionStepLength = actionStepLengthMillisecs != previousActionStepLength;
1461 406490 : if (newActionStepLength) {
1462 7 : getSingularType().setActionStepLength(actionStepLengthMillisecs, resetOffset);
1463 7 : if (!resetOffset) {
1464 1 : updateActionOffset(previousActionStepLength, actionStepLengthMillisecs);
1465 : }
1466 : }
1467 406484 : if (resetOffset) {
1468 6 : resetActionOffset();
1469 : }
1470 406490 : }
1471 :
1472 :
1473 : bool
1474 291758583 : MSVehicle::congested() const {
1475 291758583 : return myState.mySpeed < (60.0 / 3.6) || myLane->getSpeedLimit() < (60.1 / 3.6);
1476 : }
1477 :
1478 :
1479 : double
1480 694275475 : MSVehicle::computeAngle() const {
1481 : Position p1;
1482 694275475 : const double posLat = -myState.myPosLat; // @todo get rid of the '-'
1483 694275475 : const double lefthandSign = (MSGlobals::gLefthand ? -1 : 1);
1484 :
1485 : // if parking manoeuvre is happening then rotate vehicle on each step
1486 694275475 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
1487 450 : return getAngle() + myManoeuvre.getGUIIncrement();
1488 : }
1489 :
1490 694275025 : if (isParking()) {
1491 27422 : if (myStops.begin()->parkingarea != nullptr) {
1492 15491 : return myStops.begin()->parkingarea->getVehicleAngle(*this);
1493 : } else {
1494 11931 : return myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane()));
1495 : }
1496 : }
1497 694247603 : if (myLaneChangeModel->isChangingLanes()) {
1498 : // cannot use getPosition() because it already includes the offset to the side and thus messes up the angle
1499 1125256 : p1 = myLane->geometryPositionAtOffset(myState.myPos, lefthandSign * posLat);
1500 12 : if (p1 == Position::INVALID && myLane->getShape().length2D() == 0. && myLane->isInternal()) {
1501 : // workaround: extrapolate the preceding lane shape
1502 12 : MSLane* predecessorLane = myLane->getCanonicalPredecessorLane();
1503 12 : p1 = predecessorLane->geometryPositionAtOffset(predecessorLane->getLength() + myState.myPos, lefthandSign * posLat);
1504 : }
1505 : } else {
1506 693122347 : p1 = getPosition();
1507 : }
1508 :
1509 : Position p2;
1510 694247603 : if (getVehicleType().getParameter().locomotiveLength > 0) {
1511 : // articulated vehicle should use the heading of the first part
1512 1708630 : const double locoLength = MIN2(getVehicleType().getParameter().locomotiveLength, getLength());
1513 1708630 : p2 = getPosition(-locoLength);
1514 : } else {
1515 692538973 : p2 = getBackPosition();
1516 : }
1517 : if (p2 == Position::INVALID) {
1518 : // Handle special case of vehicle's back reaching out of the network
1519 849 : if (myFurtherLanes.size() > 0) {
1520 129 : p2 = myFurtherLanes.back()->geometryPositionAtOffset(0, -myFurtherLanesPosLat.back());
1521 : if (p2 == Position::INVALID) {
1522 : // unsuitable lane geometry
1523 81 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1524 : }
1525 : } else {
1526 720 : p2 = myLane->geometryPositionAtOffset(0, posLat);
1527 : }
1528 : }
1529 : double result = (p1 != p2 ? p2.angleTo2D(p1) :
1530 89616 : myLane->getShape().rotationAtOffset(myLane->interpolateLanePosToGeometryPos(getPositionOnLane())));
1531 :
1532 694247603 : result += lefthandSign * myLaneChangeModel->calcAngleOffset();
1533 :
1534 : #ifdef DEBUG_FURTHER
1535 : if (DEBUG_COND) {
1536 : std::cout << SIMTIME << " computeAngle veh=" << getID() << " p1=" << p1 << " p2=" << p2 << " angle=" << RAD2DEG(result) << " naviDegree=" << GeomHelper::naviDegree(result) << "\n";
1537 : }
1538 : #endif
1539 694247603 : return result;
1540 : }
1541 :
1542 :
1543 : const Position
1544 857121403 : MSVehicle::getBackPosition() const {
1545 857121403 : const double posLat = MSGlobals::gLefthand ? myState.myPosLat : -myState.myPosLat;
1546 : Position result;
1547 857121403 : if (myState.myPos >= myType->getLength()) {
1548 : // vehicle is fully on the new lane
1549 839865515 : result = myLane->geometryPositionAtOffset(myState.myPos - myType->getLength(), posLat);
1550 : } else {
1551 17255888 : if (myLaneChangeModel->isChangingLanes() && myFurtherLanes.size() > 0 && myLaneChangeModel->getShadowLane(myFurtherLanes.back()) == nullptr) {
1552 : // special case where the target lane has no predecessor
1553 : #ifdef DEBUG_FURTHER
1554 : if (DEBUG_COND) {
1555 : std::cout << " getBackPosition veh=" << getID() << " specialCase using myLane=" << myLane->getID() << " pos=0 posLat=" << myState.myPosLat << " result=" << myLane->geometryPositionAtOffset(0, posLat) << "\n";
1556 : }
1557 : #endif
1558 1692 : result = myLane->geometryPositionAtOffset(0, posLat);
1559 : } else {
1560 : #ifdef DEBUG_FURTHER
1561 : if (DEBUG_COND) {
1562 : std::cout << " getBackPosition veh=" << getID() << " myLane=" << myLane->getID() << " further=" << toString(myFurtherLanes) << " myFurtherLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
1563 : }
1564 : #endif
1565 17254196 : if (myFurtherLanes.size() > 0 && !myLaneChangeModel->isChangingLanes()) {
1566 : // truncate to 0 if vehicle starts on an edge that is shorter than its length
1567 16842820 : const double backPos = MAX2(0.0, getBackPositionOnLane(myFurtherLanes.back()));
1568 33388487 : result = myFurtherLanes.back()->geometryPositionAtOffset(backPos, -myFurtherLanesPosLat.back() * (MSGlobals::gLefthand ? -1 : 1));
1569 : } else {
1570 411376 : result = myLane->geometryPositionAtOffset(0, posLat);
1571 : }
1572 : }
1573 : }
1574 857121403 : if (MSNet::getInstance()->hasElevation() && MSGlobals::gSublane) {
1575 281235 : interpolateLateralZ(result, myState.myPos - myType->getLength(), posLat);
1576 : }
1577 857121403 : return result;
1578 : }
1579 :
1580 :
1581 : bool
1582 381427 : MSVehicle::willStop() const {
1583 381427 : return !isStopped() && !myStops.empty() && myLane != nullptr && &myStops.front().lane->getEdge() == &myLane->getEdge();
1584 : }
1585 :
1586 : bool
1587 366284296 : MSVehicle::isStoppedOnLane() const {
1588 366284296 : return isStopped() && myStops.front().lane == myLane;
1589 : }
1590 :
1591 : bool
1592 30557247 : MSVehicle::keepStopping(bool afterProcessing) const {
1593 30557247 : if (isStopped()) {
1594 : // when coming out of vehicleTransfer we must shift the time forward
1595 36145555 : return (myStops.front().duration - (afterProcessing ? DELTA_T : 0) > 0 || isStoppedTriggered() || myStops.front().pars.collision
1596 30358890 : || myStops.front().pars.breakDown || (myStops.front().getSpeed() > 0
1597 37148 : && (myState.myPos < MIN2(myStops.front().pars.endPos, myStops.front().lane->getLength() - POSITION_EPS))
1598 31150 : && (myStops.front().pars.parking == ParkingType::ONROAD || getSpeed() >= SUMO_const_haltingSpeed)));
1599 : } else {
1600 : return false;
1601 : }
1602 : }
1603 :
1604 :
1605 : SUMOTime
1606 15903 : MSVehicle::remainingStopDuration() const {
1607 15903 : if (isStopped()) {
1608 15903 : return myStops.front().duration;
1609 : }
1610 : return 0;
1611 : }
1612 :
1613 :
1614 : SUMOTime
1615 666654843 : MSVehicle::collisionStopTime() const {
1616 666654843 : return (myStops.empty() || !myStops.front().pars.collision) ? myCollisionImmunity : MAX2((SUMOTime)0, myStops.front().duration);
1617 : }
1618 :
1619 :
1620 : bool
1621 666433656 : MSVehicle::brokeDown() const {
1622 666433656 : return isStopped() && !myStops.empty() && myStops.front().pars.breakDown;
1623 : }
1624 :
1625 :
1626 : bool
1627 240335 : MSVehicle::ignoreCollision() const {
1628 240335 : return myCollisionImmunity > 0;
1629 : }
1630 :
1631 :
1632 : double
1633 630687248 : MSVehicle::processNextStop(double currentVelocity) {
1634 630687248 : if (myStops.empty()) {
1635 : // no stops; pass
1636 : return currentVelocity;
1637 : }
1638 :
1639 : #ifdef DEBUG_STOPS
1640 : if (DEBUG_COND) {
1641 : std::cout << "\nPROCESS_NEXT_STOP\n" << SIMTIME << " vehicle '" << getID() << "'" << std::endl;
1642 : }
1643 : #endif
1644 :
1645 : MSStop& stop = myStops.front();
1646 40918644 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1647 40918644 : if (stop.reached) {
1648 25830783 : stop.duration -= getActionStepLength();
1649 :
1650 : #ifdef DEBUG_STOPS
1651 : if (DEBUG_COND) {
1652 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached stop.\n"
1653 : << "Remaining duration: " << STEPS2TIME(stop.duration) << std::endl;
1654 : if (stop.getSpeed() > 0) {
1655 : std::cout << " waypointSpeed=" << stop.getSpeed() << " vehPos=" << myState.myPos << " endPos=" << stop.pars.endPos << "\n";
1656 : }
1657 : }
1658 : #endif
1659 25830783 : if (stop.duration <= 0 && stop.pars.join != "") {
1660 : // join this train (part) to another one
1661 37459 : MSVehicle* joinVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.join));
1662 969 : if (joinVeh && joinVeh->hasDeparted() && (joinVeh->joinTrainPart(this) || joinVeh->joinTrainPartFront(this))) {
1663 36 : stop.joinTriggered = false;
1664 36 : if (myAmRegisteredAsWaiting) {
1665 21 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1666 21 : myAmRegisteredAsWaiting = false;
1667 : }
1668 : // avoid collision warning before this vehicle is removed (joinVeh was already made longer)
1669 36 : myCollisionImmunity = TIME2STEPS(100);
1670 : // mark this vehicle as arrived
1671 36 : myArrivalPos = getPositionOnLane();
1672 36 : const_cast<SUMOVehicleParameter*>(myParameter)->arrivalEdge = getRoutePosition();
1673 : // handle transportables that want to continue in the other vehicle
1674 36 : if (myPersonDevice != nullptr) {
1675 3 : myPersonDevice->transferAtSplitOrJoin(joinVeh);
1676 : }
1677 36 : if (myContainerDevice != nullptr) {
1678 3 : myContainerDevice->transferAtSplitOrJoin(joinVeh);
1679 : }
1680 : }
1681 : }
1682 25830783 : boardTransportables(stop);
1683 21806003 : if (time > stop.endBoarding) {
1684 : // for taxi: cancel customers
1685 133261 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1686 : if (taxiDevice != nullptr) {
1687 : // may invalidate stops including the current reference
1688 64 : taxiDevice->cancelCurrentCustomers();
1689 64 : resumeFromStopping();
1690 64 : return currentVelocity;
1691 : }
1692 : }
1693 21805939 : if (!keepStopping() && isOnRoad()) {
1694 : #ifdef DEBUG_STOPS
1695 : if (DEBUG_COND) {
1696 : std::cout << SIMTIME << " vehicle '" << getID() << "' resumes from stopping." << std::endl;
1697 : }
1698 : #endif
1699 42565 : resumeFromStopping();
1700 42565 : if (isRail() && hasStops()) {
1701 : // stay on the current lane in case of a double stop
1702 2794 : const MSStop& nextStop = getNextStop();
1703 2794 : if (nextStop.edge == myCurrEdge) {
1704 1033 : const double stopSpeed = getCarFollowModel().stopSpeed(this, getSpeed(), nextStop.pars.endPos - myState.myPos);
1705 : //std::cout << SIMTIME << " veh=" << getID() << " resumedFromStopping currentVelocity=" << currentVelocity << " stopSpeed=" << stopSpeed << "\n";
1706 1033 : return stopSpeed;
1707 : }
1708 : }
1709 : } else {
1710 21763374 : if (stop.triggered) {
1711 2838335 : if (getVehicleType().getPersonCapacity() == getPersonNumber()) {
1712 30 : WRITE_WARNINGF(TL("Vehicle '%' ignores triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1713 10 : stop.triggered = false;
1714 2838325 : } else if (!myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1715 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1716 3294 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1717 3294 : myAmRegisteredAsWaiting = true;
1718 : #ifdef DEBUG_STOPS
1719 : if (DEBUG_COND) {
1720 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for person." << std::endl;
1721 : }
1722 : #endif
1723 : }
1724 : }
1725 21763374 : if (stop.containerTriggered) {
1726 39500 : if (getVehicleType().getContainerCapacity() == getContainerNumber()) {
1727 1332 : WRITE_WARNINGF(TL("Vehicle '%' ignores container triggered stop on lane '%' due to capacity constraints."), getID(), stop.lane->getID());
1728 444 : stop.containerTriggered = false;
1729 39056 : } else if (stop.containerTriggered && !myAmRegisteredAsWaiting && stop.duration <= DELTA_T) {
1730 : // we can only register after waiting for one step. otherwise we might falsely signal a deadlock
1731 92 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1732 92 : myAmRegisteredAsWaiting = true;
1733 : #ifdef DEBUG_STOPS
1734 : if (DEBUG_COND) {
1735 : std::cout << SIMTIME << " vehicle '" << getID() << "' registers as waiting for container." << std::endl;
1736 : }
1737 : #endif
1738 : }
1739 : }
1740 : // joining only takes place after stop duration is over
1741 21763374 : if (stop.joinTriggered && !myAmRegisteredAsWaiting
1742 7164 : && stop.duration <= (stop.pars.extension >= 0 ? -stop.pars.extension : 0)) {
1743 100 : if (stop.pars.extension >= 0) {
1744 105 : WRITE_WARNINGF(TL("Vehicle '%' aborts joining after extension of %s at time %."), getID(), STEPS2TIME(stop.pars.extension), time2string(SIMSTEP));
1745 35 : stop.joinTriggered = false;
1746 : } else {
1747 : // keep stopping indefinitely but ensure that simulation terminates
1748 65 : MSNet::getInstance()->getVehicleControl().registerOneWaiting();
1749 65 : myAmRegisteredAsWaiting = true;
1750 : }
1751 : }
1752 21763374 : if (stop.getSpeed() > 0) {
1753 : //waypoint mode
1754 152802 : if (stop.duration == 0) {
1755 264 : return stop.getSpeed();
1756 : } else {
1757 : // stop for 'until' (computed in planMove)
1758 : return currentVelocity;
1759 : }
1760 : } else {
1761 : // brake
1762 21610572 : if (MSGlobals::gSemiImplicitEulerUpdate || stop.getSpeed() > 0) {
1763 21344340 : return 0;
1764 : } else {
1765 : // ballistic:
1766 266232 : return getSpeed() - getCarFollowModel().getMaxDecel();
1767 : }
1768 : }
1769 : }
1770 : } else {
1771 :
1772 : #ifdef DEBUG_STOPS
1773 : if (DEBUG_COND) {
1774 : std::cout << SIMTIME << " vehicle '" << getID() << "' hasn't reached next stop." << std::endl;
1775 : }
1776 : #endif
1777 : //std::cout << SIMTIME << " myStopDist=" << myStopDist << " bGap=" << getBrakeGap(myLane->getVehicleMaxSpeed(this)) << "\n";
1778 15151461 : if (stop.pars.onDemand && !stop.skipOnDemand && myStopDist <= getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this))) {
1779 572 : MSNet* const net = MSNet::getInstance();
1780 44 : const bool noExits = ((myPersonDevice == nullptr || !myPersonDevice->anyLeavingAtStop(stop))
1781 582 : && (myContainerDevice == nullptr || !myContainerDevice->anyLeavingAtStop(stop)));
1782 83 : const bool noEntries = ((!net->hasPersons() || !net->getPersonControl().hasAnyWaiting(stop.getEdge(), this))
1783 621 : && (!net->hasContainers() || !net->getContainerControl().hasAnyWaiting(stop.getEdge(), this)));
1784 572 : if (noExits && noEntries) {
1785 : //std::cout << " skipOnDemand\n";
1786 504 : stop.skipOnDemand = true;
1787 : }
1788 : }
1789 : // is the next stop on the current lane?
1790 15087861 : if (stop.edge == myCurrEdge) {
1791 : // get the stopping position
1792 5420012 : bool useStoppingPlace = stop.busstop != nullptr || stop.containerstop != nullptr || stop.parkingarea != nullptr;
1793 : bool fitsOnStoppingPlace = true;
1794 5420012 : if (!stop.skipOnDemand) { // no need to check available space if we skip it anyway
1795 5418041 : if (stop.busstop != nullptr) {
1796 1656390 : fitsOnStoppingPlace &= stop.busstop->fits(myState.myPos, *this);
1797 : }
1798 5418041 : if (stop.containerstop != nullptr) {
1799 21788 : fitsOnStoppingPlace &= stop.containerstop->fits(myState.myPos, *this);
1800 : }
1801 : // if the stop is a parking area we check if there is a free position on the area
1802 5418041 : if (stop.parkingarea != nullptr) {
1803 651171 : fitsOnStoppingPlace &= myState.myPos > stop.parkingarea->getBeginLanePosition();
1804 651171 : if (stop.parkingarea->getOccupancy() >= stop.parkingarea->getCapacity()) {
1805 : fitsOnStoppingPlace = false;
1806 : // trigger potential parkingZoneReroute
1807 425940 : MSParkingArea* oldParkingArea = stop.parkingarea;
1808 456515 : for (MSMoveReminder* rem : myLane->getMoveReminders()) {
1809 30575 : if (rem->isParkingRerouter()) {
1810 9351 : rem->notifyEnter(*this, MSMoveReminder::NOTIFICATION_PARKING_REROUTE, myLane);
1811 : }
1812 : }
1813 425940 : if (myStops.empty() || myStops.front().parkingarea != oldParkingArea) {
1814 : // rerouted, keep driving
1815 : return currentVelocity;
1816 : }
1817 225231 : } else if (stop.parkingarea->getOccupancyIncludingReservations(this) >= stop.parkingarea->getCapacity()) {
1818 : fitsOnStoppingPlace = false;
1819 101221 : } else if (stop.parkingarea->parkOnRoad() && stop.parkingarea->getLotIndex(this) < 0) {
1820 : fitsOnStoppingPlace = false;
1821 : }
1822 : }
1823 : }
1824 5418019 : const double targetPos = myState.myPos + myStopDist + (stop.getSpeed() > 0 ? (stop.pars.startPos - stop.pars.endPos) : 0);
1825 5418019 : const double reachedThreshold = (useStoppingPlace ? targetPos - STOPPING_PLACE_OFFSET : stop.getReachedThreshold()) - NUMERICAL_EPS;
1826 : #ifdef DEBUG_STOPS
1827 : if (DEBUG_COND) {
1828 : std::cout << " pos=" << myState.pos() << " speed=" << currentVelocity << " targetPos=" << targetPos << " fits=" << fitsOnStoppingPlace
1829 : << " reachedThresh=" << reachedThreshold
1830 : << " myLane=" << Named::getIDSecure(myLane)
1831 : << " stopLane=" << Named::getIDSecure(stop.lane)
1832 : << "\n";
1833 : }
1834 : #endif
1835 5418019 : const bool posReached = myState.pos() >= reachedThreshold && currentVelocity <= stop.getSpeed() + SUMO_const_haltingSpeed && myLane == stop.lane;
1836 5418019 : if (posReached && !fitsOnStoppingPlace && MSStopOut::active()) {
1837 4558 : MSStopOut::getInstance()->stopBlocked(this, time);
1838 : }
1839 5418019 : if (fitsOnStoppingPlace && posReached && (!MSGlobals::gModelParkingManoeuver || myManoeuvre.entryManoeuvreIsComplete(this))) {
1840 : // ok, we may stop (have reached the stop) and either we are not modelling maneuvering or have completed entry
1841 53700 : stop.reached = true;
1842 53700 : if (!stop.startedFromState) {
1843 53484 : stop.pars.started = time;
1844 : }
1845 : #ifdef DEBUG_STOPS
1846 : if (DEBUG_COND) {
1847 : std::cout << SIMTIME << " vehicle '" << getID() << "' reached next stop." << std::endl;
1848 : }
1849 : #endif
1850 53700 : if (MSStopOut::active()) {
1851 4980 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), time);
1852 : }
1853 53700 : myLane->getEdge().addWaiting(this);
1854 53700 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::STARTING_STOP);
1855 53700 : MSNet::getInstance()->getVehicleControl().registerStopStarted();
1856 : // compute stopping time
1857 53700 : stop.duration = stop.getMinDuration(time);
1858 53700 : stop.endBoarding = stop.pars.extension >= 0 ? time + stop.duration + stop.pars.extension : SUMOTime_MAX;
1859 53700 : MSDevice_Taxi* taxiDevice = static_cast<MSDevice_Taxi*>(getDevice(typeid(MSDevice_Taxi)));
1860 2697 : if (taxiDevice != nullptr && stop.pars.extension >= 0) {
1861 : // earliestPickupTime is set with waitUntil
1862 84 : stop.endBoarding = MAX2(time, stop.pars.waitUntil) + stop.pars.extension;
1863 : }
1864 53700 : if (stop.getSpeed() > 0) {
1865 : // ignore duration parameter in waypoint mode unless 'until' or 'ended' are set
1866 3358 : if (stop.getUntil() > time) {
1867 334 : stop.duration = stop.getUntil() - time;
1868 : } else {
1869 3024 : stop.duration = 0;
1870 : }
1871 : }
1872 53700 : if (stop.busstop != nullptr) {
1873 : // let the bus stop know the vehicle
1874 18076 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1875 : }
1876 53700 : if (stop.containerstop != nullptr) {
1877 : // let the container stop know the vehicle
1878 569 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1879 : }
1880 53700 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
1881 : // let the parking area know the vehicle
1882 8814 : stop.parkingarea->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1883 : }
1884 53700 : if (stop.chargingStation != nullptr) {
1885 : // let the container stop know the vehicle
1886 3482 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
1887 : }
1888 :
1889 53700 : if (stop.pars.tripId != "") {
1890 2920 : ((SUMOVehicleParameter&)getParameter()).setParameter("tripId", stop.pars.tripId);
1891 : }
1892 53700 : if (stop.pars.line != "") {
1893 1464 : ((SUMOVehicleParameter&)getParameter()).line = stop.pars.line;
1894 : }
1895 53700 : if (stop.pars.split != "") {
1896 : // split the train
1897 1239 : MSVehicle* splitVeh = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(stop.pars.split));
1898 24 : if (splitVeh == nullptr) {
1899 3645 : WRITE_WARNINGF(TL("Vehicle '%' to split from vehicle '%' is not known. time=%."), stop.pars.split, getID(), SIMTIME)
1900 : } else {
1901 24 : MSNet::getInstance()->getInsertionControl().add(splitVeh);
1902 24 : splitVeh->getRoute().getEdges()[0]->removeWaiting(splitVeh);
1903 24 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1904 24 : const double newLength = MAX2(myType->getLength() - splitVeh->getVehicleType().getLength(),
1905 24 : myType->getParameter().locomotiveLength);
1906 24 : getSingularType().setLength(newLength);
1907 : // handle transportables that want to continue in the split part
1908 24 : if (myPersonDevice != nullptr) {
1909 0 : myPersonDevice->transferAtSplitOrJoin(splitVeh);
1910 : }
1911 24 : if (myContainerDevice != nullptr) {
1912 6 : myContainerDevice->transferAtSplitOrJoin(splitVeh);
1913 : }
1914 24 : if (splitVeh->getParameter().departPosProcedure == DepartPosDefinition::SPLIT_FRONT) {
1915 3 : const double backShift = splitVeh->getLength() + getVehicleType().getMinGap();
1916 3 : myState.myPos -= backShift;
1917 3 : myState.myBackPos -= backShift;
1918 : }
1919 : }
1920 : }
1921 :
1922 53700 : boardTransportables(stop);
1923 53696 : if (stop.pars.posLat != INVALID_DOUBLE) {
1924 232 : myState.myPosLat = stop.pars.posLat;
1925 : }
1926 : }
1927 : }
1928 : }
1929 : return currentVelocity;
1930 : }
1931 :
1932 :
1933 : void
1934 25884483 : MSVehicle::boardTransportables(MSStop& stop) {
1935 25884483 : if (stop.skipOnDemand) {
1936 : return;
1937 : }
1938 : // we have reached the stop
1939 : // any waiting persons may board now
1940 25747737 : const SUMOTime time = MSNet::getInstance()->getCurrentTimeStep();
1941 25747737 : MSNet* const net = MSNet::getInstance();
1942 25747737 : const bool boarded = (time <= stop.endBoarding
1943 25745661 : && net->hasPersons()
1944 1186510 : && net->getPersonControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToBoardNextPerson, stop.duration)
1945 25752276 : && stop.numExpectedPerson == 0);
1946 : // load containers
1947 25747737 : const bool loaded = (time <= stop.endBoarding
1948 25745661 : && net->hasContainers()
1949 4127202 : && net->getContainerControl().loadAnyWaiting(&myLane->getEdge(), this, stop.timeToLoadNextContainer, stop.duration)
1950 25748312 : && stop.numExpectedContainer == 0);
1951 :
1952 : bool unregister = false;
1953 21722953 : if (time > stop.endBoarding) {
1954 2076 : stop.triggered = false;
1955 2076 : stop.containerTriggered = false;
1956 2076 : if (myAmRegisteredAsWaiting) {
1957 : unregister = true;
1958 325 : myAmRegisteredAsWaiting = false;
1959 : }
1960 : }
1961 21722953 : if (boarded) {
1962 : // the triggering condition has been fulfilled. Maybe we want to wait a bit longer for additional riders (car pooling)
1963 4407 : if (myAmRegisteredAsWaiting) {
1964 : unregister = true;
1965 : }
1966 4407 : stop.triggered = false;
1967 4407 : myAmRegisteredAsWaiting = false;
1968 : }
1969 21722953 : if (loaded) {
1970 : // the triggering condition has been fulfilled
1971 555 : if (myAmRegisteredAsWaiting) {
1972 : unregister = true;
1973 : }
1974 555 : stop.containerTriggered = false;
1975 555 : myAmRegisteredAsWaiting = false;
1976 : }
1977 :
1978 21722953 : if (unregister) {
1979 410 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
1980 : #ifdef DEBUG_STOPS
1981 : if (DEBUG_COND) {
1982 : std::cout << SIMTIME << " vehicle '" << getID() << "' unregisters as waiting for transportable." << std::endl;
1983 : }
1984 : #endif
1985 : }
1986 : }
1987 :
1988 : bool
1989 921 : MSVehicle::joinTrainPart(MSVehicle* veh) {
1990 : // check if veh is close enough to be joined to the rear of this vehicle
1991 921 : MSLane* backLane = myFurtherLanes.size() == 0 ? myLane : myFurtherLanes.back();
1992 921 : double gap = getBackPositionOnLane() - veh->getPositionOnLane();
1993 1144 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == veh->getLane()
1994 951 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
1995 15 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
1996 15 : getSingularType().setLength(newLength);
1997 15 : myStops.begin()->joinTriggered = false;
1998 15 : if (myAmRegisteredAsWaiting) {
1999 0 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2000 0 : myAmRegisteredAsWaiting = false;
2001 : }
2002 : return true;
2003 : } else {
2004 906 : return false;
2005 : }
2006 : }
2007 :
2008 :
2009 : bool
2010 906 : MSVehicle::joinTrainPartFront(MSVehicle* veh) {
2011 : // check if veh is close enough to be joined to the front of this vehicle
2012 906 : MSLane* backLane = veh->myFurtherLanes.size() == 0 ? veh->myLane : veh->myFurtherLanes.back();
2013 906 : double gap = veh->getBackPositionOnLane(backLane) - getPositionOnLane();
2014 1114 : if (isStopped() && myStops.begin()->duration <= DELTA_T && myStops.begin()->joinTriggered && backLane == getLane()
2015 930 : && gap >= 0 && gap <= getVehicleType().getMinGap() + 1) {
2016 : double skippedLaneLengths = 0;
2017 24 : if (veh->myFurtherLanes.size() > 0) {
2018 9 : skippedLaneLengths += getLane()->getLength();
2019 : // this vehicle must be moved to the lane of veh
2020 : // ensure that lane and furtherLanes of veh match our route
2021 9 : int routeIndex = getRoutePosition();
2022 9 : if (myLane->isInternal()) {
2023 0 : routeIndex++;
2024 : }
2025 27 : for (int i = (int)veh->myFurtherLanes.size() - 1; i >= 0; i--) {
2026 18 : MSEdge* edge = &veh->myFurtherLanes[i]->getEdge();
2027 18 : if (edge->isInternal()) {
2028 9 : continue;
2029 : }
2030 9 : if (!edge->isInternal() && edge != myRoute->getEdges()[routeIndex]) {
2031 0 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2032 0 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2033 : return false;
2034 : }
2035 9 : routeIndex++;
2036 : }
2037 9 : if (veh->getCurrentEdge()->getNormalSuccessor() != myRoute->getEdges()[routeIndex]) {
2038 3 : std::string warn = TL("Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2039 9 : WRITE_WARNINGF(warn, veh->getID(), getID(), time2string(SIMSTEP));
2040 : return false;
2041 : }
2042 12 : for (int i = (int)veh->myFurtherLanes.size() - 2; i >= 0; i--) {
2043 6 : skippedLaneLengths += veh->myFurtherLanes[i]->getLength();
2044 : }
2045 : }
2046 :
2047 21 : const double newLength = myType->getLength() + veh->getVehicleType().getLength();
2048 21 : getSingularType().setLength(newLength);
2049 : // lane will be advanced just as for regular movement
2050 21 : myState.myPos = skippedLaneLengths + veh->getPositionOnLane();
2051 21 : myStops.begin()->joinTriggered = false;
2052 21 : if (myAmRegisteredAsWaiting) {
2053 8 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
2054 8 : myAmRegisteredAsWaiting = false;
2055 : }
2056 21 : return true;
2057 : } else {
2058 882 : return false;
2059 : }
2060 : }
2061 :
2062 : double
2063 8359920 : MSVehicle::getBrakeGap(bool delayed) const {
2064 8359920 : return getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), delayed ? getCarFollowModel().getHeadwayTime() : 0);
2065 : }
2066 :
2067 :
2068 : bool
2069 691010757 : MSVehicle::checkActionStep(const SUMOTime t) {
2070 691010757 : myActionStep = isActionStep(t);
2071 691010757 : if (myActionStep) {
2072 619374397 : myLastActionTime = t;
2073 : }
2074 691010757 : return myActionStep;
2075 : }
2076 :
2077 :
2078 : void
2079 1596 : MSVehicle::resetActionOffset(const SUMOTime timeUntilNextAction) {
2080 1596 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + timeUntilNextAction;
2081 1596 : }
2082 :
2083 :
2084 : void
2085 1 : MSVehicle::updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength) {
2086 1 : SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2087 1 : SUMOTime timeSinceLastAction = now - myLastActionTime;
2088 1 : if (timeSinceLastAction == 0) {
2089 : // Action was scheduled now, may be delayed be new action step length
2090 : timeSinceLastAction = oldActionStepLength;
2091 : }
2092 1 : if (timeSinceLastAction >= newActionStepLength) {
2093 : // Action point required in this step
2094 0 : myLastActionTime = now;
2095 : } else {
2096 1 : SUMOTime timeUntilNextAction = newActionStepLength - timeSinceLastAction;
2097 1 : resetActionOffset(timeUntilNextAction);
2098 : }
2099 1 : }
2100 :
2101 :
2102 :
2103 : void
2104 691010757 : MSVehicle::planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront) {
2105 : #ifdef DEBUG_PLAN_MOVE
2106 : if (DEBUG_COND) {
2107 : std::cout
2108 : << "\nPLAN_MOVE\n"
2109 : << SIMTIME
2110 : << std::setprecision(gPrecision)
2111 : << " veh=" << getID()
2112 : << " lane=" << myLane->getID()
2113 : << " pos=" << getPositionOnLane()
2114 : << " posLat=" << getLateralPositionOnLane()
2115 : << " speed=" << getSpeed()
2116 : << "\n";
2117 : }
2118 : #endif
2119 : // Update the driver state
2120 691010757 : if (hasDriverState()) {
2121 406476 : myDriverState->update();
2122 812952 : setActionStepLength(myDriverState->getDriverState()->getActionStepLength(), false);
2123 : }
2124 :
2125 691010757 : if (!checkActionStep(t)) {
2126 : #ifdef DEBUG_ACTIONSTEPS
2127 : if (DEBUG_COND) {
2128 : std::cout << STEPS2TIME(t) << " vehicle '" << getID() << "' skips action." << std::endl;
2129 : }
2130 : #endif
2131 : // During non-action passed drive items still need to be removed
2132 : // @todo rather work with updating myCurrentDriveItem (refs #3714)
2133 71636360 : removePassedDriveItems();
2134 71636360 : return;
2135 : } else {
2136 : #ifdef DEBUG_ACTIONSTEPS
2137 : if (DEBUG_COND) {
2138 : std::cout << STEPS2TIME(t) << " vehicle = '" << getID() << "' takes action." << std::endl;
2139 : }
2140 : #endif
2141 619374397 : myLFLinkLanesPrev = myLFLinkLanes;
2142 619374397 : if (myInfluencer != nullptr) {
2143 493531 : myInfluencer->updateRemoteControlRoute(this);
2144 : }
2145 619374397 : planMoveInternal(t, ahead, myLFLinkLanes, myStopDist, myNextTurn);
2146 : #ifdef DEBUG_PLAN_MOVE
2147 : if (DEBUG_COND) {
2148 : DriveItemVector::iterator i;
2149 : for (i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
2150 : std::cout
2151 : << " vPass=" << (*i).myVLinkPass
2152 : << " vWait=" << (*i).myVLinkWait
2153 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
2154 : << " request=" << (*i).mySetRequest
2155 : << "\n";
2156 : }
2157 : }
2158 : #endif
2159 619374397 : checkRewindLinkLanes(lengthsInFront, myLFLinkLanes);
2160 619374397 : myNextDriveItem = myLFLinkLanes.begin();
2161 : // ideally would only do this with the call inside planMoveInternal - but that needs a const method
2162 : // so this is a kludge here - nuisance as it adds an extra check in a busy loop
2163 619374397 : if (MSGlobals::gModelParkingManoeuver) {
2164 2971 : if (getManoeuvreType() == MSVehicle::MANOEUVRE_EXIT && manoeuvreIsComplete()) {
2165 30 : setManoeuvreType(MSVehicle::MANOEUVRE_NONE);
2166 : }
2167 : }
2168 : }
2169 619374397 : myLaneChangeModel->resetChanged();
2170 : }
2171 :
2172 :
2173 : bool
2174 169067500 : MSVehicle::brakeForOverlap(const MSLink* link, const MSLane* lane) const {
2175 : // @review needed
2176 : //const double futurePosLat = getLateralPositionOnLane() + link->getLateralShift();
2177 : //const double overlap = getLateralOverlap(futurePosLat, link->getViaLaneOrLane());
2178 : //const double edgeWidth = link->getViaLaneOrLane()->getEdge().getWidth();
2179 169067500 : const double futurePosLat = getLateralPositionOnLane() + (
2180 169067500 : lane != myLane && lane->isInternal() ? lane->getIncomingLanes()[0].viaLink->getLateralShift() : 0);
2181 169067500 : const double overlap = getLateralOverlap(futurePosLat, lane);
2182 : const double edgeWidth = lane->getEdge().getWidth();
2183 : const bool result = (overlap > POSITION_EPS
2184 : // do not get stuck on narrow edges
2185 3074256 : && getVehicleType().getWidth() <= edgeWidth
2186 3069971 : && link->getViaLane() == nullptr
2187 : // this is the exit link of a junction. The normal edge should support the shadow
2188 1491422 : && ((myLaneChangeModel->getShadowLane(link->getLane()) == nullptr)
2189 : // the shadow lane must be permitted
2190 1116824 : || !myLaneChangeModel->getShadowLane(link->getLane())->allowsVehicleClass(getVClass())
2191 : // the internal lane after an internal junction has no parallel lane. make sure there is no shadow before continuing
2192 1056183 : || (lane->getEdge().isInternal() && lane->getIncomingLanes()[0].lane->getEdge().isInternal()))
2193 : // ignore situations where the shadow lane is part of a double-connection with the current lane
2194 451299 : && (myLaneChangeModel->getShadowLane() == nullptr
2195 247409 : || myLaneChangeModel->getShadowLane()->getLinkCont().size() == 0
2196 233092 : || myLaneChangeModel->getShadowLane()->getLinkCont().front()->getLane() != link->getLane())
2197 : // emergency vehicles may do some crazy stuff
2198 169457221 : && !myLaneChangeModel->hasBlueLight());
2199 :
2200 : #ifdef DEBUG_PLAN_MOVE
2201 : if (DEBUG_COND) {
2202 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getDescription() << " lane=" << lane->getID()
2203 : << " linkLane=" << link->getLane()->getID()
2204 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
2205 : << " shift=" << link->getLateralShift()
2206 : << " fpLat=" << futurePosLat << " overlap=" << overlap << " w=" << getVehicleType().getWidth()
2207 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane(link->getLane()))
2208 : << " result=" << result << "\n";
2209 : }
2210 : #endif
2211 169067500 : return result;
2212 : }
2213 :
2214 :
2215 :
2216 : void
2217 619374397 : MSVehicle::planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& newStopDist, std::pair<double, const MSLink*>& nextTurn) const {
2218 : lfLinks.clear();
2219 619374397 : newStopDist = std::numeric_limits<double>::max();
2220 : //
2221 : const MSCFModel& cfModel = getCarFollowModel();
2222 619374397 : const double vehicleLength = getVehicleType().getLength();
2223 619374397 : const double maxV = cfModel.maxNextSpeed(myState.mySpeed, this);
2224 619374397 : const double maxVD = MAX2(getMaxSpeed(), MIN2(maxV, getDesiredMaxSpeed()));
2225 619374397 : const bool opposite = myLaneChangeModel->isOpposite();
2226 : // maxVD is possibly higher than vType-maxSpeed and in this case laneMaxV may be higher as well
2227 619374397 : double laneMaxV = myLane->getVehicleMaxSpeed(this, maxVD);
2228 619374397 : const double vMinComfortable = cfModel.minNextSpeed(getSpeed(), this);
2229 : double lateralShift = 0;
2230 619374397 : if (isRail()) {
2231 : // speed limits must hold for the whole length of the train
2232 1563263 : for (MSLane* l : myFurtherLanes) {
2233 341991 : laneMaxV = MIN2(laneMaxV, l->getVehicleMaxSpeed(this, maxVD));
2234 : #ifdef DEBUG_PLAN_MOVE
2235 : if (DEBUG_COND) {
2236 : std::cout << " laneMaxV=" << laneMaxV << " lane=" << l->getID() << "\n";
2237 : }
2238 : #endif
2239 : }
2240 : }
2241 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
2242 : laneMaxV = MAX2(laneMaxV, vMinComfortable);
2243 619867896 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
2244 : laneMaxV = std::numeric_limits<double>::max();
2245 : }
2246 : // v is the initial maximum velocity of this vehicle in this step
2247 619374397 : double v = cfModel.maximumLaneSpeedCF(this, maxV, laneMaxV);
2248 : // if we are modelling parking then we dawdle until the manoeuvre is complete - by setting a very low max speed
2249 : // in practice this only applies to exit manoeuvre because entry manoeuvre just delays setting stop.reached - when the vehicle is virtually stopped
2250 619374397 : if (MSGlobals::gModelParkingManoeuver && !manoeuvreIsComplete()) {
2251 420 : v = NUMERICAL_EPS_SPEED;
2252 : }
2253 :
2254 619374397 : if (myInfluencer != nullptr) {
2255 493531 : const double vMin = MAX2(0., cfModel.minNextSpeed(myState.mySpeed, this));
2256 : #ifdef DEBUG_TRACI
2257 : if (DEBUG_COND) {
2258 : std::cout << SIMTIME << " veh=" << getID() << " speedBeforeTraci=" << v;
2259 : }
2260 : #endif
2261 493531 : v = myInfluencer->influenceSpeed(t, v, v, vMin, maxV);
2262 : #ifdef DEBUG_TRACI
2263 : if (DEBUG_COND) {
2264 : std::cout << " influencedSpeed=" << v;
2265 : }
2266 : #endif
2267 493531 : v = myInfluencer->gapControlSpeed(t, this, v, v, vMin, maxV);
2268 : #ifdef DEBUG_TRACI
2269 : if (DEBUG_COND) {
2270 : std::cout << " gapControlSpeed=" << v << "\n";
2271 : }
2272 : #endif
2273 : }
2274 : // all links within dist are taken into account (potentially)
2275 619374397 : const double dist = SPEED2DIST(maxV) + cfModel.brakeGap(maxV);
2276 :
2277 619374397 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation();
2278 : #ifdef DEBUG_PLAN_MOVE
2279 : if (DEBUG_COND) {
2280 : std::cout << " dist=" << dist << " bestLaneConts=" << toString(bestLaneConts)
2281 : << "\n maxV=" << maxV << " laneMaxV=" << laneMaxV << " v=" << v << "\n";
2282 : }
2283 : #endif
2284 : assert(bestLaneConts.size() > 0);
2285 : bool hadNonInternal = false;
2286 : // the distance already "seen"; in the following always up to the end of the current "lane"
2287 619374397 : double seen = opposite ? myState.myPos : myLane->getLength() - myState.myPos;
2288 619374397 : nextTurn.first = seen;
2289 619374397 : nextTurn.second = nullptr;
2290 619374397 : bool encounteredTurn = (MSGlobals::gLateralResolution <= 0); // next turn is only needed for sublane
2291 : double seenNonInternal = 0;
2292 619374397 : double seenInternal = myLane->isInternal() ? seen : 0;
2293 619374397 : double vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(seen, v, cfModel.getMaxAccel()), laneMaxV); // upper bound
2294 : int view = 0;
2295 : DriveProcessItem* lastLink = nullptr;
2296 : bool slowedDownForMinor = false; // whether the vehicle already had to slow down on approach to a minor link
2297 : double mustSeeBeforeReversal = 0;
2298 : // iterator over subsequent lanes and fill lfLinks until stopping distance or stopped
2299 619374397 : const MSLane* lane = opposite ? myLane->getParallelOpposite() : myLane;
2300 : assert(lane != 0);
2301 619374397 : const MSLane* leaderLane = myLane;
2302 619374397 : bool foundRailSignal = !isRail();
2303 : bool planningToStop = false;
2304 : #ifdef PARALLEL_STOPWATCH
2305 : myLane->getStopWatch()[0].start();
2306 : #endif
2307 :
2308 : // optionally slow down to match arrival time
2309 619374397 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
2310 619363644 : if (v > vMinComfortable && hasStops() && myStops.front().pars.arrival >= 0 && sfp > 0
2311 4279 : && v > myLane->getSpeedLimit() * sfp
2312 619377433 : && !myStops.front().reached) {
2313 2786 : const double vSlowDown = slowDownForSchedule(vMinComfortable);
2314 5403 : v = MIN2(v, vSlowDown);
2315 : }
2316 : auto stopIt = myStops.begin();
2317 : while (true) {
2318 : // check leader on lane
2319 : // leader is given for the first edge only
2320 1179679420 : if (opposite &&
2321 : (leaderLane->getVehicleNumberWithPartials() > 1
2322 101210 : || (leaderLane != myLane && leaderLane->getVehicleNumber() > 0))) {
2323 396287 : ahead.clear();
2324 : // find opposite-driving leader that must be respected on the currently looked at lane
2325 : // (only looking at one lane at a time)
2326 396287 : const double backOffset = leaderLane == myLane ? getPositionOnLane() : leaderLane->getLength();
2327 396287 : const double gapOffset = leaderLane == myLane ? 0 : seen - leaderLane->getLength();
2328 396287 : const MSLeaderDistanceInfo cands = leaderLane->getFollowersOnConsecutive(this, backOffset, true, backOffset, MSLane::MinorLinkMode::FOLLOW_NEVER);
2329 396287 : MSLeaderDistanceInfo oppositeLeaders(leaderLane->getWidth(), this, 0.);
2330 396287 : const double minTimeToLeaveLane = MSGlobals::gSublane ? MAX2(TS, (0.5 * myLane->getWidth() - getLateralPositionOnLane()) / getVehicleType().getMaxSpeedLat()) : TS;
2331 1053237 : for (int i = 0; i < cands.numSublanes(); i++) {
2332 656950 : CLeaderDist cand = cands[i];
2333 656950 : if (cand.first != 0) {
2334 560257 : if ((cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() != leaderLane)
2335 560731 : || (!cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() == leaderLane)) {
2336 : // respect leaders that also drive in the opposite direction (fully or with some overlap)
2337 354311 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - getVehicleType().getMinGap() + cand.first->getVehicleType().getMinGap() - cand.first->getVehicleType().getLength());
2338 : } else {
2339 : // avoid frontal collision
2340 379058 : const bool assumeStopped = cand.first->isStopped() || cand.first->getWaitingSeconds() > 1;
2341 205946 : const double predMaxDist = cand.first->getSpeed() + (assumeStopped ? 0 : cand.first->getCarFollowModel().getMaxAccel()) * minTimeToLeaveLane;
2342 205946 : if (cand.second >= 0 && (cand.second - v * minTimeToLeaveLane - predMaxDist < 0 || assumeStopped)) {
2343 44656 : oppositeLeaders.addLeader(cand.first, cand.second + gapOffset - predMaxDist - getVehicleType().getMinGap());
2344 : }
2345 : }
2346 : }
2347 : }
2348 : #ifdef DEBUG_PLAN_MOVE
2349 : if (DEBUG_COND) {
2350 : std::cout << " leaderLane=" << leaderLane->getID() << " gapOffset=" << gapOffset << " minTimeToLeaveLane=" << minTimeToLeaveLane
2351 : << " cands=" << cands.toString() << " oppositeLeaders=" << oppositeLeaders.toString() << "\n";
2352 : }
2353 : #endif
2354 396287 : adaptToLeaderDistance(oppositeLeaders, 0, seen, lastLink, v, vLinkPass);
2355 396287 : } else {
2356 1179283133 : if (MSGlobals::gLateralResolution > 0 && myLaneChangeModel->getShadowLane() == nullptr) {
2357 190816397 : const double rightOL = getRightSideOnLane(lane) + lateralShift;
2358 190816397 : const double leftOL = getLeftSideOnLane(lane) + lateralShift;
2359 : const bool outsideLeft = leftOL > lane->getWidth();
2360 : #ifdef DEBUG_PLAN_MOVE
2361 : if (DEBUG_COND) {
2362 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " rightOL=" << rightOL << " leftOL=" << leftOL << "\n";
2363 : }
2364 : #endif
2365 190816397 : if (rightOL < 0 || outsideLeft) {
2366 1265080 : MSLeaderInfo outsideLeaders(lane->getWidth());
2367 : // if ego is driving outside lane bounds we must consider
2368 : // potential leaders that are also outside bounds
2369 : int sublaneOffset = 0;
2370 1265080 : if (outsideLeft) {
2371 531633 : sublaneOffset = MIN2(-1, -(int)ceil((leftOL - lane->getWidth()) / MSGlobals::gLateralResolution));
2372 : } else {
2373 733447 : sublaneOffset = MAX2(1, (int)ceil(-rightOL / MSGlobals::gLateralResolution));
2374 : }
2375 1265080 : outsideLeaders.setSublaneOffset(sublaneOffset);
2376 : #ifdef DEBUG_PLAN_MOVE
2377 : if (DEBUG_COND) {
2378 : std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " sublaneOffset=" << sublaneOffset << " outsideLeft=" << outsideLeft << "\n";
2379 : }
2380 : #endif
2381 5326244 : for (const MSVehicle* cand : lane->getVehiclesSecure()) {
2382 1486823 : if ((lane != myLane || cand->getPositionOnLane() > getPositionOnLane())
2383 4696681 : && ((!outsideLeft && cand->getLeftSideOnEdge() < 0)
2384 3209696 : || (outsideLeft && cand->getLeftSideOnEdge() > lane->getEdge().getWidth()))) {
2385 97506 : outsideLeaders.addLeader(cand, true);
2386 : #ifdef DEBUG_PLAN_MOVE
2387 : if (DEBUG_COND) {
2388 : std::cout << " outsideLeader=" << cand->getID() << " ahead=" << outsideLeaders.toString() << "\n";
2389 : }
2390 : #endif
2391 : }
2392 : }
2393 1265080 : lane->releaseVehicles();
2394 1265080 : if (outsideLeaders.hasVehicles()) {
2395 26311 : adaptToLeaders(outsideLeaders, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2396 : }
2397 1265080 : }
2398 : }
2399 1179283133 : adaptToLeaders(ahead, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2400 : }
2401 1179679420 : if (lastLink != nullptr) {
2402 1050664632 : lastLink->myVLinkWait = MIN2(lastLink->myVLinkWait, v);
2403 : }
2404 : #ifdef DEBUG_PLAN_MOVE
2405 : if (DEBUG_COND) {
2406 : std::cout << "\nv = " << v << "\n";
2407 :
2408 : }
2409 : #endif
2410 : // XXX efficiently adapt to shadow leaders using neighAhead by iteration over the whole edge in parallel (lanechanger-style)
2411 1179679420 : if (myLaneChangeModel->getShadowLane() != nullptr) {
2412 : // also slow down for leaders on the shadowLane relative to the current lane
2413 4989427 : const MSLane* shadowLane = myLaneChangeModel->getShadowLane(leaderLane);
2414 : if (shadowLane != nullptr
2415 4989427 : && (MSGlobals::gLateralResolution > 0 || getLateralOverlap() > POSITION_EPS
2416 : // continous lane change cannot be stopped so we must adapt to the leader on the target lane
2417 191044 : || myLaneChangeModel->getLaneChangeCompletion() < 0.5)) {
2418 4448579 : if ((&shadowLane->getEdge() == &leaderLane->getEdge() || myLaneChangeModel->isOpposite())) {
2419 4406406 : double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
2420 4406406 : if (myLaneChangeModel->isOpposite()) {
2421 : // ego posLat is added when retrieving sublanes but it
2422 : // should be negated (subtract twice to compensate)
2423 137926 : latOffset = ((myLane->getWidth() + shadowLane->getWidth()) * 0.5
2424 137926 : - 2 * getLateralPositionOnLane());
2425 :
2426 : }
2427 4406406 : MSLeaderInfo shadowLeaders = shadowLane->getLastVehicleInformation(this, latOffset, lane->getLength() - seen);
2428 : #ifdef DEBUG_PLAN_MOVE
2429 : if (DEBUG_COND && myLaneChangeModel->isOpposite()) {
2430 : std::cout << SIMTIME << " opposite veh=" << getID() << " shadowLane=" << shadowLane->getID() << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2431 : }
2432 : #endif
2433 4406406 : if (myLaneChangeModel->isOpposite()) {
2434 : // ignore oncoming vehicles on the shadow lane
2435 137926 : shadowLeaders.removeOpposite(shadowLane);
2436 : }
2437 4406406 : const double turningDifference = MAX2(0.0, leaderLane->getLength() - shadowLane->getLength());
2438 4406406 : adaptToLeaders(shadowLeaders, latOffset, seen - turningDifference, lastLink, shadowLane, v, vLinkPass);
2439 4448579 : } else if (shadowLane == myLaneChangeModel->getShadowLane() && leaderLane == myLane) {
2440 : // check for leader vehicles driving in the opposite direction on the opposite-direction shadow lane
2441 : // (and thus in the same direction as ego)
2442 30313 : MSLeaderDistanceInfo shadowLeaders = shadowLane->getFollowersOnConsecutive(this, myLane->getOppositePos(getPositionOnLane()), true);
2443 : const double latOffset = 0;
2444 : #ifdef DEBUG_PLAN_MOVE
2445 : if (DEBUG_COND) {
2446 : std::cout << SIMTIME << " opposite shadows veh=" << getID() << " shadowLane=" << shadowLane->getID()
2447 : << " latOffset=" << latOffset << " shadowLeaders=" << shadowLeaders.toString() << "\n";
2448 : }
2449 : #endif
2450 30313 : shadowLeaders.fixOppositeGaps(true);
2451 : #ifdef DEBUG_PLAN_MOVE
2452 : if (DEBUG_COND) {
2453 : std::cout << " shadowLeadersFixed=" << shadowLeaders.toString() << "\n";
2454 : }
2455 : #endif
2456 30313 : adaptToLeaderDistance(shadowLeaders, latOffset, seen, lastLink, v, vLinkPass);
2457 30313 : }
2458 : }
2459 : }
2460 : // adapt to pedestrians on the same lane
2461 1179679420 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2462 194950 : const double relativePos = lane->getLength() - seen;
2463 : #ifdef DEBUG_PLAN_MOVE
2464 : if (DEBUG_COND) {
2465 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2466 : }
2467 : #endif
2468 194950 : const double stopTime = MAX2(1.0, ceil(getSpeed() / cfModel.getMaxDecel()));
2469 194950 : PersonDist leader = lane->nextBlocking(relativePos,
2470 194950 : getRightSideOnLane(lane), getRightSideOnLane(lane) + getVehicleType().getWidth(), stopTime);
2471 194950 : if (leader.first != 0) {
2472 20798 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2473 29468 : v = MIN2(v, stopSpeed);
2474 : #ifdef DEBUG_PLAN_MOVE
2475 : if (DEBUG_COND) {
2476 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2477 : }
2478 : #endif
2479 : }
2480 : }
2481 1179679420 : if (lane->getBidiLane() != nullptr) {
2482 : // adapt to pedestrians on the bidi lane
2483 3788514 : const MSLane* bidiLane = lane->getBidiLane();
2484 3788514 : if (bidiLane->getEdge().getPersons().size() > 0 && bidiLane->hasPedestrians()) {
2485 1028 : const double relativePos = seen;
2486 : #ifdef DEBUG_PLAN_MOVE
2487 : if (DEBUG_COND) {
2488 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << " relPos=" << relativePos << "\n";
2489 : }
2490 : #endif
2491 1028 : const double stopTime = ceil(getSpeed() / cfModel.getMaxDecel());
2492 1028 : const double leftSideOnLane = bidiLane->getWidth() - getRightSideOnLane(lane);
2493 1028 : PersonDist leader = bidiLane->nextBlocking(relativePos,
2494 1028 : leftSideOnLane - getVehicleType().getWidth(), leftSideOnLane, stopTime, true);
2495 1028 : if (leader.first != 0) {
2496 267 : const double stopSpeed = cfModel.stopSpeed(this, getSpeed(), leader.second - getVehicleType().getMinGap());
2497 516 : v = MIN2(v, stopSpeed);
2498 : #ifdef DEBUG_PLAN_MOVE
2499 : if (DEBUG_COND) {
2500 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2501 : }
2502 : #endif
2503 : }
2504 : }
2505 : }
2506 : // adapt to vehicles blocked from (urgent) lane-changing
2507 1179679420 : if (!opposite && lane->getEdge().hasLaneChanger()) {
2508 582491097 : const double vHelp = myLaneChangeModel->getCooperativeHelpSpeed(lane, seen);
2509 : #ifdef DEBUG_PLAN_MOVE
2510 : if (DEBUG_COND && vHelp < v) {
2511 : std::cout << SIMTIME << " applying cooperativeHelpSpeed v=" << vHelp << "\n";
2512 : }
2513 : #endif
2514 582539660 : v = MIN2(v, vHelp);
2515 : }
2516 :
2517 : // process all stops and waypoints on the current edge
2518 : bool foundRealStop = false;
2519 : while (stopIt != myStops.end()
2520 57577631 : && ((&stopIt->lane->getEdge() == &lane->getEdge())
2521 29040973 : || (stopIt->isOpposite && stopIt->lane->getEdge().getOppositeEdge() == &lane->getEdge()))
2522 : // ignore stops that occur later in a looped route
2523 1227123532 : && stopIt->edge == myCurrEdge + view) {
2524 28490296 : double stopDist = std::numeric_limits<double>::max();
2525 : const MSStop& stop = *stopIt;
2526 : const bool isFirstStop = stopIt == myStops.begin();
2527 : stopIt++;
2528 28490296 : if (!stop.reached || (stop.getSpeed() > 0 && keepStopping())) {
2529 : // we are approaching a stop on the edge; must not drive further
2530 10892490 : bool isWaypoint = stop.getSpeed() > 0;
2531 10892490 : double endPos = stop.getEndPos(*this) + NUMERICAL_EPS;
2532 10892490 : if (stop.parkingarea != nullptr) {
2533 : // leave enough space so parking vehicles can exit
2534 1532849 : const double brakePos = getBrakeGap() + lane->getLength() - seen;
2535 1532849 : endPos = stop.parkingarea->getLastFreePosWithReservation(t, *this, brakePos);
2536 9359641 : } else if (isWaypoint && !stop.reached) {
2537 105009 : endPos = stop.pars.startPos;
2538 : }
2539 10892490 : stopDist = seen + endPos - lane->getLength();
2540 : #ifdef DEBUG_STOPS
2541 : if (DEBUG_COND) {
2542 : std::cout << SIMTIME << " veh=" << getID() << " stopDist=" << stopDist << " stopLane=" << stop.lane->getID() << " stopEndPos=" << endPos << "\n";
2543 : }
2544 : #endif
2545 : // regular stops are not emergencies
2546 : double stopSpeed = laneMaxV;
2547 10892490 : if (isWaypoint) {
2548 : bool waypointWithStop = false;
2549 120743 : if (stop.getUntil() > t) {
2550 : // check if we have to slow down or even stop
2551 : SUMOTime time2end = 0;
2552 4051 : if (stop.reached) {
2553 800 : time2end = TIME2STEPS((stop.pars.endPos - myState.myPos) / stop.getSpeed());
2554 : } else {
2555 3437 : time2end = TIME2STEPS(
2556 : // time to reach waypoint start
2557 : stopDist / ((getSpeed() + stop.getSpeed()) / 2)
2558 : // time to reach waypoint end
2559 : + (stop.pars.endPos - stop.pars.startPos) / stop.getSpeed());
2560 : }
2561 4051 : if (stop.getUntil() > t + time2end) {
2562 : // we need to stop
2563 : double distToEnd = stopDist;
2564 3915 : if (!stop.reached) {
2565 3191 : distToEnd += stop.pars.endPos - stop.pars.startPos;
2566 : }
2567 3915 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), distToEnd), vMinComfortable);
2568 : waypointWithStop = true;
2569 : }
2570 : }
2571 120743 : if (stop.reached) {
2572 14981 : stopSpeed = MIN2(stop.getSpeed(), stopSpeed);
2573 14981 : if (myState.myPos >= stop.pars.endPos && !waypointWithStop) {
2574 281 : stopDist = std::numeric_limits<double>::max();
2575 : }
2576 : } else {
2577 105762 : stopSpeed = MIN2(MAX2(cfModel.freeSpeed(this, getSpeed(), stopDist, stop.getSpeed()), vMinComfortable), stopSpeed);
2578 105762 : if (!stop.reached) {
2579 105762 : stopDist += stop.pars.endPos - stop.pars.startPos;
2580 : }
2581 105762 : if (lastLink != nullptr) {
2582 67542 : lastLink->adaptLeaveSpeed(cfModel.freeSpeed(this, vLinkPass, endPos, stop.getSpeed(), false, MSCFModel::CalcReason::FUTURE));
2583 : }
2584 : }
2585 : } else {
2586 10771747 : stopSpeed = MAX2(cfModel.stopSpeed(this, getSpeed(), stopDist), vMinComfortable);
2587 10771747 : if (lastLink != nullptr) {
2588 5224475 : lastLink->adaptLeaveSpeed(cfModel.stopSpeed(this, vLinkPass, endPos, MSCFModel::CalcReason::FUTURE));
2589 : }
2590 : }
2591 10892490 : v = MIN2(v, stopSpeed);
2592 10892490 : if (lane->isInternal()) {
2593 6738 : std::vector<MSLink*>::const_iterator exitLink = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2594 : assert(!lane->isLinkEnd(exitLink));
2595 : bool dummySetRequest;
2596 : double dummyVLinkWait;
2597 6738 : checkLinkLeaderCurrentAndParallel(*exitLink, lane, seen, lastLink, v, vLinkPass, dummyVLinkWait, dummySetRequest);
2598 : }
2599 :
2600 : #ifdef DEBUG_PLAN_MOVE
2601 : if (DEBUG_COND) {
2602 : std::cout << "\n" << SIMTIME << " next stop: distance = " << stopDist << " requires stopSpeed = " << stopSpeed << "\n";
2603 :
2604 : }
2605 : #endif
2606 10892490 : if (isFirstStop) {
2607 9976309 : newStopDist = stopDist;
2608 : // if the vehicle is going to stop we don't need to look further
2609 : // (except for trains that make use of further link-approach registration for safety purposes)
2610 9976309 : if (!isWaypoint) {
2611 : planningToStop = true;
2612 9890143 : if (!isRail()) {
2613 9586003 : lfLinks.emplace_back(v, stopDist);
2614 : foundRealStop = true;
2615 9586003 : break;
2616 : }
2617 : }
2618 : }
2619 : }
2620 : }
2621 : if (foundRealStop) {
2622 : break;
2623 : }
2624 :
2625 : // move to next lane
2626 : // get the next link used
2627 1170093417 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view + 1, *lane, bestLaneConts);
2628 1170093417 : if (lane->isLinkEnd(link) && myLaneChangeModel->hasBlueLight() && myCurrEdge != myRoute->end() - 1) {
2629 : // emergency vehicle is on the wrong lane. Obtain the link that it would use from the correct turning lane
2630 : const int currentIndex = lane->getIndex();
2631 : const MSLane* bestJump = nullptr;
2632 193987 : for (const LaneQ& preb : getBestLanes()) {
2633 127580 : if (preb.allowsContinuation &&
2634 : (bestJump == nullptr
2635 3212 : || abs(currentIndex - preb.lane->getIndex()) < abs(currentIndex - bestJump->getIndex()))) {
2636 67411 : bestJump = preb.lane;
2637 : }
2638 : }
2639 66407 : if (bestJump != nullptr) {
2640 66407 : const MSEdge* nextEdge = *(myCurrEdge + 1);
2641 122629 : for (auto cand_it = bestJump->getLinkCont().begin(); cand_it != bestJump->getLinkCont().end(); cand_it++) {
2642 117256 : if (&(*cand_it)->getLane()->getEdge() == nextEdge) {
2643 : link = cand_it;
2644 : break;
2645 : }
2646 : }
2647 : }
2648 : }
2649 :
2650 : // Check whether this is a turn (to save info about the next upcoming turn)
2651 1170093417 : if (!encounteredTurn) {
2652 185775901 : if (!lane->isLinkEnd(link) && lane->getLinkCont().size() > 1) {
2653 18458104 : LinkDirection linkDir = (*link)->getDirection();
2654 18458104 : switch (linkDir) {
2655 : case LinkDirection::STRAIGHT:
2656 : case LinkDirection::NODIR:
2657 : break;
2658 6793307 : default:
2659 6793307 : nextTurn.first = seen;
2660 6793307 : nextTurn.second = *link;
2661 : encounteredTurn = true;
2662 : #ifdef DEBUG_NEXT_TURN
2663 : if (DEBUG_COND) {
2664 : std::cout << SIMTIME << " veh '" << getID() << "' nextTurn: " << toString(linkDir)
2665 : << " at " << nextTurn.first << "m." << std::endl;
2666 : }
2667 : #endif
2668 : }
2669 : }
2670 : }
2671 :
2672 : // check whether the vehicle is on its final edge
2673 2015007228 : if (myCurrEdge + view + 1 == myRoute->end()
2674 1170093417 : || (myParameter->arrivalEdge >= 0 && getRoutePosition() + view == myParameter->arrivalEdge)) {
2675 325179606 : const double arrivalSpeed = (myParameter->arrivalSpeedProcedure == ArrivalSpeedDefinition::GIVEN ?
2676 : myParameter->arrivalSpeed : laneMaxV);
2677 : // subtract the arrival speed from the remaining distance so we get one additional driving step with arrival speed
2678 : // XXX: This does not work for ballistic update refs #2579
2679 325179606 : const double distToArrival = seen + myArrivalPos - lane->getLength() - SPEED2DIST(arrivalSpeed);
2680 325179606 : const double va = MAX2(NUMERICAL_EPS, cfModel.freeSpeed(this, getSpeed(), distToArrival, arrivalSpeed));
2681 325179606 : v = MIN2(v, va);
2682 325179606 : if (lastLink != nullptr) {
2683 : lastLink->adaptLeaveSpeed(va);
2684 : }
2685 325179606 : lfLinks.push_back(DriveProcessItem(v, seen, lane->getEdge().isFringe() ? 1000 : 0));
2686 325179606 : break;
2687 : }
2688 : // check whether the lane or the shadowLane is a dead end (allow some leeway on intersections)
2689 : if (lane->isLinkEnd(link)
2690 832199931 : || (MSGlobals::gSublane && brakeForOverlap(*link, lane))
2691 1676776062 : || (opposite && (*link)->getViaLaneOrLane()->getParallelOpposite() == nullptr
2692 212743 : && !myLaneChangeModel->hasBlueLight())) {
2693 13303065 : double va = cfModel.stopSpeed(this, getSpeed(), seen);
2694 13303065 : if (lastLink != nullptr) {
2695 : lastLink->adaptLeaveSpeed(va);
2696 : }
2697 13303065 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
2698 351955 : v = MIN2(myLaneChangeModel->getCommittedSpeed(), v);
2699 : } else {
2700 25299159 : v = MIN2(va, v);
2701 : }
2702 : #ifdef DEBUG_PLAN_MOVE
2703 : if (DEBUG_COND) {
2704 : std::cout << " braking for link end lane=" << lane->getID() << " seen=" << seen
2705 : << " overlap=" << getLateralOverlap() << " va=" << va << " committed=" << myLaneChangeModel->getCommittedSpeed() << " v=" << v << "\n";
2706 :
2707 : }
2708 : #endif
2709 13303065 : if (lane->isLinkEnd(link)) {
2710 12713880 : lfLinks.emplace_back(v, seen);
2711 : break;
2712 : }
2713 : }
2714 832199931 : lateralShift += (*link)->getLateralShift();
2715 832199931 : const bool yellowOrRed = (*link)->haveRed() || (*link)->haveYellow();
2716 : // We distinguish 3 cases when determining the point at which a vehicle stops:
2717 : // - allway_stop: the vehicle should stop close to the stop line but may stop at larger distance
2718 : // - red/yellow light: here the vehicle 'knows' that it will have priority eventually and does not need to stop on a precise spot
2719 : // - other types of minor links: the vehicle needs to stop as close to the junction as necessary
2720 : // to minimize the time window for passing the junction. If the
2721 : // vehicle 'decides' to accelerate and cannot enter the junction in
2722 : // the next step, new foes may appear and cause a collision (see #1096)
2723 : // - major links: stopping point is irrelevant
2724 : double laneStopOffset;
2725 832199931 : const double majorStopOffset = MAX2(getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, DIST_TO_STOPLINE_EXPECT_PRIORITY), lane->getVehicleStopOffset(this));
2726 : // override low desired decel at yellow and red
2727 832199931 : const double stopDecel = yellowOrRed && !isRail() ? MAX2(MIN2(MSGlobals::gTLSYellowMinDecel, cfModel.getEmergencyDecel()), cfModel.getMaxDecel()) : cfModel.getMaxDecel();
2728 832199931 : const double brakeDist = cfModel.brakeGap(myState.mySpeed, stopDecel, 0);
2729 832199931 : const bool canBrakeBeforeLaneEnd = seen >= brakeDist;
2730 832199931 : const bool canBrakeBeforeStopLine = seen - lane->getVehicleStopOffset(this) >= brakeDist;
2731 832199931 : if (yellowOrRed) {
2732 : // Wait at red traffic light with full distance if possible
2733 : laneStopOffset = majorStopOffset;
2734 777012183 : } else if ((*link)->havePriority()) {
2735 : // On priority link, we should never stop below visibility distance
2736 737270424 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, majorStopOffset);
2737 : } else {
2738 39741759 : double minorStopOffset = MAX2(lane->getVehicleStopOffset(this),
2739 39741759 : getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP) - (*link)->getDistToFoePedCrossing());
2740 : #ifdef DEBUG_PLAN_MOVE
2741 : if (DEBUG_COND) {
2742 : std::cout << " minorStopOffset=" << minorStopOffset << " distToFoePedCrossing=" << (*link)->getDistToFoePedCrossing() << "\n";
2743 : }
2744 : #endif
2745 39741759 : if ((*link)->getState() == LINKSTATE_ALLWAY_STOP) {
2746 1361777 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP, 0));
2747 : } else {
2748 38379982 : minorStopOffset = MAX2(minorStopOffset, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_GAP_MINOR, 0));
2749 : }
2750 : // On minor link, we should likewise never stop below visibility distance
2751 39741759 : laneStopOffset = MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, minorStopOffset);
2752 : }
2753 : #ifdef DEBUG_PLAN_MOVE
2754 : if (DEBUG_COND) {
2755 : std::cout << SIMTIME << " veh=" << getID() << " desired stopOffset on lane '" << lane->getID() << "' is " << laneStopOffset << "\n";
2756 : }
2757 : #endif
2758 832199931 : if (canBrakeBeforeLaneEnd) {
2759 : // avoid emergency braking if possible
2760 804471571 : laneStopOffset = MIN2(laneStopOffset, seen - brakeDist);
2761 : }
2762 : laneStopOffset = MAX2(POSITION_EPS, laneStopOffset);
2763 832199931 : double stopDist = MAX2(0., seen - laneStopOffset);
2764 55187748 : if (yellowOrRed && getDevice(typeid(MSDevice_GLOSA)) != nullptr
2765 508 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->getOverrideSafety()
2766 832199931 : && static_cast<MSDevice_GLOSA*>(getDevice(typeid(MSDevice_GLOSA)))->isSpeedAdviceActive()) {
2767 : stopDist = std::numeric_limits<double>::max();
2768 : }
2769 832199931 : if (newStopDist != std::numeric_limits<double>::max()) {
2770 : stopDist = MAX2(stopDist, newStopDist);
2771 : }
2772 : #ifdef DEBUG_PLAN_MOVE
2773 : if (DEBUG_COND) {
2774 : std::cout << SIMTIME << " veh=" << getID() << " effective stopOffset on lane '" << lane->getID()
2775 : << "' is " << laneStopOffset << " (-> stopDist=" << stopDist << ")" << std::endl;
2776 : }
2777 : #endif
2778 832199931 : if (isRail()
2779 832199931 : && !lane->isInternal()) {
2780 : // check for train direction reversal
2781 2949689 : if (lane->getBidiLane() != nullptr
2782 2949689 : && (*link)->getLane()->getBidiLane() == lane) {
2783 629981 : double vMustReverse = getCarFollowModel().stopSpeed(this, getSpeed(), seen - POSITION_EPS);
2784 629981 : if (seen < 1) {
2785 2261 : mustSeeBeforeReversal = 2 * seen + getLength();
2786 : }
2787 1219258 : v = MIN2(v, vMustReverse);
2788 : }
2789 : // signal that is passed in the current step does not count
2790 5899378 : foundRailSignal |= ((*link)->getTLLogic() != nullptr
2791 640466 : && (*link)->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL
2792 3500980 : && seen > SPEED2DIST(v));
2793 : }
2794 :
2795 832199931 : bool canReverseEventually = false;
2796 832199931 : const double vReverse = checkReversal(canReverseEventually, laneMaxV, seen);
2797 832199931 : v = MIN2(v, vReverse);
2798 : #ifdef DEBUG_PLAN_MOVE
2799 : if (DEBUG_COND) {
2800 : std::cout << SIMTIME << " veh=" << getID() << " canReverseEventually=" << canReverseEventually << " v=" << v << "\n";
2801 : }
2802 : #endif
2803 :
2804 : // check whether we need to slow down in order to finish a continuous lane change
2805 832199931 : if (myLaneChangeModel->isChangingLanes()) {
2806 : if ( // slow down to finish lane change before a turn lane
2807 160597 : ((*link)->getDirection() == LinkDirection::LEFT || (*link)->getDirection() == LinkDirection::RIGHT) ||
2808 : // slow down to finish lane change before the shadow lane ends
2809 137198 : (myLaneChangeModel->getShadowLane() != nullptr &&
2810 137198 : (*link)->getViaLaneOrLane()->getParallelLane(myLaneChangeModel->getShadowDirection()) == nullptr)) {
2811 : // XXX maybe this is too harsh. Vehicles could cut some corners here
2812 46405 : const double timeRemaining = STEPS2TIME(myLaneChangeModel->remainingTime());
2813 : assert(timeRemaining != 0);
2814 : // XXX: Euler-logic (#860), but I couldn't identify problems from this yet (Leo). Refs. #2575
2815 46405 : const double va = MAX2(cfModel.stopSpeed(this, getSpeed(), seen - POSITION_EPS),
2816 46405 : (seen - POSITION_EPS) / timeRemaining);
2817 : #ifdef DEBUG_PLAN_MOVE
2818 : if (DEBUG_COND) {
2819 : std::cout << SIMTIME << " veh=" << getID() << " slowing down to finish continuous change before"
2820 : << " link=" << (*link)->getViaLaneOrLane()->getID()
2821 : << " timeRemaining=" << timeRemaining
2822 : << " v=" << v
2823 : << " va=" << va
2824 : << std::endl;
2825 : }
2826 : #endif
2827 92609 : v = MIN2(va, v);
2828 : }
2829 : }
2830 :
2831 : // - always issue a request to leave the intersection we are currently on
2832 832199931 : const bool leavingCurrentIntersection = myLane->getEdge().isInternal() && lastLink == nullptr;
2833 : // - do not issue a request to enter an intersection after we already slowed down for an earlier one
2834 832199931 : const bool abortRequestAfterMinor = slowedDownForMinor && (*link)->getInternalLaneBefore() == nullptr;
2835 : // - even if red, if we cannot break we should issue a request
2836 832199931 : bool setRequest = (v > NUMERICAL_EPS_SPEED && !abortRequestAfterMinor) || (leavingCurrentIntersection);
2837 :
2838 832199931 : double stopSpeed = cfModel.stopSpeed(this, getSpeed(), stopDist, stopDecel, MSCFModel::CalcReason::CURRENT_WAIT);
2839 832199931 : double vLinkWait = MIN2(v, stopSpeed);
2840 : #ifdef DEBUG_PLAN_MOVE
2841 : if (DEBUG_COND) {
2842 : std::cout
2843 : << " stopDist=" << stopDist
2844 : << " stopDecel=" << stopDecel
2845 : << " vLinkWait=" << vLinkWait
2846 : << " brakeDist=" << brakeDist
2847 : << " seen=" << seen
2848 : << " leaveIntersection=" << leavingCurrentIntersection
2849 : << " setRequest=" << setRequest
2850 : //<< std::setprecision(16)
2851 : //<< " v=" << v
2852 : //<< " speedEps=" << NUMERICAL_EPS_SPEED
2853 : //<< std::setprecision(gPrecision)
2854 : << "\n";
2855 : }
2856 : #endif
2857 :
2858 832199931 : if (yellowOrRed && canBrakeBeforeStopLine && !ignoreRed(*link, canBrakeBeforeStopLine) && seen >= mustSeeBeforeReversal) {
2859 55128177 : if (lane->isInternal()) {
2860 42351 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2861 : }
2862 : // arrivalSpeed / arrivalTime when braking for red light is only relevent for rail signal switching
2863 55128177 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, vLinkPass);
2864 : // the vehicle is able to brake in front of a yellow/red traffic light
2865 55128177 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, false, arrivalTime, vLinkWait, 0, seen, -1));
2866 : //lfLinks.push_back(DriveProcessItem(0, vLinkWait, vLinkWait, false, 0, 0, stopDist));
2867 55128177 : break;
2868 : }
2869 :
2870 777071754 : const MSLink* entryLink = (*link)->getCorrespondingEntryLink();
2871 777071754 : if (entryLink->haveRed() && ignoreRed(*link, canBrakeBeforeStopLine) && STEPS2TIME(t - entryLink->getLastStateChange()) > 2) {
2872 : // restrict speed when ignoring a red light
2873 118293 : const double redSpeed = MIN2(v, getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_RED_SPEED, v));
2874 118293 : const double va = MAX2(redSpeed, cfModel.freeSpeed(this, getSpeed(), seen, redSpeed));
2875 236138 : v = MIN2(va, v);
2876 : #ifdef DEBUG_PLAN_MOVE
2877 : if (DEBUG_COND) std::cout
2878 : << " ignoreRed spent=" << STEPS2TIME(t - (*link)->getLastStateChange())
2879 : << " redSpeed=" << redSpeed
2880 : << " va=" << va
2881 : << " v=" << v
2882 : << "\n";
2883 : #endif
2884 : }
2885 :
2886 777071754 : checkLinkLeaderCurrentAndParallel(*link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
2887 :
2888 777071754 : if (lastLink != nullptr) {
2889 : lastLink->adaptLeaveSpeed(laneMaxV);
2890 : }
2891 777071754 : double arrivalSpeed = vLinkPass;
2892 : // vehicles should decelerate when approaching a minor link
2893 : // - unless they are close enough to have clear visibility of all relevant foe lanes and may start to accelerate again
2894 : // - and unless they are so close that stopping is impossible (i.e. when a green light turns to yellow when close to the junction)
2895 :
2896 : // whether the vehicle/driver is close enough to the link to see all possible foes #2123
2897 777071754 : const double visibilityDistance = (*link)->getFoeVisibilityDistance();
2898 777071754 : const double determinedFoePresence = seen <= visibilityDistance;
2899 : // // VARIANT: account for time needed to recognize whether relevant vehicles are on the foe lanes. (Leo)
2900 : // double foeRecognitionTime = 0.0;
2901 : // double determinedFoePresence = seen < visibilityDistance - myState.mySpeed*foeRecognitionTime;
2902 :
2903 : #ifdef DEBUG_PLAN_MOVE
2904 : if (DEBUG_COND) {
2905 : std::cout << " approaching link=" << (*link)->getViaLaneOrLane()->getID() << " prio=" << (*link)->havePriority() << " seen=" << seen << " visibilityDistance=" << visibilityDistance << " brakeDist=" << brakeDist << "\n";
2906 : }
2907 : #endif
2908 :
2909 777071754 : const bool couldBrakeForMinor = !(*link)->havePriority() && brakeDist < seen && !(*link)->lastWasContMajor();
2910 39262864 : if (couldBrakeForMinor && !determinedFoePresence) {
2911 : // vehicle decelerates just enough to be able to stop if necessary and then accelerates
2912 36647118 : double maxSpeedAtVisibilityDist = cfModel.maximumSafeStopSpeed(visibilityDistance, cfModel.getMaxDecel(), myState.mySpeed, false, 0., false);
2913 : // XXX: estimateSpeedAfterDistance does not use euler-logic (thus returns a lower value than possible here...)
2914 36647118 : double maxArrivalSpeed = cfModel.estimateSpeedAfterDistance(visibilityDistance, maxSpeedAtVisibilityDist, cfModel.getMaxAccel());
2915 36647118 : arrivalSpeed = MIN2(vLinkPass, maxArrivalSpeed);
2916 : slowedDownForMinor = true;
2917 : #ifdef DEBUG_PLAN_MOVE
2918 : if (DEBUG_COND) {
2919 : std::cout << " slowedDownForMinor maxSpeedAtVisDist=" << maxSpeedAtVisibilityDist << " maxArrivalSpeed=" << maxArrivalSpeed << " arrivalSpeed=" << arrivalSpeed << "\n";
2920 : }
2921 : #endif
2922 740424636 : } else if ((*link)->getState() == LINKSTATE_EQUAL && myWaitingTime > 0) {
2923 : // check for deadlock (circular yielding)
2924 : //std::cout << SIMTIME << " veh=" << getID() << " check rbl-deadlock\n";
2925 2867 : std::pair<const SUMOVehicle*, const MSLink*> blocker = (*link)->getFirstApproachingFoe(*link);
2926 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2927 : int n = 100;
2928 5680 : while (blocker.second != nullptr && blocker.second != *link && n > 0) {
2929 2813 : blocker = blocker.second->getFirstApproachingFoe(*link);
2930 2813 : n--;
2931 : //std::cout << " blocker=" << Named::getIDSecure(blocker.first) << "\n";
2932 : }
2933 2867 : if (n == 0) {
2934 0 : WRITE_WARNINGF(TL("Suspicious right_before_left junction '%'."), lane->getEdge().getToJunction()->getID());
2935 : }
2936 : //std::cout << " blockerLink=" << blocker.second << " link=" << *link << "\n";
2937 2867 : if (blocker.second == *link) {
2938 488 : const double threshold = (*link)->getDirection() == LinkDirection::STRAIGHT ? 0.25 : 0.75;
2939 488 : if (RandHelper::rand(getRNG()) < threshold) {
2940 : //std::cout << " abort request, threshold=" << threshold << "\n";
2941 310 : setRequest = false;
2942 : }
2943 : }
2944 : }
2945 :
2946 777071754 : const SUMOTime arrivalTime = getArrivalTime(t, seen, v, arrivalSpeed);
2947 777071754 : if (couldBrakeForMinor && determinedFoePresence && (*link)->getLane()->getEdge().isRoundabout()) {
2948 880000 : const bool wasOpened = (*link)->opened(arrivalTime, arrivalSpeed, arrivalSpeed,
2949 880000 : getLength(), getImpatience(),
2950 : getCarFollowModel().getMaxDecel(),
2951 880000 : getWaitingTime(), getLateralPositionOnLane(),
2952 : nullptr, false, this);
2953 880000 : if (!wasOpened) {
2954 : slowedDownForMinor = true;
2955 : }
2956 : #ifdef DEBUG_PLAN_MOVE
2957 : if (DEBUG_COND) {
2958 : std::cout << " slowedDownForMinor at roundabout=" << (!wasOpened) << "\n";
2959 : }
2960 : #endif
2961 : }
2962 :
2963 : // compute arrival speed and arrival time if vehicle starts braking now
2964 : // if stopping is possible, arrivalTime can be arbitrarily large. A small value keeps fractional times (impatience) meaningful
2965 : double arrivalSpeedBraking = 0;
2966 777071754 : const double bGap = cfModel.brakeGap(v);
2967 777071754 : if (seen < bGap && !isStopped() && !planningToStop) { // XXX: should this use the current speed (at least for the ballistic case)? (Leo) Refs. #2575
2968 : // vehicle cannot come to a complete stop in time
2969 57207433 : if (MSGlobals::gSemiImplicitEulerUpdate) {
2970 54540287 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeedEuler(seen, v);
2971 : // due to discrete/continuous mismatch (when using Euler update) we have to ensure that braking actually helps
2972 : arrivalSpeedBraking = MIN2(arrivalSpeedBraking, arrivalSpeed);
2973 : } else {
2974 2667146 : arrivalSpeedBraking = cfModel.getMinimalArrivalSpeed(seen, myState.mySpeed);
2975 : }
2976 : }
2977 :
2978 : // estimate leave speed for passing time computation
2979 : // l=linkLength, a=accel, t=continuousTime, v=vLeave
2980 : // l=v*t + 0.5*a*t^2, solve for t and multiply with a, then add v
2981 1153040738 : const double estimatedLeaveSpeed = MIN2((*link)->getViaLaneOrLane()->getVehicleMaxSpeed(this, maxVD),
2982 777071754 : getCarFollowModel().estimateSpeedAfterDistance((*link)->getLength(), arrivalSpeed, getVehicleType().getCarFollowModel().getMaxAccel()));
2983 777071754 : lfLinks.push_back(DriveProcessItem(*link, v, vLinkWait, setRequest,
2984 : arrivalTime, arrivalSpeed,
2985 : arrivalSpeedBraking,
2986 : seen, estimatedLeaveSpeed));
2987 777071754 : if ((*link)->getViaLane() == nullptr) {
2988 : hadNonInternal = true;
2989 : ++view;
2990 : }
2991 : #ifdef DEBUG_PLAN_MOVE
2992 : if (DEBUG_COND) {
2993 : std::cout << " checkAbort setRequest=" << setRequest << " v=" << v << " seen=" << seen << " dist=" << dist
2994 : << " seenNonInternal=" << seenNonInternal
2995 : << " seenInternal=" << seenInternal << " length=" << vehicleLength << "\n";
2996 : }
2997 : #endif
2998 : // we need to look ahead far enough to see available space for checkRewindLinkLanes
2999 801234282 : if ((!setRequest || v <= 0 || seen > dist) && hadNonInternal && seenNonInternal > MAX2(vehicleLength * CRLL_LOOK_AHEAD, vehicleLength + seenInternal) && foundRailSignal) {
3000 : break;
3001 : }
3002 : // get the following lane
3003 : lane = (*link)->getViaLaneOrLane();
3004 560515680 : laneMaxV = lane->getVehicleMaxSpeed(this, maxVD);
3005 560915643 : if (myInfluencer && !myInfluencer->considerSpeedLimit()) {
3006 : laneMaxV = std::numeric_limits<double>::max();
3007 : }
3008 : // the link was passed
3009 : // compute the velocity to use when the link is not blocked by other vehicles
3010 : // the vehicle shall be not faster when reaching the next lane than allowed
3011 : // speed limits are not emergencies (e.g. when the limit changes suddenly due to TraCI or a variableSpeedSignal)
3012 560515680 : const double va = MAX2(cfModel.freeSpeed(this, getSpeed(), seen, laneMaxV), vMinComfortable);
3013 1109764017 : v = MIN2(va, v);
3014 : #ifdef DEBUG_PLAN_MOVE
3015 : if (DEBUG_COND) {
3016 : std::cout << " laneMaxV=" << laneMaxV << " freeSpeed=" << va << " v=" << v << "\n";
3017 : }
3018 : #endif
3019 560515680 : if (lane->getEdge().isInternal()) {
3020 242439368 : seenInternal += lane->getLength();
3021 : } else {
3022 318076312 : seenNonInternal += lane->getLength();
3023 : }
3024 : // do not restrict results to the current vehicle to allow caching for the current time step
3025 560515680 : leaderLane = opposite ? lane->getParallelOpposite() : lane;
3026 560515680 : if (leaderLane == nullptr) {
3027 :
3028 : break;
3029 : }
3030 1120610046 : ahead = opposite ? MSLeaderInfo(leaderLane->getWidth()) : leaderLane->getLastVehicleInformation(nullptr, 0);
3031 560305023 : seen += lane->getLength();
3032 1120610046 : vLinkPass = MIN2(cfModel.estimateSpeedAfterDistance(lane->getLength(), v, cfModel.getMaxAccel()), laneMaxV); // upper bound
3033 : lastLink = &lfLinks.back();
3034 560305023 : }
3035 :
3036 : //#ifdef DEBUG_PLAN_MOVE
3037 : // if(DEBUG_COND){
3038 : // std::cout << "planMoveInternal found safe speed v = " << v << std::endl;
3039 : // }
3040 : //#endif
3041 :
3042 : #ifdef PARALLEL_STOPWATCH
3043 : myLane->getStopWatch()[0].stop();
3044 : #endif
3045 619374397 : }
3046 :
3047 :
3048 : double
3049 2786 : MSVehicle::slowDownForSchedule(double vMinComfortable) const {
3050 2786 : const double sfp = getVehicleType().getParameter().speedFactorPremature;
3051 : const MSStop& stop = myStops.front();
3052 2786 : std::pair<double, double> timeDist = estimateTimeToNextStop();
3053 2786 : double arrivalDelay = SIMTIME + timeDist.first - STEPS2TIME(stop.pars.arrival);
3054 2786 : double t = STEPS2TIME(stop.pars.arrival - SIMSTEP);
3055 5572 : if (stop.pars.hasParameter(toString(SUMO_ATTR_FLEX_ARRIVAL))) {
3056 150 : SUMOTime flexStart = string2time(stop.pars.getParameter(toString(SUMO_ATTR_FLEX_ARRIVAL)));
3057 75 : arrivalDelay += STEPS2TIME(stop.pars.arrival - flexStart);
3058 75 : t = STEPS2TIME(flexStart - SIMSTEP);
3059 2711 : } else if (stop.pars.started >= 0 && MSGlobals::gUseStopStarted) {
3060 200 : arrivalDelay += STEPS2TIME(stop.pars.arrival - stop.pars.started);
3061 200 : t = STEPS2TIME(stop.pars.started - SIMSTEP);
3062 : }
3063 2786 : if (arrivalDelay < 0 && sfp < getChosenSpeedFactor()) {
3064 : // we can slow down to better match the schedule (and increase energy efficiency)
3065 2721 : const double vSlowDownMin = MAX2(myLane->getSpeedLimit() * sfp, vMinComfortable);
3066 2721 : const double s = timeDist.second;
3067 : const double b = getCarFollowModel().getMaxDecel();
3068 : // x = speed for arriving in t seconds
3069 : // u = time at full speed
3070 : // u * x + (t - u) * 0.5 * x = s
3071 : // t - u = x / b
3072 : // eliminate u, solve x
3073 2721 : const double radicand = 4 * t * t * b * b - 8 * s * b;
3074 2721 : const double x = radicand >= 0 ? t * b - sqrt(radicand) * 0.5 : vSlowDownMin;
3075 2721 : double vSlowDown = x < vSlowDownMin ? vSlowDownMin : x;
3076 : #ifdef DEBUG_PLAN_MOVE
3077 : if (DEBUG_COND) {
3078 : std::cout << SIMTIME << " veh=" << getID() << " ad=" << arrivalDelay << " t=" << t << " vsm=" << vSlowDownMin
3079 : << " r=" << radicand << " vs=" << vSlowDown << "\n";
3080 : }
3081 : #endif
3082 2721 : return vSlowDown;
3083 65 : } else if (arrivalDelay > 0 && sfp > getChosenSpeedFactor()) {
3084 : // in principle we could up to catch up with the schedule
3085 : // but at this point we can only lower the speed, the
3086 : // information would have to be used when computing getVehicleMaxSpeed
3087 : }
3088 65 : return getMaxSpeed();
3089 : }
3090 :
3091 : SUMOTime
3092 832199931 : MSVehicle::getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const {
3093 : const MSCFModel& cfModel = getCarFollowModel();
3094 : SUMOTime arrivalTime;
3095 832199931 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3096 : // @note intuitively it would make sense to compare arrivalSpeed with getSpeed() instead of v
3097 : // however, due to the current position update rule (ticket #860) the vehicle moves with v in this step
3098 : // subtract DELTA_T because t is the time at the end of this step and the movement is not carried out yet
3099 775960906 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, v, arrivalSpeed);
3100 : } else {
3101 56239025 : arrivalTime = t - DELTA_T + cfModel.getMinimalArrivalTime(seen, myState.mySpeed, arrivalSpeed);
3102 : }
3103 832199931 : if (isStopped()) {
3104 2346633 : arrivalTime += MAX2((SUMOTime)0, myStops.front().duration);
3105 : }
3106 832199931 : return arrivalTime;
3107 : }
3108 :
3109 :
3110 : void
3111 1184647080 : MSVehicle::adaptToLeaders(const MSLeaderInfo& ahead, double latOffset,
3112 : const double seen, DriveProcessItem* const lastLink,
3113 : const MSLane* const lane, double& v, double& vLinkPass) const {
3114 : int rightmost;
3115 : int leftmost;
3116 1184647080 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3117 : #ifdef DEBUG_PLAN_MOVE
3118 : if (DEBUG_COND) std::cout << SIMTIME
3119 : << "\nADAPT_TO_LEADERS\nveh=" << getID()
3120 : << " lane=" << lane->getID()
3121 : << " latOffset=" << latOffset
3122 : << " rm=" << rightmost
3123 : << " lm=" << leftmost
3124 : << " shift=" << ahead.getSublaneOffset()
3125 : << " ahead=" << ahead.toString()
3126 : << "\n";
3127 : #endif
3128 : /*
3129 : if (myLaneChangeModel->getCommittedSpeed() > 0) {
3130 : v = MIN2(v, myLaneChangeModel->getCommittedSpeed());
3131 : vLinkPass = MIN2(vLinkPass, myLaneChangeModel->getCommittedSpeed());
3132 : #ifdef DEBUG_PLAN_MOVE
3133 : if (DEBUG_COND) std::cout << " hasCommitted=" << myLaneChangeModel->getCommittedSpeed() << "\n";
3134 : #endif
3135 : return;
3136 : }
3137 : */
3138 2903619189 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3139 1718972109 : const MSVehicle* pred = ahead[sublane];
3140 1718972109 : if (pred != nullptr && pred != this) {
3141 : // @todo avoid multiple adaptations to the same leader
3142 1260322227 : const double predBack = pred->getBackPositionOnLane(lane);
3143 : double gap = (lastLink == nullptr
3144 1805040921 : ? predBack - myState.myPos - getVehicleType().getMinGap()
3145 544718694 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3146 : bool oncoming = false;
3147 1260322227 : if (myLaneChangeModel->isOpposite()) {
3148 26799 : if (pred->getLaneChangeModel().isOpposite() || lane == pred->getLaneChangeModel().getShadowLane()) {
3149 : // ego might and leader are driving against lane
3150 : gap = (lastLink == nullptr
3151 0 : ? myState.myPos - predBack - getVehicleType().getMinGap()
3152 0 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3153 : } else {
3154 : // ego and leader are driving in the same direction as lane (shadowlane for ego)
3155 : gap = (lastLink == nullptr
3156 27500 : ? predBack - (myLane->getLength() - myState.myPos) - getVehicleType().getMinGap()
3157 701 : : predBack + seen - lane->getLength() - getVehicleType().getMinGap());
3158 : }
3159 1260295428 : } else if (pred->getLaneChangeModel().isOpposite() && pred->getLaneChangeModel().getShadowLane() != lane) {
3160 : // must react to stopped / dangerous oncoming vehicles
3161 188583 : gap += -pred->getVehicleType().getLength() + getVehicleType().getMinGap() - MAX2(getVehicleType().getMinGap(), pred->getVehicleType().getMinGap());
3162 : // try to avoid collision in the next second
3163 188583 : const double predMaxDist = pred->getSpeed() + pred->getCarFollowModel().getMaxAccel();
3164 : #ifdef DEBUG_PLAN_MOVE
3165 : if (DEBUG_COND) {
3166 : std::cout << " fixedGap=" << gap << " predMaxDist=" << predMaxDist << "\n";
3167 : }
3168 : #endif
3169 188583 : if (gap < predMaxDist + getSpeed() || pred->getLane() == lane->getBidiLane()) {
3170 20602 : gap -= predMaxDist;
3171 : }
3172 1260106845 : } else if (pred->getLane() == lane->getBidiLane()) {
3173 46867 : gap -= pred->getVehicleType().getLengthWithGap();
3174 : oncoming = true;
3175 : }
3176 : #ifdef DEBUG_PLAN_MOVE
3177 : if (DEBUG_COND) {
3178 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << gap << " predBack=" << predBack << " seen=" << seen << " lane=" << lane->getID() << " myLane=" << myLane->getID() << " lastLink=" << (lastLink == nullptr ? "NULL" : lastLink->myLink->getDescription()) << " oncoming=" << oncoming << "\n";
3179 : }
3180 : #endif
3181 46867 : if (oncoming && gap >= 0) {
3182 46856 : adaptToOncomingLeader(std::make_pair(pred, gap), lastLink, v, vLinkPass);
3183 : } else {
3184 1260275371 : adaptToLeader(std::make_pair(pred, gap), seen, lastLink, v, vLinkPass);
3185 : }
3186 : }
3187 : }
3188 1184647080 : }
3189 :
3190 : void
3191 426600 : MSVehicle::adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
3192 : double seen,
3193 : DriveProcessItem* const lastLink,
3194 : double& v, double& vLinkPass) const {
3195 : int rightmost;
3196 : int leftmost;
3197 426600 : ahead.getSubLanes(this, latOffset, rightmost, leftmost);
3198 : #ifdef DEBUG_PLAN_MOVE
3199 : if (DEBUG_COND) std::cout << SIMTIME
3200 : << "\nADAPT_TO_LEADERS_DISTANCE\nveh=" << getID()
3201 : << " latOffset=" << latOffset
3202 : << " rm=" << rightmost
3203 : << " lm=" << leftmost
3204 : << " ahead=" << ahead.toString()
3205 : << "\n";
3206 : #endif
3207 1045810 : for (int sublane = rightmost; sublane <= leftmost; ++sublane) {
3208 619210 : CLeaderDist predDist = ahead[sublane];
3209 619210 : const MSVehicle* pred = predDist.first;
3210 619210 : if (pred != nullptr && pred != this) {
3211 : #ifdef DEBUG_PLAN_MOVE
3212 : if (DEBUG_COND) {
3213 : std::cout << " pred=" << pred->getID() << " predLane=" << pred->getLane()->getID() << " predPos=" << pred->getPositionOnLane() << " gap=" << predDist.second << "\n";
3214 : }
3215 : #endif
3216 392816 : adaptToLeader(predDist, seen, lastLink, v, vLinkPass);
3217 : }
3218 : }
3219 426600 : }
3220 :
3221 :
3222 : void
3223 1260668187 : MSVehicle::adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3224 : double seen,
3225 : DriveProcessItem* const lastLink,
3226 : double& v, double& vLinkPass) const {
3227 1260668187 : if (leaderInfo.first != 0) {
3228 1260668187 : if (ignoreFoe(leaderInfo.first)) {
3229 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3230 : if (DEBUG_COND) {
3231 : std::cout << " foe ignored\n";
3232 : }
3233 : #endif
3234 : return;
3235 : }
3236 : const MSCFModel& cfModel = getCarFollowModel();
3237 : double vsafeLeader = 0;
3238 1260667367 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3239 : vsafeLeader = -std::numeric_limits<double>::max();
3240 : }
3241 : bool backOnRoute = true;
3242 1260667367 : if (leaderInfo.second < 0 && lastLink != nullptr && lastLink->myLink != nullptr) {
3243 : backOnRoute = false;
3244 : // this can either be
3245 : // a) a merging situation (leader back is is not our route) or
3246 : // b) a minGap violation / collision
3247 : MSLane* current = lastLink->myLink->getViaLaneOrLane();
3248 256155 : if (leaderInfo.first->getBackLane() == current) {
3249 : backOnRoute = true;
3250 : } else {
3251 600719 : for (MSLane* lane : getBestLanesContinuation()) {
3252 546708 : if (lane == current) {
3253 : break;
3254 : }
3255 397021 : if (leaderInfo.first->getBackLane() == lane) {
3256 : backOnRoute = true;
3257 : }
3258 : }
3259 : }
3260 : #ifdef DEBUG_PLAN_MOVE
3261 : if (DEBUG_COND) {
3262 : std::cout << SIMTIME << " current=" << current->getID() << " leaderBackLane=" << leaderInfo.first->getBackLane()->getID() << " backOnRoute=" << backOnRoute << "\n";
3263 : }
3264 : #endif
3265 203698 : if (!backOnRoute) {
3266 118232 : double stopDist = seen - current->getLength() - POSITION_EPS;
3267 118232 : if (lastLink->myLink->getInternalLaneBefore() != nullptr) {
3268 : // do not drive onto the junction conflict area
3269 100265 : stopDist -= lastLink->myLink->getInternalLaneBefore()->getLength();
3270 : }
3271 118232 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), stopDist);
3272 : }
3273 : }
3274 170689 : if (backOnRoute) {
3275 1260549135 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3276 : }
3277 1260667367 : if (lastLink != nullptr) {
3278 544711455 : const double futureVSafe = cfModel.followSpeed(this, lastLink->accelV, leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first, MSCFModel::CalcReason::FUTURE);
3279 : lastLink->adaptLeaveSpeed(futureVSafe);
3280 : #ifdef DEBUG_PLAN_MOVE
3281 : if (DEBUG_COND) {
3282 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3283 : }
3284 : #endif
3285 : }
3286 1260667367 : v = MIN2(v, vsafeLeader);
3287 2169399864 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3288 : #ifdef DEBUG_PLAN_MOVE
3289 : if (DEBUG_COND) std::cout
3290 : << SIMTIME
3291 : //std::cout << std::setprecision(10);
3292 : << " veh=" << getID()
3293 : << " lead=" << leaderInfo.first->getID()
3294 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3295 : << " gap=" << leaderInfo.second
3296 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3297 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3298 : << " myLane=" << myLane->getID()
3299 : << " v=" << v
3300 : << " vSafeLeader=" << vsafeLeader
3301 : << " vLinkPass=" << vLinkPass
3302 : << "\n";
3303 : #endif
3304 : }
3305 : }
3306 :
3307 :
3308 : void
3309 17559258 : MSVehicle::adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3310 : const double seen, DriveProcessItem* const lastLink,
3311 : const MSLane* const lane, double& v, double& vLinkPass,
3312 : double distToCrossing) const {
3313 17559258 : if (leaderInfo.first != 0) {
3314 17559258 : if (ignoreFoe(leaderInfo.first)) {
3315 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3316 : if (DEBUG_COND) {
3317 : std::cout << " junction foe ignored\n";
3318 : }
3319 : #endif
3320 : return;
3321 : }
3322 : const MSCFModel& cfModel = getCarFollowModel();
3323 : double vsafeLeader = 0;
3324 17559222 : if (!MSGlobals::gSemiImplicitEulerUpdate) {
3325 : vsafeLeader = -std::numeric_limits<double>::max();
3326 : }
3327 17559222 : if (leaderInfo.second >= 0) {
3328 14476303 : if (hasDeparted()) {
3329 14471834 : vsafeLeader = cfModel.followSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3330 : } else {
3331 : // called in the context of MSLane::isInsertionSuccess
3332 4469 : vsafeLeader = cfModel.insertionFollowSpeed(this, getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3333 : }
3334 3082919 : } else if (leaderInfo.first != this) {
3335 : // the leading, in-lapping vehicle is occupying the complete next lane
3336 : // stop before entering this lane
3337 2661770 : vsafeLeader = cfModel.stopSpeed(this, getSpeed(), seen - lane->getLength() - POSITION_EPS);
3338 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3339 : if (DEBUG_COND) {
3340 : std::cout << SIMTIME << " veh=" << getID() << " stopping before junction: lane=" << lane->getID() << " seen=" << seen
3341 : << " laneLength=" << lane->getLength()
3342 : << " stopDist=" << seen - lane->getLength() - POSITION_EPS
3343 : << " vsafeLeader=" << vsafeLeader
3344 : << " distToCrossing=" << distToCrossing
3345 : << "\n";
3346 : }
3347 : #endif
3348 : }
3349 17559222 : if (distToCrossing >= 0) {
3350 : // can the leader still stop in the way?
3351 5255007 : const double vStop = cfModel.stopSpeed(this, getSpeed(), distToCrossing - getVehicleType().getMinGap());
3352 5255007 : if (leaderInfo.first == this) {
3353 : // braking for pedestrian
3354 409830 : const double vStopCrossing = cfModel.stopSpeed(this, getSpeed(), distToCrossing);
3355 : vsafeLeader = vStopCrossing;
3356 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3357 : if (DEBUG_COND) {
3358 : std::cout << " breaking for pedestrian distToCrossing=" << distToCrossing << " vStopCrossing=" << vStopCrossing << "\n";
3359 : }
3360 : #endif
3361 409830 : if (lastLink != nullptr) {
3362 : lastLink->adaptStopSpeed(vsafeLeader);
3363 : }
3364 4845177 : } else if (leaderInfo.second == -std::numeric_limits<double>::max()) {
3365 : // drive up to the crossing point and stop
3366 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3367 : if (DEBUG_COND) {
3368 : std::cout << " stop at crossing point for critical leader vStop=" << vStop << "\n";
3369 : };
3370 : #endif
3371 : vsafeLeader = MAX2(vsafeLeader, vStop);
3372 : } else {
3373 4786955 : const double leaderDistToCrossing = distToCrossing - leaderInfo.second;
3374 : // estimate the time at which the leader has gone past the crossing point
3375 4786955 : const double leaderPastCPTime = leaderDistToCrossing / MAX2(leaderInfo.first->getSpeed(), SUMO_const_haltingSpeed);
3376 : // reach distToCrossing after that time
3377 : // avgSpeed * leaderPastCPTime = distToCrossing
3378 : // ballistic: avgSpeed = (getSpeed + vFinal) / 2
3379 4786955 : const double vFinal = MAX2(getSpeed(), 2 * (distToCrossing - getVehicleType().getMinGap()) / leaderPastCPTime - getSpeed());
3380 4786955 : const double v2 = getSpeed() + ACCEL2SPEED((vFinal - getSpeed()) / leaderPastCPTime);
3381 : vsafeLeader = MAX2(vsafeLeader, MIN2(v2, vStop));
3382 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3383 : if (DEBUG_COND) {
3384 : std::cout << " driving up to the crossing point (distToCrossing=" << distToCrossing << ")"
3385 : << " leaderPastCPTime=" << leaderPastCPTime
3386 : << " vFinal=" << vFinal
3387 : << " v2=" << v2
3388 : << " vStop=" << vStop
3389 : << " vsafeLeader=" << vsafeLeader << "\n";
3390 : }
3391 : #endif
3392 : }
3393 : }
3394 17149392 : if (lastLink != nullptr) {
3395 : lastLink->adaptLeaveSpeed(vsafeLeader);
3396 : }
3397 17559222 : v = MIN2(v, vsafeLeader);
3398 32786100 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3399 : #ifdef DEBUG_PLAN_MOVE
3400 : if (DEBUG_COND) std::cout
3401 : << SIMTIME
3402 : //std::cout << std::setprecision(10);
3403 : << " veh=" << getID()
3404 : << " lead=" << leaderInfo.first->getID()
3405 : << " leadSpeed=" << leaderInfo.first->getSpeed()
3406 : << " gap=" << leaderInfo.second
3407 : << " leadLane=" << leaderInfo.first->getLane()->getID()
3408 : << " predPos=" << leaderInfo.first->getPositionOnLane()
3409 : << " seen=" << seen
3410 : << " lane=" << lane->getID()
3411 : << " myLane=" << myLane->getID()
3412 : << " dTC=" << distToCrossing
3413 : << " v=" << v
3414 : << " vSafeLeader=" << vsafeLeader
3415 : << " vLinkPass=" << vLinkPass
3416 : << "\n";
3417 : #endif
3418 : }
3419 : }
3420 :
3421 :
3422 : void
3423 46856 : MSVehicle::adaptToOncomingLeader(const std::pair<const MSVehicle*, double> leaderInfo,
3424 : DriveProcessItem* const lastLink,
3425 : double& v, double& vLinkPass) const {
3426 46856 : if (leaderInfo.first != 0) {
3427 46856 : if (ignoreFoe(leaderInfo.first)) {
3428 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3429 : if (DEBUG_COND) {
3430 : std::cout << " oncoming foe ignored\n";
3431 : }
3432 : #endif
3433 : return;
3434 : }
3435 : const MSCFModel& cfModel = getCarFollowModel();
3436 : const MSVehicle* lead = leaderInfo.first;
3437 : const MSCFModel& cfModelL = lead->getCarFollowModel();
3438 : // assume the leader reacts symmetrically (neither stopping instantly nor ignoring ego)
3439 46737 : const double leaderBrakeGap = cfModelL.brakeGap(lead->getSpeed(), cfModelL.getMaxDecel(), 0);
3440 46737 : const double egoBrakeGap = cfModel.brakeGap(getSpeed(), cfModel.getMaxDecel(), 0);
3441 46737 : const double gapSum = leaderBrakeGap + egoBrakeGap;
3442 : // ensure that both vehicles can leave an intersection if they are currently on it
3443 46737 : double egoExit = getDistanceToLeaveJunction();
3444 46737 : const double leaderExit = lead->getDistanceToLeaveJunction();
3445 : double gap = leaderInfo.second;
3446 46737 : if (egoExit + leaderExit < gap) {
3447 42973 : gap -= egoExit + leaderExit;
3448 : } else {
3449 : egoExit = 0;
3450 : }
3451 : // split any distance in excess of brakeGaps evenly
3452 46737 : const double freeGap = MAX2(0.0, gap - gapSum);
3453 : const double splitGap = MIN2(gap, gapSum);
3454 : // assume remaining distance is allocated in proportion to braking distance
3455 46737 : const double gapRatio = gapSum > 0 ? egoBrakeGap / gapSum : 0.5;
3456 46737 : const double vsafeLeader = cfModel.stopSpeed(this, getSpeed(), splitGap * gapRatio + egoExit + 0.5 * freeGap);
3457 46737 : if (lastLink != nullptr) {
3458 27133 : const double futureVSafe = cfModel.stopSpeed(this, lastLink->accelV, leaderInfo.second, MSCFModel::CalcReason::FUTURE);
3459 : lastLink->adaptLeaveSpeed(futureVSafe);
3460 : #ifdef DEBUG_PLAN_MOVE
3461 : if (DEBUG_COND) {
3462 : std::cout << " vlinkpass=" << lastLink->myVLinkPass << " futureVSafe=" << futureVSafe << "\n";
3463 : }
3464 : #endif
3465 : }
3466 46737 : v = MIN2(v, vsafeLeader);
3467 92274 : vLinkPass = MIN2(vLinkPass, vsafeLeader);
3468 : #ifdef DEBUG_PLAN_MOVE
3469 : if (DEBUG_COND) std::cout
3470 : << SIMTIME
3471 : //std::cout << std::setprecision(10);
3472 : << " veh=" << getID()
3473 : << " oncomingLead=" << lead->getID()
3474 : << " leadSpeed=" << lead->getSpeed()
3475 : << " gap=" << leaderInfo.second
3476 : << " gap2=" << gap
3477 : << " gapRatio=" << gapRatio
3478 : << " leadLane=" << lead->getLane()->getID()
3479 : << " predPos=" << lead->getPositionOnLane()
3480 : << " myLane=" << myLane->getID()
3481 : << " v=" << v
3482 : << " vSafeLeader=" << vsafeLeader
3483 : << " vLinkPass=" << vLinkPass
3484 : << "\n";
3485 : #endif
3486 : }
3487 : }
3488 :
3489 :
3490 : void
3491 777120843 : MSVehicle::checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
3492 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const {
3493 777120843 : if (MSGlobals::gUsingInternalLanes && (myInfluencer == nullptr || myInfluencer->getRespectJunctionLeaderPriority())) {
3494 : // we want to pass the link but need to check for foes on internal lanes
3495 777014883 : checkLinkLeader(link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
3496 777014883 : if (myLaneChangeModel->getShadowLane() != nullptr) {
3497 3135197 : const MSLink* const parallelLink = link->getParallelLink(myLaneChangeModel->getShadowDirection());
3498 3135197 : if (parallelLink != nullptr) {
3499 2179087 : checkLinkLeader(parallelLink, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest, true);
3500 : }
3501 : }
3502 : }
3503 :
3504 777120843 : }
3505 :
3506 : void
3507 779429540 : MSVehicle::checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
3508 : DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
3509 : bool isShadowLink) const {
3510 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3511 : if (DEBUG_COND) {
3512 : gDebugFlag1 = true; // See MSLink::getLeaderInfo
3513 : }
3514 : #endif
3515 779429540 : const MSLink::LinkLeaders linkLeaders = link->getLeaderInfo(this, seen, nullptr, isShadowLink);
3516 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3517 : if (DEBUG_COND) {
3518 : gDebugFlag1 = false; // See MSLink::getLeaderInfo
3519 : }
3520 : #endif
3521 797940040 : for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3522 : // the vehicle to enter the junction first has priority
3523 18510500 : const MSVehicle* leader = (*it).vehAndGap.first;
3524 18510500 : if (leader == nullptr) {
3525 : // leader is a pedestrian. Passing 'this' as a dummy.
3526 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3527 : if (DEBUG_COND) {
3528 : std::cout << SIMTIME << " veh=" << getID() << " is blocked on link to " << link->getViaLaneOrLane()->getID() << " by pedestrian. dist=" << it->distToCrossing << "\n";
3529 : }
3530 : #endif
3531 421845 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3532 421845 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3533 : #ifdef DEBUG_PLAN_MOVE
3534 : if (DEBUG_COND) {
3535 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring pedestrian (jmIgnoreJunctionFoeProb)\n";
3536 : }
3537 : #endif
3538 696 : continue;
3539 : }
3540 421149 : adaptToJunctionLeader(std::make_pair(this, -1), seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3541 : // if blocked by a pedestrian for too long we must yield our request
3542 421149 : if (v < SUMO_const_haltingSpeed && getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME)) {
3543 75340 : setRequest = false;
3544 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3545 : if (DEBUG_COND) {
3546 : std::cout << " aborting request\n";
3547 : }
3548 : #endif
3549 : }
3550 18088655 : } else if (isLeader(link, leader, (*it).vehAndGap.second) || (*it).inTheWay()) {
3551 18040682 : if (getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) > 0
3552 18040682 : && getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB, 0) >= RandHelper::rand(getRNG())) {
3553 : #ifdef DEBUG_PLAN_MOVE
3554 : if (DEBUG_COND) {
3555 : std::cout << SIMTIME << " veh=" << getID() << " is ignoring linkLeader=" << leader->getID() << " (jmIgnoreJunctionFoeProb)\n";
3556 : }
3557 : #endif
3558 2209 : continue;
3559 : }
3560 24840639 : if (MSGlobals::gLateralResolution > 0 &&
3561 : // sibling link (XXX: could also be partial occupator where this check fails)
3562 6802166 : &leader->getLane()->getEdge() == &lane->getEdge()) {
3563 : // check for sublane obstruction (trivial for sibling link leaders)
3564 : const MSLane* conflictLane = link->getInternalLaneBefore();
3565 931230 : MSLeaderInfo linkLeadersAhead = MSLeaderInfo(conflictLane->getWidth());
3566 931230 : linkLeadersAhead.addLeader(leader, false, 0); // assume sibling lane has the same geometry as the leader lane
3567 931230 : const double latOffset = isShadowLink ? (getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge()) : 0;
3568 : // leader is neither on lane nor conflictLane (the conflict is only established geometrically)
3569 931230 : adaptToLeaders(linkLeadersAhead, latOffset, seen, lastLink, leader->getLane(), v, vLinkPass);
3570 : #ifdef DEBUG_PLAN_MOVE
3571 : if (DEBUG_COND) {
3572 : std::cout << SIMTIME << " veh=" << getID()
3573 : << " siblingFoe link=" << link->getViaLaneOrLane()->getID()
3574 : << " isShadowLink=" << isShadowLink
3575 : << " lane=" << lane->getID()
3576 : << " foe=" << leader->getID()
3577 : << " foeLane=" << leader->getLane()->getID()
3578 : << " latOffset=" << latOffset
3579 : << " latOffsetFoe=" << leader->getLatOffset(lane)
3580 : << " linkLeadersAhead=" << linkLeadersAhead.toString()
3581 : << "\n";
3582 : }
3583 : #endif
3584 931230 : } else {
3585 : #ifdef DEBUG_PLAN_MOVE
3586 : if (DEBUG_COND) {
3587 : std::cout << SIMTIME << " veh=" << getID() << " linkLeader=" << leader->getID() << " gap=" << it->vehAndGap.second
3588 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3589 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3590 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3591 : << "\n";
3592 : }
3593 : #endif
3594 17107243 : adaptToJunctionLeader(it->vehAndGap, seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3595 : }
3596 18038473 : if (lastLink != nullptr) {
3597 : // we are not yet on the junction with this linkLeader.
3598 : // at least we can drive up to the previous link and stop there
3599 34678614 : v = MAX2(v, lastLink->myVLinkWait);
3600 : }
3601 : // if blocked by a leader from the same or next lane we must yield our request
3602 : // also, if blocked by a stopped or blocked leader
3603 18038473 : if (v < SUMO_const_haltingSpeed
3604 : //&& leader->getSpeed() < SUMO_const_haltingSpeed
3605 18038473 : && (leader->getLane()->getLogicalPredecessorLane() == myLane->getLogicalPredecessorLane()
3606 9921747 : || leader->getLane()->getLogicalPredecessorLane() == myLane
3607 7744811 : || leader->isStopped()
3608 7666340 : || leader->getWaitingTime() > TIME2STEPS(JUNCTION_BLOCKAGE_TIME))) {
3609 4164232 : setRequest = false;
3610 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3611 : if (DEBUG_COND) {
3612 : std::cout << " aborting request\n";
3613 : }
3614 : #endif
3615 4164232 : if (lastLink != nullptr && leader->getLane()->getLogicalPredecessorLane() == myLane) {
3616 : // we are not yet on the junction so must abort that request as well
3617 : // (or maybe we are already on the junction and the leader is a partial occupator beyond)
3618 2165153 : lastLink->mySetRequest = false;
3619 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3620 : if (DEBUG_COND) {
3621 : std::cout << " aborting previous request\n";
3622 : }
3623 : #endif
3624 : }
3625 : }
3626 : }
3627 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3628 : else {
3629 : if (DEBUG_COND) {
3630 : std::cout << SIMTIME << " veh=" << getID() << " ignoring leader " << leader->getID() << " gap=" << (*it).vehAndGap.second << " dtC=" << (*it).distToCrossing
3631 : << " ET=" << myJunctionEntryTime << " lET=" << leader->myJunctionEntryTime
3632 : << " ETN=" << myJunctionEntryTimeNeverYield << " lETN=" << leader->myJunctionEntryTimeNeverYield
3633 : << " CET=" << myJunctionConflictEntryTime << " lCET=" << leader->myJunctionConflictEntryTime
3634 : << "\n";
3635 : }
3636 : }
3637 : #endif
3638 : }
3639 : // if this is the link between two internal lanes we may have to slow down for pedestrians
3640 779429540 : vLinkWait = MIN2(vLinkWait, v);
3641 779429540 : }
3642 :
3643 :
3644 : double
3645 99104991 : MSVehicle::getDeltaPos(const double accel) const {
3646 99104991 : double vNext = myState.mySpeed + ACCEL2SPEED(accel);
3647 99104991 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3648 : // apply implicit Euler positional update
3649 0 : return SPEED2DIST(MAX2(vNext, 0.));
3650 : } else {
3651 : // apply ballistic update
3652 99104991 : if (vNext >= 0) {
3653 : // assume constant acceleration during this time step
3654 98484977 : return SPEED2DIST(myState.mySpeed + 0.5 * ACCEL2SPEED(accel));
3655 : } else {
3656 : // negative vNext indicates a stop within the middle of time step
3657 : // The corresponding stop time is s = mySpeed/deceleration \in [0,dt], and the
3658 : // covered distance is therefore deltaPos = mySpeed*s - 0.5*deceleration*s^2.
3659 : // Here, deceleration = (myState.mySpeed - vNext)/dt is the constant deceleration
3660 : // until the vehicle stops.
3661 620014 : return -SPEED2DIST(0.5 * myState.mySpeed * myState.mySpeed / ACCEL2SPEED(accel));
3662 : }
3663 : }
3664 : }
3665 :
3666 : void
3667 619374397 : MSVehicle::processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist) {
3668 :
3669 : // Speed limit due to zipper merging
3670 : double vSafeZipper = std::numeric_limits<double>::max();
3671 :
3672 619374397 : myHaveToWaitOnNextLink = false;
3673 : bool canBrakeVSafeMin = false;
3674 :
3675 : // Get safe velocities from DriveProcessItems.
3676 : assert(myLFLinkLanes.size() != 0 || isRemoteControlled());
3677 1239741678 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
3678 1065673401 : MSLink* const link = dpi.myLink;
3679 :
3680 : #ifdef DEBUG_EXEC_MOVE
3681 : if (DEBUG_COND) {
3682 : std::cout
3683 : << SIMTIME
3684 : << " veh=" << getID()
3685 : << " link=" << (link == 0 ? "NULL" : link->getViaLaneOrLane()->getID())
3686 : << " req=" << dpi.mySetRequest
3687 : << " vP=" << dpi.myVLinkPass
3688 : << " vW=" << dpi.myVLinkWait
3689 : << " d=" << dpi.myDistance
3690 : << "\n";
3691 : gDebugFlag1 = true; // See MSLink_DEBUG_OPENED
3692 : }
3693 : #endif
3694 :
3695 : // the vehicle must change the lane on one of the next lanes (XXX: refs to code further below???, Leo)
3696 1065673401 : if (link != nullptr && dpi.mySetRequest) {
3697 :
3698 : const LinkState ls = link->getState();
3699 : // vehicles should brake when running onto a yellow light if the distance allows to halt in front
3700 : const bool yellow = link->haveYellow();
3701 640480137 : const bool canBrake = (dpi.myDistance > getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.)
3702 640480137 : || (MSGlobals::gSemiImplicitEulerUpdate && myState.mySpeed < ACCEL2SPEED(getCarFollowModel().getMaxDecel())));
3703 : assert(link->getLaneBefore() != nullptr);
3704 640480137 : const bool beyondStopLine = dpi.myDistance < link->getLaneBefore()->getVehicleStopOffset(this);
3705 640480137 : const bool ignoreRedLink = ignoreRed(link, canBrake) || beyondStopLine;
3706 640480137 : if (yellow && canBrake && !ignoreRedLink) {
3707 10 : vSafe = dpi.myVLinkWait;
3708 10 : myHaveToWaitOnNextLink = true;
3709 : #ifdef DEBUG_CHECKREWINDLINKLANES
3710 : if (DEBUG_COND) {
3711 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (yellow)\n";
3712 : }
3713 : #endif
3714 20112856 : break;
3715 : }
3716 640480127 : const bool influencerPrio = (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority());
3717 : MSLink::BlockingFoes collectFoes;
3718 640480127 : bool opened = (yellow || influencerPrio
3719 1921119953 : || link->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3720 640319913 : getVehicleType().getLength(),
3721 612614057 : canBrake ? getImpatience() : 1,
3722 : getCarFollowModel().getMaxDecel(),
3723 640319913 : getWaitingTimeFor(link), getLateralPositionOnLane(),
3724 : ls == LINKSTATE_ZIPPER ? &collectFoes : nullptr,
3725 640319913 : ignoreRedLink, this, dpi.myDistance));
3726 635226186 : if (opened && myLaneChangeModel->getShadowLane() != nullptr) {
3727 1903194 : const MSLink* const parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
3728 1903194 : if (parallelLink != nullptr) {
3729 1179518 : const double shadowLatPos = getLateralPositionOnLane() - myLaneChangeModel->getShadowDirection() * 0.5 * (
3730 1179518 : myLane->getWidth() + myLaneChangeModel->getShadowLane()->getWidth());
3731 2358233 : opened = yellow || influencerPrio || (opened && parallelLink->opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3732 1178715 : getVehicleType().getLength(), getImpatience(),
3733 : getCarFollowModel().getMaxDecel(),
3734 : getWaitingTimeFor(link), shadowLatPos, nullptr,
3735 1178715 : ignoreRedLink, this, dpi.myDistance));
3736 : #ifdef DEBUG_EXEC_MOVE
3737 : if (DEBUG_COND) {
3738 : std::cout << SIMTIME
3739 : << " veh=" << getID()
3740 : << " shadowLane=" << myLaneChangeModel->getShadowLane()->getID()
3741 : << " shadowDir=" << myLaneChangeModel->getShadowDirection()
3742 : << " parallelLink=" << (parallelLink == 0 ? "NULL" : parallelLink->getViaLaneOrLane()->getID())
3743 : << " opened=" << opened
3744 : << "\n";
3745 : }
3746 : #endif
3747 : }
3748 : }
3749 : // vehicles should decelerate when approaching a minor link
3750 : #ifdef DEBUG_EXEC_MOVE
3751 : if (DEBUG_COND) {
3752 : std::cout << SIMTIME
3753 : << " opened=" << opened
3754 : << " influencerPrio=" << influencerPrio
3755 : << " linkPrio=" << link->havePriority()
3756 : << " lastContMajor=" << link->lastWasContMajor()
3757 : << " isCont=" << link->isCont()
3758 : << " ignoreRed=" << ignoreRedLink
3759 : << "\n";
3760 : }
3761 : #endif
3762 : double visibilityDistance = link->getFoeVisibilityDistance();
3763 640480127 : bool determinedFoePresence = dpi.myDistance <= visibilityDistance;
3764 640480127 : if (opened && !influencerPrio && !link->havePriority() && !link->lastWasContMajor() && !link->isCont() && !ignoreRedLink) {
3765 16963382 : if (!determinedFoePresence && (canBrake || !yellow)) {
3766 16021574 : vSafe = dpi.myVLinkWait;
3767 16021574 : myHaveToWaitOnNextLink = true;
3768 : #ifdef DEBUG_CHECKREWINDLINKLANES
3769 : if (DEBUG_COND) {
3770 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (minor)\n";
3771 : }
3772 : #endif
3773 16021574 : break;
3774 : } else {
3775 : // past the point of no return. we need to drive fast enough
3776 : // to make it across the link. However, minor slowdowns
3777 : // should be permissible to follow leading traffic safely
3778 : // basically, this code prevents dawdling
3779 : // (it's harder to do this later using
3780 : // SUMO_ATTR_JM_SIGMA_MINOR because we don't know whether the
3781 : // vehicle is already too close to stop at that part of the code)
3782 : //
3783 : // XXX: There is a problem in subsecond simulation: If we cannot
3784 : // make it across the minor link in one step, new traffic
3785 : // could appear on a major foe link and cause a collision. Refs. #1845, #2123
3786 941808 : vSafeMinDist = dpi.myDistance; // distance that must be covered
3787 941808 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3788 1719678 : vSafeMin = MIN3((double)DIST2SPEED(vSafeMinDist + POSITION_EPS), dpi.myVLinkPass, getCarFollowModel().maxNextSafeMin(getSpeed(), this));
3789 : } else {
3790 163938 : vSafeMin = MIN3((double)DIST2SPEED(2 * vSafeMinDist + NUMERICAL_EPS) - getSpeed(), dpi.myVLinkPass, getCarFollowModel().maxNextSafeMin(getSpeed(), this));
3791 : }
3792 : canBrakeVSafeMin = canBrake;
3793 : #ifdef DEBUG_EXEC_MOVE
3794 : if (DEBUG_COND) {
3795 : std::cout << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << " canBrake=" << canBrake << "\n";
3796 : }
3797 : #endif
3798 : }
3799 : }
3800 : // have waited; may pass if opened...
3801 624458553 : if (opened) {
3802 619183648 : vSafe = dpi.myVLinkPass;
3803 619183648 : if (vSafe < getCarFollowModel().getMaxDecel() && vSafe <= dpi.myVLinkWait && vSafe < getCarFollowModel().maxNextSpeed(getSpeed(), this)) {
3804 : // this vehicle is probably not gonna drive across the next junction (heuristic)
3805 53484346 : myHaveToWaitOnNextLink = true;
3806 : #ifdef DEBUG_CHECKREWINDLINKLANES
3807 : if (DEBUG_COND) {
3808 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (very slow)\n";
3809 : }
3810 : #endif
3811 : }
3812 619183648 : if (link->mustStop() && determinedFoePresence && myHaveStoppedFor == nullptr) {
3813 19922 : myHaveStoppedFor = link;
3814 : }
3815 5274905 : } else if (link->getState() == LINKSTATE_ZIPPER) {
3816 1183391 : vSafeZipper = MIN2(vSafeZipper,
3817 1183391 : link->getZipperSpeed(this, dpi.myDistance, dpi.myVLinkPass, dpi.myArrivalTime, &collectFoes));
3818 : } else if (!canBrake
3819 : // always brake hard for traffic lights (since an emergency stop is necessary anyway)
3820 1754 : && link->getTLLogic() == nullptr
3821 : // cannot brake even with emergency deceleration
3822 4092424 : && dpi.myDistance < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0.)) {
3823 : #ifdef DEBUG_EXEC_MOVE
3824 : if (DEBUG_COND) {
3825 : std::cout << SIMTIME << " too fast to brake for closed link\n";
3826 : }
3827 : #endif
3828 242 : vSafe = dpi.myVLinkPass;
3829 : } else {
3830 4091272 : vSafe = dpi.myVLinkWait;
3831 4091272 : myHaveToWaitOnNextLink = true;
3832 : #ifdef DEBUG_CHECKREWINDLINKLANES
3833 : if (DEBUG_COND) {
3834 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (closed)\n";
3835 : }
3836 : #endif
3837 : #ifdef DEBUG_EXEC_MOVE
3838 : if (DEBUG_COND) {
3839 : std::cout << SIMTIME << " braking for closed link=" << link->getViaLaneOrLane()->getID() << "\n";
3840 : }
3841 : #endif
3842 4091272 : break;
3843 : }
3844 620367281 : if (myLane->isInternal() && myJunctionEntryTime == SUMOTime_MAX) {
3845 : // request was renewed, restoring entry time
3846 : // @note: using myJunctionEntryTimeNeverYield could lead to inconsistencies with other vehicles already on the junction
3847 77521 : myJunctionEntryTime = SIMSTEP;;
3848 : }
3849 640480127 : } else {
3850 425193264 : if (link != nullptr && link->getInternalLaneBefore() != nullptr && myLane->isInternal() && link->getJunction() == myLane->getEdge().getToJunction()) {
3851 : // blocked on the junction. yield request so other vehicles may
3852 : // become junction leader
3853 : #ifdef DEBUG_EXEC_MOVE
3854 : if (DEBUG_COND) {
3855 : std::cout << SIMTIME << " resetting junctionEntryTime at junction '" << link->getJunction()->getID() << "' beause of non-request exitLink\n";
3856 : }
3857 : #endif
3858 241747 : myJunctionEntryTime = SUMOTime_MAX;
3859 241747 : myJunctionConflictEntryTime = SUMOTime_MAX;
3860 : }
3861 : // we have: i->link == 0 || !i->setRequest
3862 425193264 : vSafe = dpi.myVLinkWait;
3863 425193264 : if (link != nullptr || myStopDist < (myLane->getLength() - getPositionOnLane())) {
3864 98636283 : if (vSafe < getSpeed()) {
3865 14860462 : myHaveToWaitOnNextLink = true;
3866 : #ifdef DEBUG_CHECKREWINDLINKLANES
3867 : if (DEBUG_COND) {
3868 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, braking) vSafe=" << vSafe << "\n";
3869 : }
3870 : #endif
3871 83775821 : } else if (vSafe < SUMO_const_haltingSpeed) {
3872 58588332 : myHaveToWaitOnNextLink = true;
3873 : #ifdef DEBUG_CHECKREWINDLINKLANES
3874 : if (DEBUG_COND) {
3875 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (no request, stopping)\n";
3876 : }
3877 : #endif
3878 : }
3879 : }
3880 330857616 : if (link == nullptr && myLFLinkLanes.size() == 1
3881 267412022 : && getBestLanesContinuation().size() > 1
3882 274663 : && getBestLanesContinuation()[1]->hadPermissionChanges()
3883 425329788 : && myLane->getFirstAnyVehicle() == this) {
3884 : // temporal lane closing without notification, visible to the
3885 : // vehicle at the front of the queue
3886 34552 : updateBestLanes(true);
3887 : //std::cout << SIMTIME << " veh=" << getID() << " updated bestLanes=" << toString(getBestLanesContinuation()) << "\n";
3888 : }
3889 : break;
3890 : }
3891 : }
3892 :
3893 : //#ifdef DEBUG_EXEC_MOVE
3894 : // if (DEBUG_COND) {
3895 : // std::cout << "\nvCurrent = " << toString(getSpeed(), 24) << "" << std::endl;
3896 : // std::cout << "vSafe = " << toString(vSafe, 24) << "" << std::endl;
3897 : // std::cout << "vSafeMin = " << toString(vSafeMin, 24) << "" << std::endl;
3898 : // std::cout << "vSafeMinDist = " << toString(vSafeMinDist, 24) << "" << std::endl;
3899 : //
3900 : // double gap = getLeader().second;
3901 : // std::cout << "gap = " << toString(gap, 24) << std::endl;
3902 : // std::cout << "vSafeStoppedLeader = " << toString(getCarFollowModel().stopSpeed(this, getSpeed(), gap, MSCFModel::CalcReason::FUTURE), 24)
3903 : // << "\n" << std::endl;
3904 : // }
3905 : //#endif
3906 :
3907 619374397 : if ((MSGlobals::gSemiImplicitEulerUpdate && vSafe + NUMERICAL_EPS < vSafeMin)
3908 619159565 : || (!MSGlobals::gSemiImplicitEulerUpdate && (vSafe + NUMERICAL_EPS < vSafeMin && vSafeMin != 0))) { // this might be good for the euler case as well
3909 : // XXX: (Leo) This often called stopSpeed with vSafeMinDist==0 (for the ballistic update), since vSafe can become negative
3910 : // 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
3911 : #ifdef DEBUG_EXEC_MOVE
3912 : if (DEBUG_COND) {
3913 : std::cout << "vSafeMin Problem? vSafe=" << vSafe << " vSafeMin=" << vSafeMin << " vSafeMinDist=" << vSafeMinDist << std::endl;
3914 : }
3915 : #endif
3916 254982 : if (canBrakeVSafeMin && vSafe < getSpeed()) {
3917 : // cannot drive across a link so we need to stop before it
3918 124910 : vSafe = MIN2(vSafe, MAX2(getCarFollowModel().minNextSpeed(getSpeed(), this),
3919 62455 : getCarFollowModel().stopSpeed(this, getSpeed(), vSafeMinDist)));
3920 62455 : vSafeMin = 0;
3921 62455 : myHaveToWaitOnNextLink = true;
3922 : #ifdef DEBUG_CHECKREWINDLINKLANES
3923 : if (DEBUG_COND) {
3924 : std::cout << SIMTIME << " veh=" << getID() << " haveToWait (vSafe=" << vSafe << " < vSafeMin=" << vSafeMin << ")\n";
3925 : }
3926 : #endif
3927 : } else {
3928 : // if the link is yellow or visibility distance is large
3929 : // then we might not make it across the link in one step anyway..
3930 : // Possibly, the lane after the intersection has a lower speed limit so
3931 : // we really need to drive slower already
3932 : // -> keep driving without dawdling
3933 192527 : vSafeMin = vSafe;
3934 : }
3935 : }
3936 :
3937 : // vehicles inside a roundabout should maintain their requests
3938 619374397 : if (myLane->getEdge().isRoundabout()) {
3939 2659156 : myHaveToWaitOnNextLink = false;
3940 : }
3941 :
3942 619374397 : vSafe = MIN2(vSafe, vSafeZipper);
3943 619374397 : }
3944 :
3945 :
3946 : double
3947 686986155 : MSVehicle::processTraCISpeedControl(double vSafe, double vNext) {
3948 686986155 : if (myInfluencer != nullptr) {
3949 500112 : myInfluencer->setOriginalSpeed(vNext);
3950 : #ifdef DEBUG_TRACI
3951 : if DEBUG_COND2(this) {
3952 : std::cout << SIMTIME << " MSVehicle::processTraCISpeedControl() for vehicle '" << getID() << "'"
3953 : << " vSafe=" << vSafe << " (init)vNext=" << vNext << " keepStopping=" << keepStopping();
3954 : }
3955 : #endif
3956 500112 : if (myInfluencer->isRemoteControlled()) {
3957 7752 : vNext = myInfluencer->implicitSpeedRemote(this, myState.mySpeed);
3958 : }
3959 500112 : const double vMax = getVehicleType().getCarFollowModel().maxNextSpeed(myState.mySpeed, this);
3960 500112 : double vMin = getVehicleType().getCarFollowModel().minNextSpeed(myState.mySpeed, this);
3961 500112 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3962 : vMin = MAX2(0., vMin);
3963 : }
3964 500112 : vNext = myInfluencer->influenceSpeed(MSNet::getInstance()->getCurrentTimeStep(), vNext, vSafe, vMin, vMax);
3965 500112 : if (keepStopping() && myStops.front().getSpeed() == 0) {
3966 : // avoid driving while stopped (unless it's actually a waypoint
3967 3746 : vNext = myInfluencer->getOriginalSpeed();
3968 : }
3969 : #ifdef DEBUG_TRACI
3970 : if DEBUG_COND2(this) {
3971 : std::cout << " (processed)vNext=" << vNext << std::endl;
3972 : }
3973 : #endif
3974 : }
3975 686986155 : return vNext;
3976 : }
3977 :
3978 :
3979 : void
3980 71636360 : MSVehicle::removePassedDriveItems() {
3981 : #ifdef DEBUG_ACTIONSTEPS
3982 : if (DEBUG_COND) {
3983 : std::cout << SIMTIME << " veh=" << getID() << " removePassedDriveItems()\n"
3984 : << " Current items: ";
3985 : for (auto& j : myLFLinkLanes) {
3986 : if (j.myLink == 0) {
3987 : std::cout << "\n Stop at distance " << j.myDistance;
3988 : } else {
3989 : const MSLane* to = j.myLink->getViaLaneOrLane();
3990 : const MSLane* from = j.myLink->getLaneBefore();
3991 : std::cout << "\n Link at distance " << j.myDistance << ": '"
3992 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
3993 : }
3994 : }
3995 : std::cout << "\n myNextDriveItem: ";
3996 : if (myLFLinkLanes.size() != 0) {
3997 : if (myNextDriveItem->myLink == 0) {
3998 : std::cout << "\n Stop at distance " << myNextDriveItem->myDistance;
3999 : } else {
4000 : const MSLane* to = myNextDriveItem->myLink->getViaLaneOrLane();
4001 : const MSLane* from = myNextDriveItem->myLink->getLaneBefore();
4002 : std::cout << "\n Link at distance " << myNextDriveItem->myDistance << ": '"
4003 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4004 : }
4005 : }
4006 : std::cout << std::endl;
4007 : }
4008 : #endif
4009 71962589 : for (auto j = myLFLinkLanes.begin(); j != myNextDriveItem; ++j) {
4010 : #ifdef DEBUG_ACTIONSTEPS
4011 : if (DEBUG_COND) {
4012 : std::cout << " Removing item: ";
4013 : if (j->myLink == 0) {
4014 : std::cout << "Stop at distance " << j->myDistance;
4015 : } else {
4016 : const MSLane* to = j->myLink->getViaLaneOrLane();
4017 : const MSLane* from = j->myLink->getLaneBefore();
4018 : std::cout << "Link at distance " << j->myDistance << ": '"
4019 : << (from == 0 ? "NONE" : from->getID()) << "' -> '" << (to == 0 ? "NONE" : to->getID()) << "'";
4020 : }
4021 : std::cout << std::endl;
4022 : }
4023 : #endif
4024 326229 : if (j->myLink != nullptr) {
4025 326156 : j->myLink->removeApproaching(this);
4026 : }
4027 : }
4028 71636360 : myLFLinkLanes.erase(myLFLinkLanes.begin(), myNextDriveItem);
4029 71636360 : myNextDriveItem = myLFLinkLanes.begin();
4030 71636360 : }
4031 :
4032 :
4033 : void
4034 1108371 : MSVehicle::updateDriveItems() {
4035 : #ifdef DEBUG_ACTIONSTEPS
4036 : if (DEBUG_COND) {
4037 : std::cout << SIMTIME << " updateDriveItems(), veh='" << getID() << "' (lane: '" << getLane()->getID() << "')\nCurrent drive items:" << std::endl;
4038 : for (const auto& dpi : myLFLinkLanes) {
4039 : std::cout
4040 : << " vPass=" << dpi.myVLinkPass
4041 : << " vWait=" << dpi.myVLinkWait
4042 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4043 : << " request=" << dpi.mySetRequest
4044 : << "\n";
4045 : }
4046 : std::cout << " myNextDriveItem's linked lane: " << (myNextDriveItem->myLink == 0 ? "NULL" : myNextDriveItem->myLink->getViaLaneOrLane()->getID()) << std::endl;
4047 : }
4048 : #endif
4049 1108371 : if (myLFLinkLanes.size() == 0) {
4050 : // nothing to update
4051 : return;
4052 : }
4053 : const MSLink* nextPlannedLink = nullptr;
4054 : // auto i = myLFLinkLanes.begin();
4055 1108371 : auto i = myNextDriveItem;
4056 2216696 : while (i != myLFLinkLanes.end() && nextPlannedLink == nullptr) {
4057 1108325 : nextPlannedLink = i->myLink;
4058 : ++i;
4059 : }
4060 :
4061 1108371 : if (nextPlannedLink == nullptr) {
4062 : // No link for upcoming item -> no need for an update
4063 : #ifdef DEBUG_ACTIONSTEPS
4064 : if (DEBUG_COND) {
4065 : std::cout << "Found no link-related drive item." << std::endl;
4066 : }
4067 : #endif
4068 : return;
4069 : }
4070 :
4071 539302 : if (getLane() == nextPlannedLink->getLaneBefore()) {
4072 : // Current lane approaches the stored next link, i.e. no LC happend and no update is required.
4073 : #ifdef DEBUG_ACTIONSTEPS
4074 : if (DEBUG_COND) {
4075 : std::cout << "Continuing on planned lane sequence, no update required." << std::endl;
4076 : }
4077 : #endif
4078 : return;
4079 : }
4080 : // Lane must have been changed, determine the change direction
4081 529361 : const MSLink* parallelLink = nextPlannedLink->getParallelLink(1);
4082 529361 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4083 : // lcDir = 1;
4084 : } else {
4085 263106 : parallelLink = nextPlannedLink->getParallelLink(-1);
4086 263106 : if (parallelLink != nullptr && parallelLink->getLaneBefore() == getLane()) {
4087 : // lcDir = -1;
4088 : } else {
4089 : // If the vehicle's current lane is not the approaching lane for the next
4090 : // drive process item's link, it is expected to lead to a parallel link,
4091 : // XXX: What if the lc was an overtaking maneuver and there is no upcoming link?
4092 : // Then a stop item should be scheduled! -> TODO!
4093 : //assert(false);
4094 71767 : return;
4095 : }
4096 : }
4097 : #ifdef DEBUG_ACTIONSTEPS
4098 : if (DEBUG_COND) {
4099 : std::cout << "Changed lane. Drive items will be updated along the current lane continuation." << std::endl;
4100 : }
4101 : #endif
4102 : // Trace link sequence along current best lanes and transfer drive items to the corresponding links
4103 : // DriveItemVector::iterator driveItemIt = myLFLinkLanes.begin();
4104 457594 : DriveItemVector::iterator driveItemIt = myNextDriveItem;
4105 : // In the loop below, lane holds the currently considered lane on the vehicles continuation (including internal lanes)
4106 457594 : const MSLane* lane = myLane;
4107 : assert(myLane == parallelLink->getLaneBefore());
4108 : // *lit is a pointer to the next lane in best continuations for the current lane (always non-internal)
4109 457594 : std::vector<MSLane*>::const_iterator bestLaneIt = getBestLanesContinuation().begin() + 1;
4110 : // Pointer to the new link for the current drive process item
4111 : MSLink* newLink = nullptr;
4112 1710089 : while (driveItemIt != myLFLinkLanes.end()) {
4113 1281367 : if (driveItemIt->myLink == nullptr) {
4114 : // Items not related to a specific link are not updated
4115 : // (XXX: when a stop item corresponded to a dead end, which is overcome by the LC that made
4116 : // the update necessary, this may slow down the vehicle's continuation on the new lane...)
4117 : ++driveItemIt;
4118 157991 : continue;
4119 : }
4120 : // Continuation links for current best lanes are less than for the former drive items (myLFLinkLanes)
4121 : // We just remove the leftover link-items, as they cannot be mapped to new links.
4122 1123376 : if (bestLaneIt == getBestLanesContinuation().end()) {
4123 : #ifdef DEBUG_ACTIONSTEPS
4124 : if (DEBUG_COND) {
4125 : std::cout << "Reached end of the new continuation sequence. Erasing leftover link-items." << std::endl;
4126 : }
4127 : #endif
4128 91347 : while (driveItemIt != myLFLinkLanes.end()) {
4129 62475 : if (driveItemIt->myLink == nullptr) {
4130 : ++driveItemIt;
4131 14210 : continue;
4132 : } else {
4133 48265 : driveItemIt->myLink->removeApproaching(this);
4134 : driveItemIt = myLFLinkLanes.erase(driveItemIt);
4135 : }
4136 : }
4137 : break;
4138 : }
4139 : // Do the actual link-remapping for the item. And un/register approaching information on the corresponding links
4140 1094504 : const MSLane* const target = *bestLaneIt;
4141 : assert(!target->isInternal());
4142 : newLink = nullptr;
4143 1210445 : for (MSLink* const link : lane->getLinkCont()) {
4144 1210445 : if (link->getLane() == target) {
4145 : newLink = link;
4146 : break;
4147 : }
4148 : }
4149 :
4150 1094504 : if (newLink == driveItemIt->myLink) {
4151 : // new continuation merged into previous - stop update
4152 : #ifdef DEBUG_ACTIONSTEPS
4153 : if (DEBUG_COND) {
4154 : std::cout << "Old and new continuation sequences merge at link\n"
4155 : << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'"
4156 : << "\nNo update beyond merge required." << std::endl;
4157 : }
4158 : #endif
4159 : break;
4160 : }
4161 :
4162 : #ifdef DEBUG_ACTIONSTEPS
4163 : if (DEBUG_COND) {
4164 : std::cout << "lane=" << lane->getID() << "\nUpdating link\n '" << driveItemIt->myLink->getLaneBefore()->getID() << "'->'" << driveItemIt->myLink->getViaLaneOrLane()->getID() << "'"
4165 : << "==> " << "'" << newLink->getLaneBefore()->getID() << "'->'" << newLink->getViaLaneOrLane()->getID() << "'" << std::endl;
4166 : }
4167 : #endif
4168 1094504 : newLink->setApproaching(this, driveItemIt->myLink->getApproaching(this));
4169 1094504 : driveItemIt->myLink->removeApproaching(this);
4170 1094504 : driveItemIt->myLink = newLink;
4171 : lane = newLink->getViaLaneOrLane();
4172 : ++driveItemIt;
4173 1094504 : if (!lane->isInternal()) {
4174 : ++bestLaneIt;
4175 : }
4176 : }
4177 : #ifdef DEBUG_ACTIONSTEPS
4178 : if (DEBUG_COND) {
4179 : std::cout << "Updated drive items:" << std::endl;
4180 : for (const auto& dpi : myLFLinkLanes) {
4181 : std::cout
4182 : << " vPass=" << dpi.myVLinkPass
4183 : << " vWait=" << dpi.myVLinkWait
4184 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4185 : << " request=" << dpi.mySetRequest
4186 : << "\n";
4187 : }
4188 : }
4189 : #endif
4190 : }
4191 :
4192 :
4193 : void
4194 686986155 : MSVehicle::setBrakingSignals(double vNext) {
4195 : // To avoid casual blinking brake lights at high speeds due to dawdling of the
4196 : // leading vehicle, we don't show brake lights when the deceleration could be caused
4197 : // by frictional forces and air resistance (i.e. proportional to v^2, coefficient could be adapted further)
4198 686986155 : double pseudoFriction = (0.05 + 0.005 * getSpeed()) * getSpeed();
4199 686986155 : bool brakelightsOn = vNext < getSpeed() - ACCEL2SPEED(pseudoFriction);
4200 :
4201 686986155 : if (vNext <= SUMO_const_haltingSpeed) {
4202 : brakelightsOn = true;
4203 : }
4204 686986155 : if (brakelightsOn && !isStopped()) {
4205 : switchOnSignal(VEH_SIGNAL_BRAKELIGHT);
4206 : } else {
4207 : switchOffSignal(VEH_SIGNAL_BRAKELIGHT);
4208 : }
4209 686986155 : }
4210 :
4211 :
4212 : void
4213 687092476 : MSVehicle::updateWaitingTime(double vNext) {
4214 687092476 : if (vNext <= SUMO_const_haltingSpeed && (!isStopped() || isIdling()) && myAcceleration <= accelThresholdForWaiting()) {
4215 84997431 : myWaitingTime += DELTA_T;
4216 84997431 : myWaitingTimeCollector.passTime(DELTA_T, true);
4217 : } else {
4218 602095045 : myWaitingTime = 0;
4219 602095045 : myWaitingTimeCollector.passTime(DELTA_T, false);
4220 602095045 : if (hasInfluencer()) {
4221 275415 : getInfluencer().setExtraImpatience(0);
4222 : }
4223 : }
4224 687092476 : }
4225 :
4226 :
4227 : void
4228 686985973 : MSVehicle::updateTimeLoss(double vNext) {
4229 : // update time loss (depends on the updated edge)
4230 686985973 : if (!isStopped()) {
4231 673339597 : const double vmax = myLane->getVehicleMaxSpeed(this);
4232 673339597 : if (vmax > 0) {
4233 673332214 : myTimeLoss += TS * (vmax - vNext) / vmax;
4234 : }
4235 : }
4236 686985973 : }
4237 :
4238 :
4239 : double
4240 1519399860 : MSVehicle::checkReversal(bool& canReverse, double speedThreshold, double seen) const {
4241 52956054 : const bool stopOk = (myStops.empty() || myStops.front().edge != myCurrEdge
4242 1541364696 : || (myStops.front().getSpeed() > 0 && myState.myPos > myStops.front().pars.endPos - 2 * POSITION_EPS));
4243 : #ifdef DEBUG_REVERSE_BIDI
4244 : if (DEBUG_COND) std::cout << SIMTIME << " checkReversal lane=" << myLane->getID()
4245 : << " pos=" << myState.myPos
4246 : << " speed=" << std::setprecision(6) << getPreviousSpeed() << std::setprecision(gPrecision)
4247 : << " speedThreshold=" << speedThreshold
4248 : << " seen=" << seen
4249 : << " isRail=" << isRail()
4250 : << " speedOk=" << (getPreviousSpeed() <= speedThreshold)
4251 : << " posOK=" << (myState.myPos <= myLane->getLength())
4252 : << " normal=" << !myLane->isInternal()
4253 : << " routeOK=" << ((myCurrEdge + 1) != myRoute->end())
4254 : << " bidi=" << (myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1))
4255 : << " stopOk=" << stopOk
4256 : << "\n";
4257 : #endif
4258 1519399860 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4259 6630779 : && getPreviousSpeed() <= speedThreshold
4260 5657770 : && myState.myPos <= myLane->getLength()
4261 5656770 : && !myLane->isInternal()
4262 5591686 : && (myCurrEdge + 1) != myRoute->end()
4263 5502874 : && myLane->getEdge().getBidiEdge() == *(myCurrEdge + 1)
4264 : // ensure there are no further stops on this edge
4265 1520246459 : && stopOk
4266 : ) {
4267 : //if (isSelected()) std::cout << " check1 passed\n";
4268 :
4269 : // ensure that the vehicle is fully on bidi edges that allow reversal
4270 177789 : const int neededFutureRoute = 1 + (int)(MSGlobals::gUsingInternalLanes
4271 : ? myFurtherLanes.size()
4272 504 : : ceil((double)myFurtherLanes.size() / 2.0));
4273 177789 : const int remainingRoute = int(myRoute->end() - myCurrEdge) - 1;
4274 177789 : if (remainingRoute < neededFutureRoute) {
4275 : #ifdef DEBUG_REVERSE_BIDI
4276 : if (DEBUG_COND) {
4277 : std::cout << " fail: remainingEdges=" << ((int)(myRoute->end() - myCurrEdge)) << " further=" << myFurtherLanes.size() << "\n";
4278 : }
4279 : #endif
4280 3570 : return getMaxSpeed();
4281 : }
4282 : //if (isSelected()) std::cout << " check2 passed\n";
4283 :
4284 : // ensure that the turn-around connection exists from the current edge to its bidi-edge
4285 174219 : const MSEdgeVector& succ = myLane->getEdge().getSuccessors();
4286 174219 : if (std::find(succ.begin(), succ.end(), myLane->getEdge().getBidiEdge()) == succ.end()) {
4287 : #ifdef DEBUG_REVERSE_BIDI
4288 : if (DEBUG_COND) {
4289 : std::cout << " noTurn (bidi=" << myLane->getEdge().getBidiEdge()->getID() << " succ=" << toString(succ) << "\n";
4290 : }
4291 : #endif
4292 909 : return getMaxSpeed();
4293 : }
4294 : //if (isSelected()) std::cout << " check3 passed\n";
4295 :
4296 : // ensure that the vehicle front will not move past a stop on the bidi edge of the current edge
4297 173310 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + 1)) {
4298 160006 : const double stopPos = myStops.front().getEndPos(*this);
4299 160006 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4300 160006 : const double newPos = myLane->getLength() - (getBackPositionOnLane() + brakeDist);
4301 160006 : if (newPos > stopPos) {
4302 : #ifdef DEBUG_REVERSE_BIDI
4303 : if (DEBUG_COND) {
4304 : std::cout << " reversal would go past stop on " << myLane->getBidiLane()->getID() << "\n";
4305 : }
4306 : #endif
4307 158332 : if (seen > MAX2(brakeDist, 1.0)) {
4308 157202 : return getMaxSpeed();
4309 : } else {
4310 : #ifdef DEBUG_REVERSE_BIDI
4311 : if (DEBUG_COND) {
4312 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4313 : }
4314 : #endif
4315 : }
4316 : }
4317 : }
4318 : //if (isSelected()) std::cout << " check4 passed\n";
4319 :
4320 : // ensure that bidi-edges exist for all further edges
4321 : // and that no stops will be skipped when reversing
4322 : // and that the train will not be on top of a red rail signal after reversal
4323 16108 : const MSLane* bidi = myLane->getBidiLane();
4324 : int view = 2;
4325 32828 : for (MSLane* further : myFurtherLanes) {
4326 18277 : if (!further->getEdge().isInternal()) {
4327 9709 : if (further->getEdge().getBidiEdge() != *(myCurrEdge + view)) {
4328 : #ifdef DEBUG_REVERSE_BIDI
4329 : if (DEBUG_COND) {
4330 : std::cout << " noBidi view=" << view << " further=" << further->getID() << " furtherBidi=" << Named::getIDSecure(further->getEdge().getBidiEdge()) << " future=" << (*(myCurrEdge + view))->getID() << "\n";
4331 : }
4332 : #endif
4333 1398 : return getMaxSpeed();
4334 : }
4335 8311 : const MSLane* nextBidi = further->getBidiLane();
4336 8311 : const MSLink* toNext = bidi->getLinkTo(nextBidi);
4337 8311 : if (toNext == nullptr) {
4338 : // can only happen if the route is invalid
4339 0 : return getMaxSpeed();
4340 : }
4341 8311 : if (toNext->haveRed()) {
4342 : #ifdef DEBUG_REVERSE_BIDI
4343 : if (DEBUG_COND) {
4344 : std::cout << " do not reverse on a red signal\n";
4345 : }
4346 : #endif
4347 0 : return getMaxSpeed();
4348 : }
4349 : bidi = nextBidi;
4350 8311 : if (!myStops.empty() && myStops.front().edge == (myCurrEdge + view)) {
4351 453 : const double brakeDist = getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0);
4352 453 : const double stopPos = myStops.front().getEndPos(*this);
4353 453 : const double newPos = further->getLength() - (getBackPositionOnLane(further) + brakeDist);
4354 453 : if (newPos > stopPos) {
4355 : #ifdef DEBUG_REVERSE_BIDI
4356 : if (DEBUG_COND) {
4357 : std::cout << " reversal would go past stop on further-opposite lane " << further->getBidiLane()->getID() << "\n";
4358 : }
4359 : #endif
4360 171 : if (seen > MAX2(brakeDist, 1.0)) {
4361 159 : canReverse = false;
4362 159 : return getMaxSpeed();
4363 : } else {
4364 : #ifdef DEBUG_REVERSE_BIDI
4365 : if (DEBUG_COND) {
4366 : std::cout << " train is too long, skipping stop at " << stopPos << " cannot be avoided\n";
4367 : }
4368 : #endif
4369 : }
4370 : }
4371 : }
4372 8152 : view++;
4373 : }
4374 : }
4375 : // reverse as soon as comfortably possible
4376 14551 : const double vMinComfortable = getCarFollowModel().minNextSpeed(getSpeed(), this);
4377 : #ifdef DEBUG_REVERSE_BIDI
4378 : if (DEBUG_COND) {
4379 : std::cout << SIMTIME << " seen=" << seen << " vReverseOK=" << vMinComfortable << "\n";
4380 : }
4381 : #endif
4382 14551 : canReverse = true;
4383 14551 : return vMinComfortable;
4384 : }
4385 1519222071 : return getMaxSpeed();
4386 : }
4387 :
4388 :
4389 : void
4390 687199929 : MSVehicle::processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason) {
4391 702729149 : for (std::vector<MSLane*>::reverse_iterator i = myFurtherLanes.rbegin(); i != myFurtherLanes.rend(); ++i) {
4392 15529220 : passedLanes.push_back(*i);
4393 : }
4394 687199929 : if (passedLanes.size() == 0 || passedLanes.back() != myLane) {
4395 687199929 : passedLanes.push_back(myLane);
4396 : }
4397 : // let trains reverse direction
4398 687199929 : bool reverseTrain = false;
4399 687199929 : checkReversal(reverseTrain);
4400 687199929 : if (reverseTrain) {
4401 : // Train is 'reversing' so toggle the logical state
4402 772 : myAmReversed = !myAmReversed;
4403 : // add some slack to ensure that the back of train does appear looped
4404 772 : myState.myPos += 2 * (myLane->getLength() - myState.myPos) + myType->getLength() + NUMERICAL_EPS;
4405 772 : myState.mySpeed = 0;
4406 : #ifdef DEBUG_REVERSE_BIDI
4407 : if (DEBUG_COND) {
4408 : std::cout << SIMTIME << " reversing train=" << getID() << " newPos=" << myState.myPos << "\n";
4409 : }
4410 : #endif
4411 : }
4412 : // move on lane(s)
4413 687199929 : if (myState.myPos > myLane->getLength()) {
4414 : // The vehicle has moved at least to the next lane (maybe it passed even more than one)
4415 20356220 : if (myCurrEdge != myRoute->end() - 1) {
4416 17157921 : MSLane* approachedLane = myLane;
4417 : // move the vehicle forward
4418 17157921 : myNextDriveItem = myLFLinkLanes.begin();
4419 36888230 : while (myNextDriveItem != myLFLinkLanes.end() && approachedLane != nullptr && myState.myPos > approachedLane->getLength()) {
4420 19754863 : const MSLink* link = myNextDriveItem->myLink;
4421 19754863 : const double linkDist = myNextDriveItem->myDistance;
4422 : ++myNextDriveItem;
4423 : // check whether the vehicle was allowed to enter lane
4424 : // otherwise it is decelerated and we do not need to test for it's
4425 : // approach on the following lanes when a lane changing is performed
4426 : // proceed to the next lane
4427 19754863 : if (approachedLane->mustCheckJunctionCollisions()) {
4428 : // vehicle moves past approachedLane within a single step, collision checking must still be done
4429 60772 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(approachedLane);
4430 : }
4431 19754863 : if (link != nullptr) {
4432 19750758 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4433 39974 : && !myLane->isInternal()
4434 21152 : && myLane->getBidiLane() != nullptr
4435 12059 : && link->getLane()->getBidiLane() == myLane
4436 19751527 : && !reverseTrain) {
4437 : emergencyReason = " because it must reverse direction";
4438 : approachedLane = nullptr;
4439 : break;
4440 : }
4441 19750755 : if ((getVClass() & SVC_RAIL_CLASSES) != 0
4442 39971 : && myState.myPos < myLane->getLength() + NUMERICAL_EPS
4443 19750980 : && hasStops() && getNextStop().edge == myCurrEdge) {
4444 : // avoid skipping stop due to numerical instability
4445 : // this is a special case for rail vehicles because they
4446 : // continue myLFLinkLanes past stops
4447 200 : approachedLane = myLane;
4448 200 : myState.myPos = myLane->getLength();
4449 200 : break;
4450 : }
4451 19750555 : approachedLane = link->getViaLaneOrLane();
4452 19750555 : if (myInfluencer == nullptr || myInfluencer->getEmergencyBrakeRedLight()) {
4453 19748967 : bool beyondStopLine = linkDist < link->getLaneBefore()->getVehicleStopOffset(this);
4454 19748967 : if (link->haveRed() && !ignoreRed(link, false) && !beyondStopLine && !reverseTrain) {
4455 : emergencyReason = " because of a red traffic light";
4456 : break;
4457 : }
4458 : }
4459 19750493 : if (reverseTrain && approachedLane->isInternal()) {
4460 : // avoid getting stuck on a slow turn-around internal lane
4461 842 : myState.myPos += approachedLane->getLength();
4462 : }
4463 4105 : } else if (myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4464 : // avoid warning due to numerical instability
4465 163 : approachedLane = myLane;
4466 163 : myState.myPos = myLane->getLength();
4467 3942 : } else if (reverseTrain) {
4468 0 : approachedLane = (*(myCurrEdge + 1))->getLanes()[0];
4469 0 : link = myLane->getLinkTo(approachedLane);
4470 : assert(link != 0);
4471 0 : while (link->getViaLane() != nullptr) {
4472 0 : link = link->getViaLane()->getLinkCont()[0];
4473 : }
4474 : --myNextDriveItem;
4475 : } else {
4476 : emergencyReason = " because there is no connection to the next edge";
4477 : approachedLane = nullptr;
4478 : break;
4479 : }
4480 19750656 : if (approachedLane != myLane && approachedLane != nullptr) {
4481 19750493 : leaveLane(MSMoveReminder::NOTIFICATION_JUNCTION, approachedLane);
4482 19750493 : myState.myPos -= myLane->getLength();
4483 : assert(myState.myPos > 0);
4484 19750493 : enterLaneAtMove(approachedLane);
4485 19750493 : if (link->isEntryLink()) {
4486 7815995 : myJunctionEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4487 7815995 : myJunctionEntryTimeNeverYield = myJunctionEntryTime;
4488 7815995 : myHaveStoppedFor = nullptr;
4489 : }
4490 19750493 : if (link->isConflictEntryLink()) {
4491 7815556 : myJunctionConflictEntryTime = MSNet::getInstance()->getCurrentTimeStep();
4492 : // renew yielded request
4493 7815556 : myJunctionEntryTime = myJunctionEntryTimeNeverYield;
4494 : }
4495 19750493 : if (link->isExitLink()) {
4496 : // passed junction, reset for approaching the next one
4497 7756195 : myJunctionEntryTime = SUMOTime_MAX;
4498 7756195 : myJunctionEntryTimeNeverYield = SUMOTime_MAX;
4499 7756195 : myJunctionConflictEntryTime = SUMOTime_MAX;
4500 : }
4501 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
4502 : if (DEBUG_COND) {
4503 : std::cout << "Update junctionTimes link=" << link->getViaLaneOrLane()->getID()
4504 : << " entry=" << link->isEntryLink() << " conflict=" << link->isConflictEntryLink() << " exit=" << link->isExitLink()
4505 : << " ET=" << myJunctionEntryTime
4506 : << " ETN=" << myJunctionEntryTimeNeverYield
4507 : << " CET=" << myJunctionConflictEntryTime
4508 : << "\n";
4509 : }
4510 : #endif
4511 19750493 : if (hasArrivedInternal()) {
4512 : break;
4513 : }
4514 19730902 : if (myLaneChangeModel->isChangingLanes()) {
4515 6570 : if (link->getDirection() == LinkDirection::LEFT || link->getDirection() == LinkDirection::RIGHT) {
4516 : // abort lane change
4517 0 : WRITE_WARNING("Vehicle '" + getID() + "' could not finish continuous lane change (turn lane) time=" +
4518 : time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4519 0 : myLaneChangeModel->endLaneChangeManeuver();
4520 : }
4521 : }
4522 19730902 : if (approachedLane->getEdge().isVaporizing()) {
4523 756 : leaveLane(MSMoveReminder::NOTIFICATION_VAPORIZED_VAPORIZER);
4524 : break;
4525 : }
4526 19730146 : passedLanes.push_back(approachedLane);
4527 : }
4528 : }
4529 : // NOTE: Passed drive items will be erased in the next simstep's planMove()
4530 :
4531 : #ifdef DEBUG_ACTIONSTEPS
4532 : if (DEBUG_COND && myNextDriveItem != myLFLinkLanes.begin()) {
4533 : std::cout << "Updated drive items:" << std::endl;
4534 : for (DriveItemVector::iterator i = myLFLinkLanes.begin(); i != myLFLinkLanes.end(); ++i) {
4535 : std::cout
4536 : << " vPass=" << (*i).myVLinkPass
4537 : << " vWait=" << (*i).myVLinkWait
4538 : << " linkLane=" << ((*i).myLink == 0 ? "NULL" : (*i).myLink->getViaLaneOrLane()->getID())
4539 : << " request=" << (*i).mySetRequest
4540 : << "\n";
4541 : }
4542 : }
4543 : #endif
4544 3198299 : } else if (!hasArrivedInternal() && myState.myPos < myLane->getLength() + NUMERICAL_EPS) {
4545 : // avoid warning due to numerical instability when stopping at the end of the route
4546 58 : myState.myPos = myLane->getLength();
4547 : }
4548 :
4549 : }
4550 687199929 : }
4551 :
4552 :
4553 :
4554 : bool
4555 691010757 : MSVehicle::executeMove() {
4556 : #ifdef DEBUG_EXEC_MOVE
4557 : if (DEBUG_COND) {
4558 : std::cout << "\nEXECUTE_MOVE\n"
4559 : << SIMTIME
4560 : << " veh=" << getID()
4561 : << " speed=" << getSpeed() // toString(getSpeed(), 24)
4562 : << std::endl;
4563 : }
4564 : #endif
4565 :
4566 :
4567 : // Maximum safe velocity
4568 691010757 : double vSafe = std::numeric_limits<double>::max();
4569 : // Minimum safe velocity (lower bound).
4570 691010757 : double vSafeMin = -std::numeric_limits<double>::max();
4571 : // The distance to a link, which should either be crossed this step
4572 : // or in front of which we need to stop.
4573 691010757 : double vSafeMinDist = 0;
4574 :
4575 691010757 : if (myActionStep) {
4576 : // Actuate control (i.e. choose bounds for safe speed in current simstep (euler), resp. after current sim step (ballistic))
4577 619374397 : processLinkApproaches(vSafe, vSafeMin, vSafeMinDist);
4578 : #ifdef DEBUG_ACTIONSTEPS
4579 : if (DEBUG_COND) {
4580 : std::cout << SIMTIME << " vehicle '" << getID() << "'\n"
4581 : " vsafe from processLinkApproaches(): vsafe " << vSafe << std::endl;
4582 : }
4583 : #endif
4584 : } else {
4585 : // Continue with current acceleration
4586 71636360 : vSafe = getSpeed() + ACCEL2SPEED(myAcceleration);
4587 : #ifdef DEBUG_ACTIONSTEPS
4588 : if (DEBUG_COND) {
4589 : std::cout << SIMTIME << " vehicle '" << getID() << "' skips processLinkApproaches()\n"
4590 : " continues with constant accel " << myAcceleration << "...\n"
4591 : << "speed: " << getSpeed() << " -> " << vSafe << std::endl;
4592 : }
4593 : #endif
4594 : }
4595 :
4596 :
4597 : //#ifdef DEBUG_EXEC_MOVE
4598 : // if (DEBUG_COND) {
4599 : // std::cout << "vSafe = " << toString(vSafe,12) << "\n" << std::endl;
4600 : // }
4601 : //#endif
4602 :
4603 : // Determine vNext = speed after current sim step (ballistic), resp. in current simstep (euler)
4604 : // Call to finalizeSpeed applies speed reduction due to dawdling / lane changing but ensures minimum safe speed
4605 691010757 : double vNext = vSafe;
4606 691010757 : const double rawAccel = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4607 691010757 : if (vNext <= SUMO_const_haltingSpeed * TS && myWaitingTime > MSGlobals::gStartupWaitThreshold && rawAccel <= accelThresholdForWaiting() && myActionStep) {
4608 69204560 : myTimeSinceStartup = 0;
4609 621806197 : } else if (isStopped()) {
4610 : // do not apply startupDelay for waypoints
4611 17660064 : if (getCarFollowModel().startupDelayStopped() && getNextStop().pars.speed <= 0) {
4612 13772 : myTimeSinceStartup = DELTA_T;
4613 : } else {
4614 : // do not apply startupDelay but signal that a stop has taken place
4615 17646292 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
4616 : }
4617 : } else {
4618 : // identify potential startup (before other effects reduce the speed again)
4619 604146133 : myTimeSinceStartup += DELTA_T;
4620 : }
4621 691010757 : if (myActionStep) {
4622 619374397 : vNext = getCarFollowModel().finalizeSpeed(this, vSafe);
4623 615349613 : if (vNext > 0) {
4624 574252428 : vNext = MAX2(vNext, vSafeMin);
4625 : }
4626 : }
4627 : // (Leo) to avoid tiny oscillations (< 1e-10) of vNext in a standing vehicle column (observed for ballistic update), we cap off vNext
4628 : // (We assure to do this only for vNext<<NUMERICAL_EPS since otherwise this would nullify the workaround for #2995
4629 : // (Jakob) We also need to make sure to reach a stop at the start of the next edge
4630 686985973 : if (fabs(vNext) < NUMERICAL_EPS_SPEED && (myStopDist > POSITION_EPS || (hasStops() && myCurrEdge == getNextStop().edge))) {
4631 : vNext = 0.;
4632 : }
4633 : #ifdef DEBUG_EXEC_MOVE
4634 : if (DEBUG_COND) {
4635 : std::cout << SIMTIME << " finalizeSpeed vSafe=" << vSafe << " vSafeMin=" << (vSafeMin == -std::numeric_limits<double>::max() ? "-Inf" : toString(vSafeMin))
4636 : << " vNext=" << vNext << " (i.e. accel=" << SPEED2ACCEL(vNext - getSpeed()) << ")" << std::endl;
4637 : }
4638 : #endif
4639 :
4640 : // vNext may be higher than vSafe without implying a bug:
4641 : // - when approaching a green light that suddenly switches to yellow
4642 : // - when using unregulated junctions
4643 : // - when using tau < step-size
4644 : // - when using unsafe car following models
4645 : // - when using TraCI and some speedMode / laneChangeMode settings
4646 : //if (vNext > vSafe + NUMERICAL_EPS) {
4647 : // WRITE_WARNING("vehicle '" + getID() + "' cannot brake hard enough to reach safe speed "
4648 : // + toString(vSafe, 4) + ", moving at " + toString(vNext, 4) + " instead. time="
4649 : // + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
4650 : //}
4651 :
4652 686985973 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4653 : vNext = MAX2(vNext, 0.);
4654 : } else {
4655 : // (Leo) Ballistic: negative vNext can be used to indicate a stop within next step.
4656 : }
4657 :
4658 : // Check for speed advices from the traci client
4659 686985973 : vNext = processTraCISpeedControl(vSafe, vNext);
4660 :
4661 : // the acceleration of a vehicle equipped with the elecHybrid device is restricted by the maximal power of the electric drive as well
4662 686985973 : MSDevice_ElecHybrid* elecHybridOfVehicle = dynamic_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid)));
4663 1135 : if (elecHybridOfVehicle != nullptr) {
4664 : // this is the consumption given by the car following model-computed acceleration
4665 1135 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4666 : // but the maximum power of the electric motor may be lower
4667 : // it needs to be converted from [W] to [Wh/s] (3600s / 1h) so that TS can be taken into account
4668 1135 : double maxPower = getEmissionParameters()->getDoubleOptional(SUMO_ATTR_MAXIMUMPOWER, 100000.) / 3600;
4669 1135 : if (elecHybridOfVehicle->getConsum() / TS > maxPower) {
4670 : // no, we cannot accelerate that fast, recompute the maximum possible acceleration
4671 70 : double accel = elecHybridOfVehicle->acceleration(*this, maxPower, this->getSpeed());
4672 : // and update the speed of the vehicle
4673 70 : vNext = MIN2(vNext, this->getSpeed() + accel * TS);
4674 : vNext = MAX2(vNext, 0.);
4675 : // and set the vehicle consumption to reflect this
4676 70 : elecHybridOfVehicle->setConsum(elecHybridOfVehicle->consumption(*this, (vNext - this->getSpeed()) / TS, vNext));
4677 : }
4678 : }
4679 :
4680 686985973 : setBrakingSignals(vNext);
4681 :
4682 : // update position and speed
4683 686985973 : int oldLaneOffset = myLane->getEdge().getNumLanes() - myLane->getIndex();
4684 : const MSLane* oldLaneMaybeOpposite = myLane;
4685 686985973 : if (myLaneChangeModel->isOpposite()) {
4686 : // transform to the forward-direction lane, move and then transform back
4687 405278 : myState.myPos = myLane->getOppositePos(myState.myPos);
4688 405278 : myLane = myLane->getParallelOpposite();
4689 : }
4690 686985973 : updateState(vNext);
4691 686985973 : updateWaitingTime(vNext);
4692 :
4693 : // Lanes, which the vehicle touched at some moment of the executed simstep
4694 : std::vector<MSLane*> passedLanes;
4695 : // remember previous lane (myLane is updated in processLaneAdvances)
4696 686985973 : const MSLane* oldLane = myLane;
4697 : // Reason for a possible emergency stop
4698 : std::string emergencyReason;
4699 686985973 : processLaneAdvances(passedLanes, emergencyReason);
4700 :
4701 686985973 : updateTimeLoss(vNext);
4702 686985973 : myCollisionImmunity = MAX2((SUMOTime) - 1, myCollisionImmunity - DELTA_T);
4703 :
4704 686985973 : if (!hasArrivedInternal() && !myLane->getEdge().isVaporizing()) {
4705 683577852 : if (myState.myPos > myLane->getLength()) {
4706 348 : if (emergencyReason == "") {
4707 31 : emergencyReason = TL(" for unknown reasons");
4708 : }
4709 1392 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency stop at the end of lane '%'% (decel=%, offset=%), time=%."),
4710 : getID(), myLane->getID(), emergencyReason, myAcceleration - myState.mySpeed,
4711 : myState.myPos - myLane->getLength(), time2string(SIMSTEP));
4712 348 : MSNet::getInstance()->getVehicleControl().registerEmergencyStop();
4713 348 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::EMERGENCYSTOP);
4714 348 : myState.myPos = myLane->getLength();
4715 348 : myState.mySpeed = 0;
4716 348 : myAcceleration = 0;
4717 : }
4718 683577852 : const MSLane* oldBackLane = getBackLane();
4719 683577852 : if (myLaneChangeModel->isOpposite()) {
4720 : passedLanes.clear(); // ignore back occupation
4721 : }
4722 : #ifdef DEBUG_ACTIONSTEPS
4723 : if (DEBUG_COND) {
4724 : std::cout << SIMTIME << " veh '" << getID() << "' updates further lanes." << std::endl;
4725 : }
4726 : #endif
4727 683577852 : myState.myBackPos = updateFurtherLanes(myFurtherLanes, myFurtherLanesPosLat, passedLanes);
4728 683577852 : if (passedLanes.size() > 1 && isRail()) {
4729 735982 : for (auto pi = passedLanes.rbegin(); pi != passedLanes.rend(); ++pi) {
4730 558292 : MSLane* pLane = *pi;
4731 558292 : if (pLane != myLane && std::find(myFurtherLanes.begin(), myFurtherLanes.end(), pLane) == myFurtherLanes.end()) {
4732 39658 : leaveLaneBack(MSMoveReminder::NOTIFICATION_JUNCTION, *pi);
4733 : }
4734 : }
4735 : }
4736 : // bestLanes need to be updated before lane changing starts. NOTE: This call is also a presumption for updateDriveItems()
4737 683577852 : updateBestLanes();
4738 683577852 : if (myLane != oldLane || oldBackLane != getBackLane()) {
4739 25160583 : if (myLaneChangeModel->getShadowLane() != nullptr || getLateralOverlap() > POSITION_EPS) {
4740 : // shadow lane must be updated if the front or back lane changed
4741 : // either if we already have a shadowLane or if there is lateral overlap
4742 504169 : myLaneChangeModel->updateShadowLane();
4743 : }
4744 25160583 : if (MSGlobals::gLateralResolution > 0 && !myLaneChangeModel->isOpposite()) {
4745 : // The vehicles target lane must be also be updated if the front or back lane changed
4746 4292701 : myLaneChangeModel->updateTargetLane();
4747 : }
4748 : }
4749 683577852 : setBlinkerInformation(); // needs updated bestLanes
4750 : //change the blue light only for emergency vehicles SUMOVehicleClass
4751 683577852 : if (myType->getVehicleClass() == SVC_EMERGENCY) {
4752 85748 : setEmergencyBlueLight(MSNet::getInstance()->getCurrentTimeStep());
4753 : }
4754 : // must be done before angle computation
4755 : // State needs to be reset for all vehicles before the next call to MSEdgeControl::changeLanes
4756 683577852 : if (myActionStep) {
4757 : // check (#2681): Can this be skipped?
4758 611962700 : myLaneChangeModel->prepareStep();
4759 : } else {
4760 71615152 : myLaneChangeModel->resetSpeedLat();
4761 : #ifdef DEBUG_ACTIONSTEPS
4762 : if (DEBUG_COND) {
4763 : std::cout << SIMTIME << " veh '" << getID() << "' skips LCM->prepareStep()." << std::endl;
4764 : }
4765 : #endif
4766 : }
4767 683577852 : myLaneChangeModel->setPreviousAngleOffset(myLaneChangeModel->getAngleOffset());
4768 683577852 : myAngle = computeAngle();
4769 : }
4770 :
4771 : #ifdef DEBUG_EXEC_MOVE
4772 : if (DEBUG_COND) {
4773 : std::cout << SIMTIME << " executeMove finished veh=" << getID() << " lane=" << myLane->getID() << " myPos=" << getPositionOnLane() << " myPosLat=" << getLateralPositionOnLane() << "\n";
4774 : gDebugFlag1 = false; // See MSLink_DEBUG_OPENED
4775 : }
4776 : #endif
4777 686985973 : if (myLaneChangeModel->isOpposite()) {
4778 : // transform back to the opposite-direction lane
4779 : MSLane* newOpposite = nullptr;
4780 405278 : const MSEdge* newOppositeEdge = myLane->getEdge().getOppositeEdge();
4781 405278 : if (newOppositeEdge != nullptr) {
4782 405228 : newOpposite = newOppositeEdge->getLanes()[newOppositeEdge->getNumLanes() - MAX2(1, oldLaneOffset)];
4783 : #ifdef DEBUG_EXEC_MOVE
4784 : if (DEBUG_COND) {
4785 : std::cout << SIMTIME << " newOppositeEdge=" << newOppositeEdge->getID() << " oldLaneOffset=" << oldLaneOffset << " leftMost=" << newOppositeEdge->getNumLanes() - 1 << " newOpposite=" << Named::getIDSecure(newOpposite) << "\n";
4786 : }
4787 : #endif
4788 : }
4789 405228 : if (newOpposite == nullptr) {
4790 50 : if (!myLaneChangeModel->hasBlueLight()) {
4791 : // unusual overtaking at junctions is ok for emergency vehicles
4792 0 : WRITE_WARNINGF(TL("Unexpected end of opposite lane for vehicle '%' at lane '%', time=%."),
4793 : getID(), myLane->getID(), time2string(SIMSTEP));
4794 : }
4795 50 : myLaneChangeModel->changedToOpposite();
4796 50 : if (myState.myPos < getLength()) {
4797 : // further lanes is always cleared during opposite driving
4798 50 : MSLane* oldOpposite = oldLane->getOpposite();
4799 50 : if (oldOpposite != nullptr) {
4800 50 : myFurtherLanes.push_back(oldOpposite);
4801 50 : myFurtherLanesPosLat.push_back(0);
4802 : // small value since the lane is going in the other direction
4803 50 : myState.myBackPos = getLength() - myState.myPos;
4804 50 : myAngle = computeAngle();
4805 : } else {
4806 : SOFT_ASSERT(false);
4807 : }
4808 : }
4809 : } else {
4810 405228 : myState.myPos = myLane->getOppositePos(myState.myPos);
4811 405228 : myLane = newOpposite;
4812 : oldLane = oldLaneMaybeOpposite;
4813 : //std::cout << SIMTIME << " updated myLane=" << Named::getIDSecure(myLane) << " oldLane=" << oldLane->getID() << "\n";
4814 405228 : myCachedPosition = Position::INVALID;
4815 405228 : myLaneChangeModel->updateShadowLane();
4816 : }
4817 : }
4818 686985973 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4819 : // Return whether the vehicle did move to another lane
4820 1373971946 : return myLane != oldLane;
4821 686985973 : }
4822 :
4823 : void
4824 213956 : MSVehicle::executeFractionalMove(double dist) {
4825 213956 : myState.myPos += dist;
4826 213956 : myState.myLastCoveredDist = dist;
4827 213956 : myCachedPosition = Position::INVALID;
4828 :
4829 213956 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(dist);
4830 213956 : const SUMOTime t = MSNet::getInstance()->getCurrentTimeStep();
4831 443917 : for (int i = 0; i < (int)lanes.size(); i++) {
4832 229961 : MSLink* link = nullptr;
4833 229961 : if (i + 1 < (int)lanes.size()) {
4834 16005 : const MSLane* const to = lanes[i + 1];
4835 16005 : const bool internal = to->isInternal();
4836 16010 : for (MSLink* const l : lanes[i]->getLinkCont()) {
4837 16010 : if ((internal && l->getViaLane() == to) || (!internal && l->getLane() == to)) {
4838 16005 : link = l;
4839 16005 : break;
4840 : }
4841 : }
4842 : }
4843 229961 : myLFLinkLanes.emplace_back(link, getSpeed(), getSpeed(), true, t, getSpeed(), 0, 0, dist);
4844 : }
4845 : // minimum execute move:
4846 : std::vector<MSLane*> passedLanes;
4847 : // Reason for a possible emergency stop
4848 213956 : if (lanes.size() > 1) {
4849 4005 : myLane->removeVehicle(this, MSMoveReminder::NOTIFICATION_JUNCTION, false);
4850 : }
4851 : std::string emergencyReason;
4852 213956 : processLaneAdvances(passedLanes, emergencyReason);
4853 : #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
4854 : if (DEBUG_COND) {
4855 : std::cout << SIMTIME << " veh=" << getID() << " executeFractionalMove dist=" << dist
4856 : << " passedLanes=" << toString(passedLanes) << " lanes=" << toString(lanes)
4857 : << " finalPos=" << myState.myPos
4858 : << " speed=" << getSpeed()
4859 : << " myFurtherLanes=" << toString(myFurtherLanes)
4860 : << "\n";
4861 : }
4862 : #endif
4863 213956 : workOnMoveReminders(myState.myPos - myState.myLastCoveredDist, myState.myPos, myState.mySpeed);
4864 213956 : if (lanes.size() > 1) {
4865 4010 : for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
4866 : #ifdef DEBUG_FURTHER
4867 : if (DEBUG_COND) {
4868 : std::cout << SIMTIME << " leaveLane \n";
4869 : }
4870 : #endif
4871 5 : (*i)->resetPartialOccupation(this);
4872 : }
4873 : myFurtherLanes.clear();
4874 : myFurtherLanesPosLat.clear();
4875 4005 : myLane->forceVehicleInsertion(this, getPositionOnLane(), MSMoveReminder::NOTIFICATION_JUNCTION, getLateralPositionOnLane());
4876 : }
4877 213956 : }
4878 :
4879 :
4880 : void
4881 695203978 : MSVehicle::updateState(double vNext, bool parking) {
4882 : // update position and speed
4883 : double deltaPos; // positional change
4884 695203978 : if (MSGlobals::gSemiImplicitEulerUpdate) {
4885 : // euler
4886 596098987 : deltaPos = SPEED2DIST(vNext);
4887 : } else {
4888 : // ballistic
4889 99104991 : deltaPos = getDeltaPos(SPEED2ACCEL(vNext - myState.mySpeed));
4890 : }
4891 :
4892 : // the *mean* acceleration during the next step (probably most appropriate for emission calculation)
4893 : // NOTE: for the ballistic update vNext may be negative, indicating a stop.
4894 695203978 : myAcceleration = SPEED2ACCEL(MAX2(vNext, 0.) - myState.mySpeed);
4895 :
4896 : #ifdef DEBUG_EXEC_MOVE
4897 : if (DEBUG_COND) {
4898 : std::cout << SIMTIME << " updateState() for veh '" << getID() << "': deltaPos=" << deltaPos
4899 : << " pos=" << myState.myPos << " newPos=" << myState.myPos + deltaPos << std::endl;
4900 : }
4901 : #endif
4902 695203978 : double decelPlus = -myAcceleration - getCarFollowModel().getMaxDecel() - NUMERICAL_EPS;
4903 695203978 : if (decelPlus > 0) {
4904 420914 : const double previousAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
4905 420914 : if (myAcceleration + NUMERICAL_EPS < previousAcceleration) {
4906 : // vehicle brakes beyond wished maximum deceleration (only warn at the start of the braking manoeuvre)
4907 287928 : decelPlus += 2 * NUMERICAL_EPS;
4908 287928 : const double emergencyFraction = decelPlus / MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel());
4909 287928 : if (emergencyFraction >= MSGlobals::gEmergencyDecelWarningThreshold) {
4910 93945 : WRITE_WARNINGF(TL("Vehicle '%' performs emergency braking on lane '%' with decel=%, wished=%, severity=%, time=%."),
4911 : //+ " decelPlus=" + toString(decelPlus)
4912 : //+ " prevAccel=" + toString(previousAcceleration)
4913 : //+ " reserve=" + toString(MAX2(NUMERICAL_EPS, getCarFollowModel().getEmergencyDecel() - getCarFollowModel().getMaxDecel()))
4914 : getID(), myLane->getID(), -myAcceleration, getCarFollowModel().getMaxDecel(), emergencyFraction, time2string(SIMSTEP));
4915 31315 : MSNet::getInstance()->getVehicleControl().registerEmergencyBraking();
4916 : }
4917 : }
4918 : }
4919 :
4920 695203978 : myState.myPreviousSpeed = myState.mySpeed;
4921 695203978 : myState.mySpeed = MAX2(vNext, 0.);
4922 :
4923 695203978 : if (isRemoteControlled()) {
4924 7580 : deltaPos = myInfluencer->implicitDeltaPosRemote(this);
4925 : }
4926 :
4927 695203978 : myState.myPos += deltaPos;
4928 695203978 : myState.myLastCoveredDist = deltaPos;
4929 695203978 : myNextTurn.first -= deltaPos;
4930 :
4931 695203978 : if (!parking) {
4932 686985973 : myCachedPosition = Position::INVALID;
4933 : }
4934 695203978 : }
4935 :
4936 : void
4937 8218005 : MSVehicle::updateParkingState() {
4938 8218005 : updateState(0, true);
4939 : // deboard while parked
4940 8218005 : if (myPersonDevice != nullptr) {
4941 586422 : myPersonDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
4942 : }
4943 8218005 : if (myContainerDevice != nullptr) {
4944 59887 : myContainerDevice->notifyMove(*this, getPositionOnLane(), getPositionOnLane(), 0);
4945 : }
4946 16499583 : for (MSVehicleDevice* const dev : myDevices) {
4947 8281578 : dev->notifyParking();
4948 : }
4949 8218005 : }
4950 :
4951 :
4952 : void
4953 30625 : MSVehicle::replaceVehicleType(const MSVehicleType* type) {
4954 30625 : MSBaseVehicle::replaceVehicleType(type);
4955 30625 : delete myCFVariables;
4956 30625 : myCFVariables = type->getCarFollowModel().createVehicleVariables();
4957 30625 : }
4958 :
4959 :
4960 : const MSLane*
4961 1350892680 : MSVehicle::getBackLane() const {
4962 1350892680 : if (myFurtherLanes.size() > 0) {
4963 18361528 : return myFurtherLanes.back();
4964 : } else {
4965 1332531152 : return myLane;
4966 : }
4967 : }
4968 :
4969 :
4970 : double
4971 688905863 : MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<double>& furtherLanesPosLat,
4972 : const std::vector<MSLane*>& passedLanes) {
4973 : #ifdef DEBUG_SETFURTHER
4974 : if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID()
4975 : << " updateFurtherLanes oldFurther=" << toString(furtherLanes)
4976 : << " oldFurtherPosLat=" << toString(furtherLanesPosLat)
4977 : << " passed=" << toString(passedLanes)
4978 : << "\n";
4979 : #endif
4980 704462854 : for (MSLane* further : furtherLanes) {
4981 15556991 : further->resetPartialOccupation(this);
4982 15556991 : if (further->getBidiLane() != nullptr
4983 15556991 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
4984 25723 : further->getBidiLane()->resetPartialOccupation(this);
4985 : }
4986 : }
4987 :
4988 : std::vector<MSLane*> newFurther;
4989 : std::vector<double> newFurtherPosLat;
4990 688905863 : double backPosOnPreviousLane = myState.myPos - getLength();
4991 : bool widthShift = myFurtherLanesPosLat.size() > myFurtherLanes.size();
4992 688905863 : if (passedLanes.size() > 1) {
4993 : // There are candidates for further lanes. (passedLanes[-1] is the current lane, or current shadow lane in context of updateShadowLanes())
4994 : std::vector<MSLane*>::const_iterator fi = furtherLanes.begin();
4995 : std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
4996 44396344 : for (auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
4997 : // As long as vehicle back reaches into passed lane, add it to the further lanes
4998 15491557 : MSLane* further = *pi;
4999 15491557 : newFurther.push_back(further);
5000 15491557 : backPosOnPreviousLane += further->setPartialOccupation(this);
5001 15491557 : if (further->getBidiLane() != nullptr
5002 15491557 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5003 25238 : further->getBidiLane()->setPartialOccupation(this);
5004 : }
5005 15491557 : if (fi != furtherLanes.end() && further == *fi) {
5006 : // Lateral position on this lane is already known. Assume constant and use old value.
5007 5128134 : newFurtherPosLat.push_back(*fpi);
5008 : ++fi;
5009 : ++fpi;
5010 : } else {
5011 : // The lane *pi was not in furtherLanes before.
5012 : // If it is downstream, we assume as lateral position the current position
5013 : // If it is a new lane upstream (can appear as shadow further in case of LC-maneuvering, e.g.)
5014 : // we assign the last known lateral position.
5015 10363423 : if (newFurtherPosLat.size() == 0) {
5016 9763963 : if (widthShift) {
5017 1447323 : newFurtherPosLat.push_back(myFurtherLanesPosLat.back());
5018 : } else {
5019 8316640 : newFurtherPosLat.push_back(myState.myPosLat);
5020 : }
5021 : } else {
5022 599460 : newFurtherPosLat.push_back(newFurtherPosLat.back());
5023 : }
5024 : }
5025 : #ifdef DEBUG_SETFURTHER
5026 : if (DEBUG_COND) {
5027 : std::cout << SIMTIME << " updateFurtherLanes \n"
5028 : << " further lane '" << further->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
5029 : << std::endl;
5030 : }
5031 : #endif
5032 : }
5033 28904787 : furtherLanes = newFurther;
5034 28904787 : furtherLanesPosLat = newFurtherPosLat;
5035 : } else {
5036 : furtherLanes.clear();
5037 : furtherLanesPosLat.clear();
5038 : }
5039 : #ifdef DEBUG_SETFURTHER
5040 : if (DEBUG_COND) std::cout
5041 : << " newFurther=" << toString(furtherLanes)
5042 : << " newFurtherPosLat=" << toString(furtherLanesPosLat)
5043 : << " newBackPos=" << backPosOnPreviousLane
5044 : << "\n";
5045 : #endif
5046 688905863 : return backPosOnPreviousLane;
5047 688905863 : }
5048 :
5049 :
5050 : double
5051 33877254404 : MSVehicle::getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const {
5052 : #ifdef DEBUG_FURTHER
5053 : if (DEBUG_COND) {
5054 : std::cout << SIMTIME
5055 : << " getBackPositionOnLane veh=" << getID()
5056 : << " lane=" << Named::getIDSecure(lane)
5057 : << " cbgP=" << calledByGetPosition
5058 : << " pos=" << myState.myPos
5059 : << " backPos=" << myState.myBackPos
5060 : << " myLane=" << myLane->getID()
5061 : << " myLaneBidi=" << Named::getIDSecure(myLane->getBidiLane())
5062 : << " further=" << toString(myFurtherLanes)
5063 : << " furtherPosLat=" << toString(myFurtherLanesPosLat)
5064 : << "\n shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
5065 : << " shadowFurther=" << toString(myLaneChangeModel->getShadowFurtherLanes())
5066 : << " shadowFurtherPosLat=" << toString(myLaneChangeModel->getShadowFurtherLanesPosLat())
5067 : << "\n targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
5068 : << " furtherTargets=" << toString(myLaneChangeModel->getFurtherTargetLanes())
5069 : << std::endl;
5070 : }
5071 : #endif
5072 33877254404 : if (lane == myLane
5073 8372876431 : || lane == myLaneChangeModel->getShadowLane()
5074 38791003812 : || lane == myLaneChangeModel->getTargetLane()) {
5075 28965080029 : if (myLaneChangeModel->isOpposite()) {
5076 231218817 : if (lane == myLaneChangeModel->getShadowLane()) {
5077 199114316 : return lane->getLength() - myState.myPos - myType->getLength();
5078 : } else {
5079 36893982 : return myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5080 : }
5081 28733861212 : } else if (&lane->getEdge() != &myLane->getEdge()) {
5082 20714784 : return lane->getLength() - myState.myPos + (calledByGetPosition ? -1 : 1) * myType->getLength();
5083 : } else {
5084 : // account for parallel lanes of different lengths in the most conservative manner (i.e. while turning)
5085 57426992962 : return myState.myPos - myType->getLength() + MIN2(0.0, lane->getLength() - myLane->getLength());
5086 : }
5087 4912174375 : } else if (lane == myLane->getBidiLane()) {
5088 3965086 : return lane->getLength() - myState.myPos + myType->getLength() * (calledByGetPosition ? -1 : 1);
5089 4909713458 : } else if (myFurtherLanes.size() > 0 && lane == myFurtherLanes.back()) {
5090 4862997096 : return myState.myBackPos;
5091 46716362 : } else if ((myLaneChangeModel->getShadowFurtherLanes().size() > 0 && lane == myLaneChangeModel->getShadowFurtherLanes().back())
5092 47294223 : || (myLaneChangeModel->getFurtherTargetLanes().size() > 0 && lane == myLaneChangeModel->getFurtherTargetLanes().back())) {
5093 : assert(myFurtherLanes.size() > 0);
5094 18864054 : if (lane->getLength() == myFurtherLanes.back()->getLength()) {
5095 18199967 : return myState.myBackPos;
5096 : } else {
5097 : // interpolate
5098 : //if (DEBUG_COND) {
5099 : //if (myFurtherLanes.back()->getLength() != lane->getLength()) {
5100 : // std::cout << SIMTIME << " veh=" << getID() << " lane=" << lane->getID() << " further=" << myFurtherLanes.back()->getID()
5101 : // << " len=" << lane->getLength() << " fLen=" << myFurtherLanes.back()->getLength()
5102 : // << " backPos=" << myState.myBackPos << " result=" << myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength() << "\n";
5103 : //}
5104 664087 : return myState.myBackPos / myFurtherLanes.back()->getLength() * lane->getLength();
5105 : }
5106 : } else {
5107 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherLanes=" << toString(myFurtherLanes) << "\n";
5108 27852308 : double leftLength = myType->getLength() - myState.myPos;
5109 :
5110 : std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin();
5111 29826176 : while (leftLength > 0 && i != myFurtherLanes.end()) {
5112 29800574 : leftLength -= (*i)->getLength();
5113 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5114 29800574 : if (*i == lane) {
5115 27538242 : return -leftLength;
5116 2262332 : } else if (*i == lane->getBidiLane()) {
5117 288464 : return lane->getLength() + leftLength - (calledByGetPosition ? 2 * myType->getLength() : 0);
5118 : }
5119 : ++i;
5120 : }
5121 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
5122 25602 : leftLength = myType->getLength() - myState.myPos;
5123 25602 : i = myLaneChangeModel->getShadowFurtherLanes().begin();
5124 25602 : while (leftLength > 0 && i != myLaneChangeModel->getShadowFurtherLanes().end()) {
5125 25600 : leftLength -= (*i)->getLength();
5126 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5127 25600 : if (*i == lane) {
5128 25600 : return -leftLength;
5129 : }
5130 : ++i;
5131 : }
5132 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myFurtherTargetLanes=" << toString(myLaneChangeModel->getFurtherTargetLanes()) << "\n";
5133 : leftLength = myType->getLength() - myState.myPos;
5134 : i = getFurtherLanes().begin();
5135 2 : const std::vector<MSLane*> furtherTargetLanes = myLaneChangeModel->getFurtherTargetLanes();
5136 : auto j = furtherTargetLanes.begin();
5137 3 : while (leftLength > 0 && j != furtherTargetLanes.end()) {
5138 3 : leftLength -= (*i)->getLength();
5139 : // if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
5140 3 : if (*j == lane) {
5141 2 : return -leftLength;
5142 : }
5143 : ++i;
5144 : ++j;
5145 : }
5146 0 : WRITE_WARNING("Request backPos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane)
5147 : + "' time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".")
5148 : SOFT_ASSERT(false);
5149 0 : return myState.myBackPos;
5150 2 : }
5151 : }
5152 :
5153 :
5154 : double
5155 27270903175 : MSVehicle::getPositionOnLane(const MSLane* lane) const {
5156 27270903175 : return getBackPositionOnLane(lane, true) + myType->getLength();
5157 : }
5158 :
5159 :
5160 : bool
5161 417463763 : MSVehicle::isFrontOnLane(const MSLane* lane) const {
5162 417463763 : return lane == myLane || lane == myLaneChangeModel->getShadowLane() || lane == myLane->getBidiLane();
5163 : }
5164 :
5165 :
5166 : void
5167 619374397 : MSVehicle::checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const {
5168 619374397 : if (MSGlobals::gUsingInternalLanes && !myLane->getEdge().isRoundabout() && !myLaneChangeModel->isOpposite()) {
5169 616188556 : double seenSpace = -lengthsInFront;
5170 : #ifdef DEBUG_CHECKREWINDLINKLANES
5171 : if (DEBUG_COND) {
5172 : std::cout << "\nCHECK_REWIND_LINKLANES\n" << " veh=" << getID() << " lengthsInFront=" << lengthsInFront << "\n";
5173 : };
5174 : #endif
5175 616188556 : bool foundStopped = false;
5176 : // compute available space until a stopped vehicle is found
5177 : // this is the sum of non-interal lane length minus in-between vehicle lengths
5178 1788064354 : for (int i = 0; i < (int)lfLinks.size(); ++i) {
5179 : // skip unset links
5180 1171875798 : DriveProcessItem& item = lfLinks[i];
5181 : #ifdef DEBUG_CHECKREWINDLINKLANES
5182 : if (DEBUG_COND) std::cout << SIMTIME
5183 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5184 : << " foundStopped=" << foundStopped;
5185 : #endif
5186 1171875798 : if (item.myLink == nullptr || foundStopped) {
5187 389397488 : if (!foundStopped) {
5188 339616163 : item.availableSpace += seenSpace;
5189 : } else {
5190 49781325 : item.availableSpace = seenSpace;
5191 : }
5192 : #ifdef DEBUG_CHECKREWINDLINKLANES
5193 : if (DEBUG_COND) {
5194 : std::cout << " avail=" << item.availableSpace << "\n";
5195 : }
5196 : #endif
5197 389397488 : continue;
5198 : }
5199 : // get the next lane, determine whether it is an internal lane
5200 : const MSLane* approachedLane = item.myLink->getViaLane();
5201 782478310 : if (approachedLane != nullptr) {
5202 424696796 : if (keepClear(item.myLink)) {
5203 124571572 : seenSpace = seenSpace - approachedLane->getBruttoVehLenSum();
5204 124571572 : if (approachedLane == myLane) {
5205 51446 : seenSpace += getVehicleType().getLengthWithGap();
5206 : }
5207 : } else {
5208 300125224 : seenSpace = seenSpace + approachedLane->getSpaceTillLastStanding(this, foundStopped);// - approachedLane->getBruttoVehLenSum() + approachedLane->getLength();
5209 : }
5210 424696796 : item.availableSpace = seenSpace;
5211 : #ifdef DEBUG_CHECKREWINDLINKLANES
5212 : if (DEBUG_COND) std::cout
5213 : << " approached=" << approachedLane->getID()
5214 : << " approachedBrutto=" << approachedLane->getBruttoVehLenSum()
5215 : << " avail=" << item.availableSpace
5216 : << " seenSpace=" << seenSpace
5217 : << " hadStoppedVehicle=" << item.hadStoppedVehicle
5218 : << " lengthsInFront=" << lengthsInFront
5219 : << "\n";
5220 : #endif
5221 424696796 : continue;
5222 : }
5223 : approachedLane = item.myLink->getLane();
5224 357781514 : const MSVehicle* last = approachedLane->getLastAnyVehicle();
5225 357781514 : if (last == nullptr || last == this) {
5226 54474925 : if (approachedLane->getLength() > getVehicleType().getLength()
5227 54474925 : || keepClear(item.myLink)) {
5228 52163361 : seenSpace += approachedLane->getLength();
5229 : }
5230 54474925 : item.availableSpace = seenSpace;
5231 : #ifdef DEBUG_CHECKREWINDLINKLANES
5232 : if (DEBUG_COND) {
5233 : std::cout << " last=" << Named::getIDSecure(last) << " laneLength=" << approachedLane->getLength() << " avail=" << item.availableSpace << "\n";
5234 : }
5235 : #endif
5236 : } else {
5237 303306589 : bool foundStopped2 = false;
5238 303306589 : double spaceTillLastStanding = approachedLane->getSpaceTillLastStanding(this, foundStopped2);
5239 303306589 : if (approachedLane->getBidiLane() != nullptr) {
5240 76039 : const MSVehicle* oncomingVeh = approachedLane->getBidiLane()->getFirstFullVehicle();
5241 76039 : if (oncomingVeh) {
5242 24164 : const double oncomingGap = approachedLane->getLength() - oncomingVeh->getPositionOnLane();
5243 24164 : const double oncomingBGap = oncomingVeh->getBrakeGap(true);
5244 : // oncoming movement until ego enters the junction
5245 24164 : const double oncomingMove = STEPS2TIME(item.myArrivalTime - SIMSTEP) * oncomingVeh->getSpeed();
5246 24164 : const double spaceTillOncoming = oncomingGap - oncomingBGap - oncomingMove;
5247 : spaceTillLastStanding = MIN2(spaceTillLastStanding, spaceTillOncoming);
5248 24164 : if (spaceTillOncoming <= getVehicleType().getLengthWithGap()) {
5249 19465 : foundStopped = true;
5250 : }
5251 : #ifdef DEBUG_CHECKREWINDLINKLANES
5252 : if (DEBUG_COND) {
5253 : std::cout << " oVeh=" << oncomingVeh->getID()
5254 : << " oGap=" << oncomingGap
5255 : << " bGap=" << oncomingBGap
5256 : << " mGap=" << oncomingMove
5257 : << " sto=" << spaceTillOncoming;
5258 : }
5259 : #endif
5260 : }
5261 : }
5262 303306589 : seenSpace += spaceTillLastStanding;
5263 303306589 : if (foundStopped2) {
5264 19177083 : foundStopped = true;
5265 19177083 : item.hadStoppedVehicle = true;
5266 : }
5267 303306589 : item.availableSpace = seenSpace;
5268 303306589 : if (last->myHaveToWaitOnNextLink || last->isStopped()) {
5269 29602716 : foundStopped = true;
5270 29602716 : item.hadStoppedVehicle = true;
5271 : }
5272 : #ifdef DEBUG_CHECKREWINDLINKLANES
5273 : if (DEBUG_COND) std::cout
5274 : << " approached=" << approachedLane->getID()
5275 : << " last=" << last->getID()
5276 : << " lastHasToWait=" << last->myHaveToWaitOnNextLink
5277 : << " lastBrakeLight=" << last->signalSet(VEH_SIGNAL_BRAKELIGHT)
5278 : << " lastBrakeGap=" << last->getCarFollowModel().brakeGap(last->getSpeed())
5279 : << " lastGap=" << (last->getBackPositionOnLane(approachedLane) + last->getCarFollowModel().brakeGap(last->getSpeed()) - last->getSpeed() * last->getCarFollowModel().getHeadwayTime()
5280 : // gap of last up to the next intersection
5281 : - last->getVehicleType().getMinGap())
5282 : << " stls=" << spaceTillLastStanding
5283 : << " avail=" << item.availableSpace
5284 : << " seenSpace=" << seenSpace
5285 : << " foundStopped=" << foundStopped
5286 : << " foundStopped2=" << foundStopped2
5287 : << "\n";
5288 : #endif
5289 : }
5290 : }
5291 :
5292 : // check which links allow continuation and add pass available to the previous item
5293 1171875798 : for (int i = ((int)lfLinks.size() - 1); i > 0; --i) {
5294 555687242 : DriveProcessItem& item = lfLinks[i - 1];
5295 555687242 : DriveProcessItem& nextItem = lfLinks[i];
5296 555687242 : const bool canLeaveJunction = item.myLink->getViaLane() == nullptr || nextItem.myLink == nullptr || nextItem.mySetRequest;
5297 : const bool opened = (item.myLink != nullptr
5298 555687242 : && (canLeaveJunction || (
5299 : // indirect bicycle turn
5300 25810453 : nextItem.myLink != nullptr && nextItem.myLink->isInternalJunctionLink() && nextItem.myLink->haveRed()))
5301 529890851 : && (
5302 529890851 : item.myLink->havePriority()
5303 25494646 : || i == 1 // the upcoming link (item 0) is checked in executeMove anyway. No need to use outdata approachData here
5304 4626007 : || (myInfluencer != nullptr && !myInfluencer->getRespectJunctionPriority())
5305 4596574 : || item.myLink->opened(item.myArrivalTime, item.myArrivalSpeed,
5306 4596574 : item.getLeaveSpeed(), getVehicleType().getLength(),
5307 4596574 : getImpatience(), getCarFollowModel().getMaxDecel(), getWaitingTime(), getLateralPositionOnLane(), nullptr, false, this)));
5308 555687242 : bool allowsContinuation = (item.myLink == nullptr || item.myLink->isCont() || opened) && !item.hadStoppedVehicle;
5309 : #ifdef DEBUG_CHECKREWINDLINKLANES
5310 : if (DEBUG_COND) std::cout
5311 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5312 : << " canLeave=" << canLeaveJunction
5313 : << " opened=" << opened
5314 : << " allowsContinuation=" << allowsContinuation
5315 : << " foundStopped=" << foundStopped
5316 : << "\n";
5317 : #endif
5318 555687242 : if (!opened && item.myLink != nullptr) {
5319 26378496 : foundStopped = true;
5320 26378496 : if (i > 1) {
5321 4122218 : DriveProcessItem& item2 = lfLinks[i - 2];
5322 4122218 : if (item2.myLink != nullptr && item2.myLink->isCont()) {
5323 : allowsContinuation = true;
5324 : }
5325 : }
5326 : }
5327 553271449 : if (allowsContinuation) {
5328 499388939 : item.availableSpace = nextItem.availableSpace;
5329 : #ifdef DEBUG_CHECKREWINDLINKLANES
5330 : if (DEBUG_COND) std::cout
5331 : << " link=" << (item.myLink == nullptr ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5332 : << " copy nextAvail=" << nextItem.availableSpace
5333 : << "\n";
5334 : #endif
5335 : }
5336 : }
5337 :
5338 : // find removalBegin
5339 : int removalBegin = -1;
5340 737085852 : for (int i = 0; foundStopped && i < (int)lfLinks.size() && removalBegin < 0; ++i) {
5341 : // skip unset links
5342 120897296 : const DriveProcessItem& item = lfLinks[i];
5343 120897296 : if (item.myLink == nullptr) {
5344 6128072 : continue;
5345 : }
5346 : /*
5347 : double impatienceCorrection = MAX2(0., double(double(myWaitingTime)));
5348 : if (seenSpace<getVehicleType().getLengthWithGap()-impatienceCorrection/10.&&nextSeenNonInternal!=0) {
5349 : removalBegin = lastLinkToInternal;
5350 : }
5351 : */
5352 :
5353 114769224 : const double leftSpace = item.availableSpace - getVehicleType().getLengthWithGap();
5354 : #ifdef DEBUG_CHECKREWINDLINKLANES
5355 : if (DEBUG_COND) std::cout
5356 : << SIMTIME
5357 : << " veh=" << getID()
5358 : << " link=" << (item.myLink == 0 ? "NULL" : item.myLink->getViaLaneOrLane()->getID())
5359 : << " avail=" << item.availableSpace
5360 : << " leftSpace=" << leftSpace
5361 : << "\n";
5362 : #endif
5363 114769224 : if (leftSpace < 0/* && item.myLink->willHaveBlockedFoe()*/) {
5364 : double impatienceCorrection = 0;
5365 : /*
5366 : if(item.myLink->getState()==LINKSTATE_MINOR) {
5367 : impatienceCorrection = MAX2(0., STEPS2TIME(myWaitingTime));
5368 : }
5369 : */
5370 : // may ignore keepClear rules
5371 73663919 : if (leftSpace < -impatienceCorrection / 10. && keepClear(item.myLink)) {
5372 : removalBegin = i;
5373 : }
5374 : //removalBegin = i;
5375 : }
5376 : }
5377 : // abort requests
5378 616188556 : if (removalBegin != -1 && !(removalBegin == 0 && myLane->getEdge().isInternal())) {
5379 29146735 : const double brakeGap = getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0.);
5380 99931673 : while (removalBegin < (int)(lfLinks.size())) {
5381 75373063 : DriveProcessItem& dpi = lfLinks[removalBegin];
5382 75373063 : if (dpi.myLink == nullptr) {
5383 : break;
5384 : }
5385 70784938 : dpi.myVLinkPass = dpi.myVLinkWait;
5386 : #ifdef DEBUG_CHECKREWINDLINKLANES
5387 : if (DEBUG_COND) {
5388 : std::cout << " removalBegin=" << removalBegin << " brakeGap=" << brakeGap << " dist=" << dpi.myDistance << " speed=" << myState.mySpeed << " a2s=" << ACCEL2SPEED(getCarFollowModel().getMaxDecel()) << "\n";
5389 : }
5390 : #endif
5391 70784938 : if (dpi.myDistance >= brakeGap + POSITION_EPS) {
5392 : // always leave junctions after requesting to enter
5393 70776474 : if (!dpi.myLink->isExitLink() || !lfLinks[removalBegin - 1].mySetRequest) {
5394 70769009 : dpi.mySetRequest = false;
5395 : }
5396 : }
5397 70784938 : ++removalBegin;
5398 : }
5399 : }
5400 : }
5401 619374397 : }
5402 :
5403 :
5404 : void
5405 691010757 : MSVehicle::setApproachingForAllLinks() {
5406 691010757 : if (!myActionStep) {
5407 : return;
5408 : }
5409 619374397 : removeApproachingInformation(myLFLinkLanesPrev);
5410 1799053817 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5411 1179679420 : if (dpi.myLink != nullptr) {
5412 832199931 : if (dpi.myLink->getState() == LINKSTATE_ALLWAY_STOP) {
5413 2723554 : dpi.myArrivalTime += (SUMOTime)RandHelper::rand((int)2, getRNG()); // tie braker
5414 : }
5415 832199931 : dpi.myLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5416 832199931 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance, getLateralPositionOnLane());
5417 : }
5418 : }
5419 619374397 : if (isRail()) {
5420 7498445 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5421 6277173 : if (dpi.myLink != nullptr && dpi.myLink->getTLLogic() != nullptr && dpi.myLink->getTLLogic()->getLogicType() == TrafficLightType::RAIL_SIGNAL) {
5422 551291 : MSRailSignalControl::getInstance().notifyApproach(dpi.myLink);
5423 : }
5424 : }
5425 : }
5426 619374397 : if (myLaneChangeModel->getShadowLane() != nullptr) {
5427 : // register on all shadow links
5428 7525506 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
5429 4989427 : if (dpi.myLink != nullptr) {
5430 3410620 : MSLink* parallelLink = dpi.myLink->getParallelLink(myLaneChangeModel->getShadowDirection());
5431 3410620 : if (parallelLink == nullptr && getLaneChangeModel().isOpposite() && dpi.myLink->isEntryLink()) {
5432 : // register on opposite direction entry link to warn foes at minor side road
5433 169386 : parallelLink = dpi.myLink->getOppositeDirectionLink();
5434 : }
5435 3410620 : if (parallelLink != nullptr) {
5436 2431268 : const double latOffset = getLane()->getRightSideOnEdge() - myLaneChangeModel->getShadowLane()->getRightSideOnEdge();
5437 2431268 : parallelLink->setApproaching(this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5438 2431268 : dpi.mySetRequest, dpi.myArrivalSpeedBraking, getWaitingTimeFor(dpi.myLink), dpi.myDistance,
5439 : latOffset);
5440 2431268 : myLaneChangeModel->setShadowApproachingInformation(parallelLink);
5441 : }
5442 : }
5443 : }
5444 : }
5445 : #ifdef DEBUG_PLAN_MOVE
5446 : if (DEBUG_COND) {
5447 : std::cout << SIMTIME
5448 : << " veh=" << getID()
5449 : << " after checkRewindLinkLanes\n";
5450 : for (DriveProcessItem& dpi : myLFLinkLanes) {
5451 : std::cout
5452 : << " vPass=" << dpi.myVLinkPass
5453 : << " vWait=" << dpi.myVLinkWait
5454 : << " linkLane=" << (dpi.myLink == 0 ? "NULL" : dpi.myLink->getViaLaneOrLane()->getID())
5455 : << " request=" << dpi.mySetRequest
5456 : << " atime=" << dpi.myArrivalTime
5457 : << "\n";
5458 : }
5459 : }
5460 : #endif
5461 : }
5462 :
5463 :
5464 : void
5465 1675 : MSVehicle::registerInsertionApproach(MSLink* link, double dist) {
5466 : DriveProcessItem dpi(0, dist);
5467 1675 : dpi.myLink = link;
5468 1675 : const double arrivalSpeedBraking = getCarFollowModel().getMinimalArrivalSpeedEuler(dist, getSpeed());
5469 1675 : link->setApproaching(this, SUMOTime_MAX, 0, 0, false, arrivalSpeedBraking, 0, dpi.myDistance, 0);
5470 : // ensure cleanup in the next step
5471 1675 : myLFLinkLanes.push_back(dpi);
5472 1675 : MSRailSignalControl::getInstance().notifyApproach(link);
5473 1675 : }
5474 :
5475 :
5476 : void
5477 19767725 : MSVehicle::enterLaneAtMove(MSLane* enteredLane, bool onTeleporting) {
5478 19767725 : myAmOnNet = !onTeleporting;
5479 : // vaporizing edge?
5480 : /*
5481 : if (enteredLane->getEdge().isVaporizing()) {
5482 : // yep, let's do the vaporization...
5483 : myLane = enteredLane;
5484 : return true;
5485 : }
5486 : */
5487 : // Adjust MoveReminder offset to the next lane
5488 19767725 : adaptLaneEntering2MoveReminder(*enteredLane);
5489 : // set the entered lane as the current lane
5490 19767725 : MSLane* oldLane = myLane;
5491 19767725 : myLane = enteredLane;
5492 19767725 : myLastBestLanesEdge = nullptr;
5493 :
5494 : // internal edges are not a part of the route...
5495 19767725 : if (!enteredLane->getEdge().isInternal()) {
5496 : ++myCurrEdge;
5497 : assert(myLaneChangeModel->isOpposite() || haveValidStopEdges());
5498 : }
5499 19767725 : if (myInfluencer != nullptr) {
5500 9036 : myInfluencer->adaptLaneTimeLine(myLane->getIndex() - oldLane->getIndex());
5501 : }
5502 19767725 : if (!onTeleporting) {
5503 19750493 : activateReminders(MSMoveReminder::NOTIFICATION_JUNCTION, enteredLane);
5504 19750493 : if (MSGlobals::gLateralResolution > 0) {
5505 3737911 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5506 : // transform lateral position when the lane width changes
5507 : assert(oldLane != nullptr);
5508 3737911 : const MSLink* const link = oldLane->getLinkTo(myLane);
5509 3737911 : if (link != nullptr) {
5510 3737870 : myState.myPosLat += link->getLateralShift();
5511 : } else {
5512 41 : myState.myPosLat += (oldLane->getCenterOnEdge() - myLane->getCanonicalPredecessorLane()->getRightSideOnEdge()) / 2;
5513 : }
5514 16012582 : } else if (fabs(myState.myPosLat) > NUMERICAL_EPS) {
5515 355430 : const double overlap = MAX2(0.0, getLateralOverlap(myState.myPosLat, oldLane));
5516 355430 : const double range = (oldLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5517 355430 : const double range2 = (myLane->getWidth() - getVehicleType().getWidth()) * 0.5 + overlap;
5518 355430 : myState.myPosLat *= range2 / range;
5519 : }
5520 19750493 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5521 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5522 : // (unless the lane is shared with cars)
5523 9462 : myLane->getBidiLane()->setPartialOccupation(this);
5524 : }
5525 : } else {
5526 : // normal move() isn't called so reset position here. must be done
5527 : // before calling reminders
5528 17232 : myState.myPos = 0;
5529 17232 : myCachedPosition = Position::INVALID;
5530 17232 : activateReminders(MSMoveReminder::NOTIFICATION_TELEPORT, enteredLane);
5531 : }
5532 : // update via
5533 19767725 : if (myParameter->via.size() > 0 && myLane->getEdge().getID() == myParameter->via.front()) {
5534 7139 : myParameter->via.erase(myParameter->via.begin());
5535 : }
5536 19767725 : }
5537 :
5538 :
5539 : void
5540 1064108 : MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
5541 1064108 : myAmOnNet = true;
5542 1064108 : myLane = enteredLane;
5543 1064108 : myCachedPosition = Position::INVALID;
5544 : // need to update myCurrentLaneInBestLanes
5545 1064108 : updateBestLanes();
5546 : // switch to and activate the new lane's reminders
5547 : // keep OldLaneReminders
5548 1258569 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5549 194461 : addReminder(*rem);
5550 : }
5551 1064108 : activateReminders(MSMoveReminder::NOTIFICATION_LANE_CHANGE, enteredLane);
5552 1064108 : MSLane* lane = myLane;
5553 1064108 : double leftLength = getVehicleType().getLength() - myState.myPos;
5554 : int deleteFurther = 0;
5555 : #ifdef DEBUG_SETFURTHER
5556 : if (DEBUG_COND) {
5557 : std::cout << SIMTIME << " enterLaneAtLaneChange entered=" << Named::getIDSecure(enteredLane) << " oldFurther=" << toString(myFurtherLanes) << "\n";
5558 : }
5559 : #endif
5560 1064108 : if (myLane->getBidiLane() != nullptr && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5561 : // railways don't need to "see" each other when moving in opposite directions on the same track (efficiency)
5562 : // (unless the lane is shared with cars)
5563 8187 : myLane->getBidiLane()->setPartialOccupation(this);
5564 : }
5565 1147292 : for (int i = 0; i < (int)myFurtherLanes.size(); i++) {
5566 83184 : if (lane != nullptr) {
5567 80147 : lane = lane->getLogicalPredecessorLane(myFurtherLanes[i]->getEdge());
5568 : }
5569 : #ifdef DEBUG_SETFURTHER
5570 : if (DEBUG_COND) {
5571 : std::cout << " enterLaneAtLaneChange i=" << i << " lane=" << Named::getIDSecure(lane) << " leftLength=" << leftLength << "\n";
5572 : }
5573 : #endif
5574 83184 : if (leftLength > 0) {
5575 82624 : if (lane != nullptr) {
5576 33020 : myFurtherLanes[i]->resetPartialOccupation(this);
5577 33020 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5578 33020 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5579 60 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5580 : }
5581 : // lane changing onto longer lanes may reduce the number of
5582 : // remaining further lanes
5583 33020 : myFurtherLanes[i] = lane;
5584 33020 : myFurtherLanesPosLat[i] = myState.myPosLat;
5585 33020 : leftLength -= lane->setPartialOccupation(this);
5586 33020 : if (lane->getBidiLane() != nullptr
5587 33020 : && (!isRailway(getVClass()) || (lane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5588 540 : lane->getBidiLane()->setPartialOccupation(this);
5589 : }
5590 33020 : myState.myBackPos = -leftLength;
5591 : #ifdef DEBUG_SETFURTHER
5592 : if (DEBUG_COND) {
5593 : std::cout << SIMTIME << " newBackPos=" << myState.myBackPos << "\n";
5594 : }
5595 : #endif
5596 : } else {
5597 : // keep the old values, but ensure there is no shadow
5598 49604 : if (myLaneChangeModel->isChangingLanes()) {
5599 0 : myLaneChangeModel->setNoShadowPartialOccupator(myFurtherLanes[i]);
5600 : }
5601 49604 : if (myState.myBackPos < 0) {
5602 44 : myState.myBackPos += myFurtherLanes[i]->getLength();
5603 : }
5604 : #ifdef DEBUG_SETFURTHER
5605 : if (DEBUG_COND) {
5606 : std::cout << SIMTIME << " i=" << i << " further=" << myFurtherLanes[i]->getID() << " newBackPos=" << myState.myBackPos << "\n";
5607 : }
5608 : #endif
5609 : }
5610 : } else {
5611 560 : myFurtherLanes[i]->resetPartialOccupation(this);
5612 560 : if (myFurtherLanes[i]->getBidiLane() != nullptr
5613 560 : && (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5614 0 : myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
5615 : }
5616 560 : deleteFurther++;
5617 : }
5618 : }
5619 1064108 : if (deleteFurther > 0) {
5620 : #ifdef DEBUG_SETFURTHER
5621 : if (DEBUG_COND) {
5622 : std::cout << SIMTIME << " veh=" << getID() << " shortening myFurtherLanes by " << deleteFurther << "\n";
5623 : }
5624 : #endif
5625 529 : myFurtherLanes.erase(myFurtherLanes.end() - deleteFurther, myFurtherLanes.end());
5626 529 : myFurtherLanesPosLat.erase(myFurtherLanesPosLat.end() - deleteFurther, myFurtherLanesPosLat.end());
5627 : }
5628 : #ifdef DEBUG_SETFURTHER
5629 : if (DEBUG_COND) {
5630 : std::cout << SIMTIME << " enterLaneAtLaneChange new furtherLanes=" << toString(myFurtherLanes)
5631 : << " furterLanesPosLat=" << toString(myFurtherLanesPosLat) << "\n";
5632 : }
5633 : #endif
5634 1064108 : myAngle = computeAngle();
5635 1064108 : }
5636 :
5637 :
5638 : void
5639 3619265 : MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision) {
5640 : // build the list of lanes the vehicle is lapping into
5641 3619265 : if (!myLaneChangeModel->isOpposite()) {
5642 3597033 : double leftLength = myType->getLength() - pos;
5643 3597033 : MSLane* clane = enteredLane;
5644 3597033 : int routeIndex = getRoutePosition();
5645 3702785 : while (leftLength > 0) {
5646 244077 : if (routeIndex > 0 && clane->getEdge().isNormal()) {
5647 : // get predecessor lane that corresponds to prior route
5648 4380 : routeIndex--;
5649 4380 : const MSEdge* fromRouteEdge = myRoute->getEdges()[routeIndex];
5650 : MSLane* target = clane;
5651 4380 : clane = nullptr;
5652 5743 : for (auto ili : target->getIncomingLanes()) {
5653 5736 : if (ili.lane->getEdge().getNormalBefore() == fromRouteEdge) {
5654 4373 : clane = ili.lane;
5655 4373 : break;
5656 : }
5657 : }
5658 : } else {
5659 239697 : clane = clane->getLogicalPredecessorLane();
5660 : }
5661 154793 : if (clane == nullptr || clane == myLane || clane == myLane->getBidiLane()
5662 398862 : || (clane->isInternal() && (
5663 131778 : clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN
5664 82745 : || clane->getLinkCont()[0]->getDirection() == LinkDirection::TURN_LEFTHAND))) {
5665 : break;
5666 : }
5667 105752 : if (!collision || std::find(myFurtherLanes.begin(), myFurtherLanes.end(), clane) == myFurtherLanes.end()) {
5668 105349 : myFurtherLanes.push_back(clane);
5669 105349 : myFurtherLanesPosLat.push_back(myState.myPosLat);
5670 105349 : clane->setPartialOccupation(this);
5671 105349 : if (clane->getBidiLane() != nullptr
5672 105349 : && (!isRailway(getVClass()) || (clane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5673 5 : clane->getBidiLane()->setPartialOccupation(this);
5674 : }
5675 : }
5676 105752 : leftLength -= clane->getLength();
5677 : }
5678 3597033 : myState.myBackPos = -leftLength;
5679 : #ifdef DEBUG_SETFURTHER
5680 : if (DEBUG_COND) {
5681 : std::cout << SIMTIME << " computeFurtherLanes veh=" << getID() << " pos=" << pos << " myFurtherLanes=" << toString(myFurtherLanes) << " backPos=" << myState.myBackPos << "\n";
5682 : }
5683 : #endif
5684 : } else {
5685 : // clear partial occupation
5686 22657 : for (MSLane* further : myFurtherLanes) {
5687 : #ifdef DEBUG_SETFURTHER
5688 : if (DEBUG_COND) {
5689 : std::cout << SIMTIME << " opposite: resetPartialOccupation " << further->getID() << " \n";
5690 : }
5691 : #endif
5692 425 : further->resetPartialOccupation(this);
5693 425 : if (further->getBidiLane() != nullptr
5694 425 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5695 0 : further->getBidiLane()->resetPartialOccupation(this);
5696 : }
5697 : }
5698 : myFurtherLanes.clear();
5699 : myFurtherLanesPosLat.clear();
5700 : }
5701 3619265 : }
5702 :
5703 :
5704 : void
5705 3618849 : MSVehicle::enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification) {
5706 3618849 : myState = State(pos, speed, posLat, pos - getVehicleType().getLength(), hasDeparted() ? myState.myPreviousSpeed : speed);
5707 3618849 : if (myDeparture == NOT_YET_DEPARTED) {
5708 3546061 : onDepart();
5709 : }
5710 3618849 : myCachedPosition = Position::INVALID;
5711 : assert(myState.myPos >= 0);
5712 : assert(myState.mySpeed >= 0);
5713 3618849 : myLane = enteredLane;
5714 3618849 : myAmOnNet = true;
5715 : // schedule action for the next timestep
5716 3618849 : myLastActionTime = MSNet::getInstance()->getCurrentTimeStep() + DELTA_T;
5717 3618849 : if (notification != MSMoveReminder::NOTIFICATION_TELEPORT) {
5718 3607889 : if (notification == MSMoveReminder::NOTIFICATION_PARKING && myInfluencer != nullptr) {
5719 13 : drawOutsideNetwork(false);
5720 : }
5721 : // set and activate the new lane's reminders, teleports already did that at enterLaneAtMove
5722 7989593 : for (std::vector< MSMoveReminder* >::const_iterator rem = enteredLane->getMoveReminders().begin(); rem != enteredLane->getMoveReminders().end(); ++rem) {
5723 4381704 : addReminder(*rem);
5724 : }
5725 3607889 : activateReminders(notification, enteredLane);
5726 : } else {
5727 10960 : myLastBestLanesEdge = nullptr;
5728 10960 : myLastBestLanesInternalLane = nullptr;
5729 10960 : myLaneChangeModel->resetState();
5730 12065 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()
5731 11658 : && myStops.front().pars.endPos < pos) {
5732 0 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5733 : time2string(MSNet::getInstance()->getCurrentTimeStep()));
5734 0 : myStops.pop_front();
5735 : }
5736 : // avoid startup-effects after teleport
5737 10960 : myTimeSinceStartup = getCarFollowModel().getStartupDelay() + DELTA_T;
5738 :
5739 : }
5740 3618847 : computeFurtherLanes(enteredLane, pos);
5741 3618847 : if (MSGlobals::gLateralResolution > 0) {
5742 499360 : myLaneChangeModel->updateShadowLane();
5743 499360 : myLaneChangeModel->updateTargetLane();
5744 3119487 : } else if (MSGlobals::gLaneChangeDuration > 0) {
5745 34035 : myLaneChangeModel->updateShadowLane();
5746 : }
5747 3618847 : if (notification != MSMoveReminder::NOTIFICATION_LOAD_STATE) {
5748 3617271 : myAngle = computeAngle();
5749 3617271 : if (myLaneChangeModel->isOpposite()) {
5750 22232 : myAngle += M_PI;
5751 : }
5752 : }
5753 3618847 : if (MSNet::getInstance()->hasPersons()) {
5754 55580 : for (MSLane* further : myFurtherLanes) {
5755 709 : if (further->mustCheckJunctionCollisions()) {
5756 4 : MSNet::getInstance()->getEdgeControl().checkCollisionForInactive(further);
5757 : }
5758 : }
5759 : }
5760 3618847 : }
5761 :
5762 :
5763 : void
5764 24339028 : MSVehicle::leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane) {
5765 67342350 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5766 43003322 : if (rem->first->notifyLeave(*this, myState.myPos + rem->second, reason, approachedLane)) {
5767 : #ifdef _DEBUG
5768 : if (myTraceMoveReminders) {
5769 : traceMoveReminder("notifyLeave", rem->first, rem->second, true);
5770 : }
5771 : #endif
5772 : ++rem;
5773 : } else {
5774 : #ifdef _DEBUG
5775 : if (myTraceMoveReminders) {
5776 : traceMoveReminder("notifyLeave", rem->first, rem->second, false);
5777 : }
5778 : #endif
5779 : rem = myMoveReminders.erase(rem);
5780 : }
5781 : }
5782 24339028 : if ((reason == MSMoveReminder::NOTIFICATION_JUNCTION
5783 24339028 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT
5784 4576970 : || reason == MSMoveReminder::NOTIFICATION_TELEPORT_CONTINUATION)
5785 19767985 : && myLane != nullptr) {
5786 19767955 : myOdometer += getLane()->getLength();
5787 : }
5788 24338998 : if (myLane != nullptr && myLane->getBidiLane() != nullptr && myAmOnNet
5789 24379733 : && (!isRailway(getVClass()) || (myLane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5790 18188 : myLane->getBidiLane()->resetPartialOccupation(this);
5791 : }
5792 24339028 : if (reason != MSMoveReminder::NOTIFICATION_JUNCTION && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5793 : // @note. In case of lane change, myFurtherLanes and partial occupation
5794 : // are handled in enterLaneAtLaneChange()
5795 3516482 : for (MSLane* further : myFurtherLanes) {
5796 : #ifdef DEBUG_FURTHER
5797 : if (DEBUG_COND) {
5798 : std::cout << SIMTIME << " leaveLane \n";
5799 : }
5800 : #endif
5801 36318 : further->resetPartialOccupation(this);
5802 36318 : if (further->getBidiLane() != nullptr
5803 36318 : && (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
5804 0 : further->getBidiLane()->resetPartialOccupation(this);
5805 : }
5806 : }
5807 : myFurtherLanes.clear();
5808 : myFurtherLanesPosLat.clear();
5809 : }
5810 3480164 : if (reason >= MSMoveReminder::NOTIFICATION_TELEPORT) {
5811 3480164 : myAmOnNet = false;
5812 3480164 : myWaitingTime = 0;
5813 : }
5814 24339028 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && resumeFromStopping()) {
5815 546 : myStopDist = std::numeric_limits<double>::max();
5816 546 : if (myPastStops.back().speed <= 0) {
5817 984 : WRITE_WARNINGF(TL("Vehicle '%' aborts stop."), getID());
5818 : }
5819 : }
5820 24339028 : if (reason != MSMoveReminder::NOTIFICATION_PARKING && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
5821 23216556 : while (!myStops.empty() && myStops.front().edge == myCurrEdge && &myStops.front().lane->getEdge() == &myLane->getEdge()) {
5822 1416 : if (myStops.front().getSpeed() <= 0) {
5823 3297 : WRITE_WARNINGF(TL("Vehicle '%' skips stop on lane '%' time=%."), getID(), myStops.front().lane->getID(),
5824 : time2string(MSNet::getInstance()->getCurrentTimeStep()))
5825 1099 : if (MSStopOut::active()) {
5826 : // clean up if stopBlocked was called
5827 5 : MSStopOut::getInstance()->stopNotStarted(this);
5828 : }
5829 1099 : myStops.pop_front();
5830 : } else {
5831 : MSStop& stop = myStops.front();
5832 : // passed waypoint at the end of the lane
5833 317 : if (!stop.reached) {
5834 317 : if (MSStopOut::active()) {
5835 12 : MSStopOut::getInstance()->stopStarted(this, getPersonNumber(), getContainerNumber(), MSNet::getInstance()->getCurrentTimeStep());
5836 : }
5837 317 : stop.reached = true;
5838 : // enter stopping place so leaveFrom works as expected
5839 317 : if (stop.busstop != nullptr) {
5840 : // let the bus stop know the vehicle
5841 25 : stop.busstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5842 : }
5843 317 : if (stop.containerstop != nullptr) {
5844 : // let the container stop know the vehicle
5845 13 : stop.containerstop->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5846 : }
5847 : // do not enter parkingarea!
5848 317 : if (stop.chargingStation != nullptr) {
5849 : // let the container stop know the vehicle
5850 121 : stop.chargingStation->enter(this, stop.pars.parking == ParkingType::OFFROAD);
5851 : }
5852 : }
5853 317 : resumeFromStopping();
5854 : }
5855 1416 : myStopDist = std::numeric_limits<double>::max();
5856 : }
5857 : }
5858 24339028 : }
5859 :
5860 :
5861 : void
5862 39658 : MSVehicle::leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane* leftLane) {
5863 164236 : for (MoveReminderCont::iterator rem = myMoveReminders.begin(); rem != myMoveReminders.end();) {
5864 124578 : if (rem->first->notifyLeaveBack(*this, reason, leftLane)) {
5865 : #ifdef _DEBUG
5866 : if (myTraceMoveReminders) {
5867 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, true);
5868 : }
5869 : #endif
5870 : ++rem;
5871 : } else {
5872 : #ifdef _DEBUG
5873 : if (myTraceMoveReminders) {
5874 : traceMoveReminder("notifyLeaveBack", rem->first, rem->second, false);
5875 : }
5876 : #endif
5877 : rem = myMoveReminders.erase(rem);
5878 : }
5879 : }
5880 : #ifdef DEBUG_MOVEREMINDERS
5881 : if (DEBUG_COND) {
5882 : std::cout << SIMTIME << " veh=" << getID() << " myReminders:";
5883 : for (auto rem : myMoveReminders) {
5884 : std::cout << rem.first->getDescription() << " ";
5885 : }
5886 : std::cout << "\n";
5887 : }
5888 : #endif
5889 39658 : }
5890 :
5891 :
5892 : MSAbstractLaneChangeModel&
5893 10164805996 : MSVehicle::getLaneChangeModel() {
5894 10164805996 : return *myLaneChangeModel;
5895 : }
5896 :
5897 :
5898 : const MSAbstractLaneChangeModel&
5899 4825687101 : MSVehicle::getLaneChangeModel() const {
5900 4825687101 : return *myLaneChangeModel;
5901 : }
5902 :
5903 : bool
5904 516403 : MSVehicle::isOppositeLane(const MSLane* lane) const {
5905 516403 : return (lane->isInternal()
5906 516403 : ? & (lane->getLinkCont()[0]->getLane()->getEdge()) != *(myCurrEdge + 1)
5907 514650 : : &lane->getEdge() != *myCurrEdge);
5908 : }
5909 :
5910 : const std::vector<MSVehicle::LaneQ>&
5911 499420984 : MSVehicle::getBestLanes() const {
5912 499420984 : return *myBestLanes.begin();
5913 : }
5914 :
5915 :
5916 : void
5917 1021693840 : MSVehicle::updateBestLanes(bool forceRebuild, const MSLane* startLane) {
5918 : #ifdef DEBUG_BESTLANES
5919 : if (DEBUG_COND) {
5920 : std::cout << SIMTIME << " updateBestLanes veh=" << getID() << " force=" << forceRebuild << " startLane1=" << Named::getIDSecure(startLane) << " myLane=" << Named::getIDSecure(myLane) << "\n";
5921 : }
5922 : #endif
5923 1021693840 : if (startLane == nullptr) {
5924 971188657 : startLane = myLane;
5925 : }
5926 : assert(startLane != 0);
5927 1021693840 : if (myLaneChangeModel->isOpposite()) {
5928 : // depending on the calling context, startLane might be the forward lane
5929 : // or the reverse-direction lane. In the latter case we need to
5930 : // transform it to the forward lane.
5931 516403 : if (isOppositeLane(startLane)) {
5932 : // use leftmost lane of forward edge
5933 110951 : startLane = startLane->getEdge().getOppositeEdge()->getLanes().back();
5934 : assert(startLane != 0);
5935 : #ifdef DEBUG_BESTLANES
5936 : if (DEBUG_COND) {
5937 : std::cout << " startLaneIsOpposite newStartLane=" << startLane->getID() << "\n";
5938 : }
5939 : #endif
5940 : }
5941 : }
5942 1021693840 : if (forceRebuild) {
5943 1883989 : myLastBestLanesEdge = nullptr;
5944 1883989 : myLastBestLanesInternalLane = nullptr;
5945 : }
5946 1021693840 : if (myBestLanes.size() > 0 && !forceRebuild && myLastBestLanesEdge == &startLane->getEdge()) {
5947 991112805 : updateOccupancyAndCurrentBestLane(startLane);
5948 : #ifdef DEBUG_BESTLANES
5949 : if (DEBUG_COND) {
5950 : std::cout << " only updateOccupancyAndCurrentBestLane\n";
5951 : }
5952 : #endif
5953 991112805 : return;
5954 : }
5955 30581035 : if (startLane->getEdge().isInternal()) {
5956 14319797 : if (myBestLanes.size() == 0 || forceRebuild) {
5957 : // rebuilt from previous non-internal lane (may backtrack twice if behind an internal junction)
5958 2317 : updateBestLanes(true, startLane->getLogicalPredecessorLane());
5959 : }
5960 14319797 : if (myLastBestLanesInternalLane == startLane && !forceRebuild) {
5961 : #ifdef DEBUG_BESTLANES
5962 : if (DEBUG_COND) {
5963 : std::cout << " nothing to do on internal\n";
5964 : }
5965 : #endif
5966 : return;
5967 : }
5968 : // adapt best lanes to fit the current internal edge:
5969 : // keep the entries that are reachable from this edge
5970 5467480 : const MSEdge* nextEdge = startLane->getNextNormal();
5971 : assert(!nextEdge->isInternal());
5972 10806277 : for (std::vector<std::vector<LaneQ> >::iterator it = myBestLanes.begin(); it != myBestLanes.end();) {
5973 : std::vector<LaneQ>& lanes = *it;
5974 : assert(lanes.size() > 0);
5975 10806277 : if (&(lanes[0].lane->getEdge()) == nextEdge) {
5976 : // keep those lanes which are successors of internal lanes from the edge of startLane
5977 5467480 : std::vector<LaneQ> oldLanes = lanes;
5978 : lanes.clear();
5979 : const std::vector<MSLane*>& sourceLanes = startLane->getEdge().getLanes();
5980 12241365 : for (std::vector<MSLane*>::const_iterator it_source = sourceLanes.begin(); it_source != sourceLanes.end(); ++it_source) {
5981 11721678 : for (std::vector<LaneQ>::iterator it_lane = oldLanes.begin(); it_lane != oldLanes.end(); ++it_lane) {
5982 11721678 : if ((*it_source)->getLinkCont()[0]->getLane() == (*it_lane).lane) {
5983 6773885 : lanes.push_back(*it_lane);
5984 : break;
5985 : }
5986 : }
5987 : }
5988 : assert(lanes.size() == startLane->getEdge().getLanes().size());
5989 : // patch invalid bestLaneOffset and updated myCurrentLaneInBestLanes
5990 12241365 : for (int i = 0; i < (int)lanes.size(); ++i) {
5991 6773885 : if (i + lanes[i].bestLaneOffset < 0) {
5992 105762 : lanes[i].bestLaneOffset = -i;
5993 : }
5994 6773885 : if (i + lanes[i].bestLaneOffset >= (int)lanes.size()) {
5995 23447 : lanes[i].bestLaneOffset = (int)lanes.size() - i - 1;
5996 : }
5997 : assert(i + lanes[i].bestLaneOffset >= 0);
5998 : assert(i + lanes[i].bestLaneOffset < (int)lanes.size());
5999 6773885 : if (lanes[i].bestContinuations[0] != 0) {
6000 : // patch length of bestContinuation to match expectations (only once)
6001 6604553 : lanes[i].bestContinuations.insert(lanes[i].bestContinuations.begin(), (MSLane*)nullptr);
6002 : }
6003 6773885 : if (startLane->getLinkCont()[0]->getLane() == lanes[i].lane) {
6004 5508633 : myCurrentLaneInBestLanes = lanes.begin() + i;
6005 : }
6006 : assert(&(lanes[i].lane->getEdge()) == nextEdge);
6007 : }
6008 5467480 : myLastBestLanesInternalLane = startLane;
6009 5467480 : updateOccupancyAndCurrentBestLane(startLane);
6010 : #ifdef DEBUG_BESTLANES
6011 : if (DEBUG_COND) {
6012 : std::cout << " updated for internal\n";
6013 : }
6014 : #endif
6015 : return;
6016 5467480 : } else {
6017 : // remove passed edges
6018 5338797 : it = myBestLanes.erase(it);
6019 : }
6020 : }
6021 : assert(false); // should always find the next edge
6022 : }
6023 : // start rebuilding
6024 16261238 : myLastBestLanesInternalLane = nullptr;
6025 16261238 : myLastBestLanesEdge = &startLane->getEdge();
6026 : myBestLanes.clear();
6027 :
6028 : // get information about the next stop
6029 16261238 : MSRouteIterator nextStopEdge = myRoute->end();
6030 : const MSLane* nextStopLane = nullptr;
6031 : double nextStopPos = 0;
6032 : bool nextStopIsWaypoint = false;
6033 16261238 : if (!myStops.empty()) {
6034 : const MSStop& nextStop = myStops.front();
6035 240886 : nextStopLane = nextStop.lane;
6036 240886 : if (nextStop.isOpposite) {
6037 : // target leftmost lane in forward direction
6038 340 : nextStopLane = nextStopLane->getEdge().getOppositeEdge()->getLanes().back();
6039 : }
6040 240886 : nextStopEdge = nextStop.edge;
6041 240886 : nextStopPos = nextStop.pars.startPos;
6042 240886 : nextStopIsWaypoint = nextStop.getSpeed() > 0;
6043 : }
6044 : // myArrivalTime = -1 in the context of validating departSpeed with departLane=best
6045 16261238 : if (myParameter->arrivalLaneProcedure >= ArrivalLaneDefinition::GIVEN && nextStopEdge == myRoute->end() && myArrivalLane >= 0) {
6046 336694 : nextStopEdge = (myRoute->end() - 1);
6047 336694 : nextStopLane = (*nextStopEdge)->getLanes()[myArrivalLane];
6048 336694 : nextStopPos = myArrivalPos;
6049 : }
6050 16261238 : if (nextStopEdge != myRoute->end()) {
6051 : // make sure that the "wrong" lanes get a penalty. (penalty needs to be
6052 : // large enough to overcome a magic threshold in MSLaneChangeModel::DK2004.cpp:383)
6053 577580 : nextStopPos = MAX2(POSITION_EPS, MIN2((double)nextStopPos, (double)(nextStopLane->getLength() - 2 * POSITION_EPS)));
6054 577580 : if (nextStopLane->isInternal()) {
6055 : // switch to the correct lane before entering the intersection
6056 172 : nextStopPos = (*nextStopEdge)->getLength();
6057 : }
6058 : }
6059 :
6060 : // go forward along the next lanes;
6061 : // trains do not have to deal with lane-changing for stops but their best
6062 : // lanes lookahead is needed for rail signal control
6063 16261238 : const bool continueAfterStop = nextStopIsWaypoint || isRailway(getVClass());
6064 : int seen = 0;
6065 : double seenLength = 0;
6066 : bool progress = true;
6067 : // bestLanes must cover the braking distance even when at the very end of the current lane to avoid unecessary slow down
6068 32522476 : const double maxBrakeDist = startLane->getLength() + getCarFollowModel().getHeadwayTime() * getMaxSpeed() + getCarFollowModel().brakeGap(getMaxSpeed()) + getVehicleType().getMinGap();
6069 16261238 : const double lookahead = getLaneChangeModel().getStrategicLookahead();
6070 80837855 : for (MSRouteIterator ce = myCurrEdge; progress;) {
6071 : std::vector<LaneQ> currentLanes;
6072 : const std::vector<MSLane*>* allowed = nullptr;
6073 : const MSEdge* nextEdge = nullptr;
6074 64576617 : if (ce != myRoute->end() && ce + 1 != myRoute->end()) {
6075 52471127 : nextEdge = *(ce + 1);
6076 52471127 : allowed = (*ce)->allowedLanes(*nextEdge, myType->getVehicleClass());
6077 : }
6078 64576617 : const std::vector<MSLane*>& lanes = (*ce)->getLanes();
6079 163972838 : for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
6080 : LaneQ q;
6081 99396221 : MSLane* cl = *i;
6082 99396221 : q.lane = cl;
6083 99396221 : q.bestContinuations.push_back(cl);
6084 99396221 : q.bestLaneOffset = 0;
6085 99396221 : q.length = cl->allowsVehicleClass(myType->getVehicleClass()) ? (*ce)->getLength() : 0;
6086 99396221 : q.currentLength = q.length;
6087 : // if all lanes are forbidden (i.e. due to a dynamic closing) we want to express no preference
6088 99396221 : q.allowsContinuation = allowed == nullptr || std::find(allowed->begin(), allowed->end(), cl) != allowed->end();
6089 99396221 : q.occupation = 0;
6090 99396221 : q.nextOccupation = 0;
6091 99396221 : currentLanes.push_back(q);
6092 : }
6093 : //
6094 : if (nextStopEdge == ce
6095 : // already past the stop edge
6096 64576617 : && !(ce == myCurrEdge && myLane != nullptr && myLane->isInternal())) {
6097 570216 : if (!nextStopLane->isInternal() && !continueAfterStop) {
6098 : progress = false;
6099 : }
6100 570216 : const MSLane* normalStopLane = nextStopLane->getNormalPredecessorLane();
6101 1824529 : for (std::vector<LaneQ>::iterator q = currentLanes.begin(); q != currentLanes.end(); ++q) {
6102 1254313 : if (nextStopLane != nullptr && normalStopLane != (*q).lane) {
6103 684097 : (*q).allowsContinuation = false;
6104 684097 : (*q).length = nextStopPos;
6105 684097 : (*q).currentLength = (*q).length;
6106 : }
6107 : }
6108 : }
6109 :
6110 64576617 : myBestLanes.push_back(currentLanes);
6111 64576617 : ++seen;
6112 64576617 : seenLength += currentLanes[0].lane->getLength();
6113 : ++ce;
6114 64576617 : if (lookahead >= 0) {
6115 45 : progress &= (seen <= 2 || seenLength < lookahead); // custom (but we need to look at least one edge ahead)
6116 : } else {
6117 85413566 : progress &= (seen <= 4 || seenLength < MAX2(maxBrakeDist, 3000.0)); // motorway
6118 69328843 : progress &= (seen <= 8 || seenLength < MAX2(maxBrakeDist, 200.0) || isRailway(getVClass())); // urban
6119 : }
6120 64576617 : progress &= ce != myRoute->end();
6121 : /*
6122 : if(progress) {
6123 : progress &= (currentLanes.size()!=1||(*ce)->getLanes().size()!=1);
6124 : }
6125 : */
6126 64576617 : }
6127 :
6128 : // we are examining the last lane explicitly
6129 16261238 : if (myBestLanes.size() != 0) {
6130 : double bestLength = -1;
6131 : // minimum and maximum lane index with best length
6132 : int bestThisIndex = 0;
6133 : int bestThisMaxIndex = 0;
6134 : int index = 0;
6135 : std::vector<LaneQ>& last = myBestLanes.back();
6136 42745684 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6137 26484446 : if ((*j).length > bestLength) {
6138 : bestLength = (*j).length;
6139 : bestThisIndex = index;
6140 : bestThisMaxIndex = index;
6141 5948258 : } else if ((*j).length == bestLength) {
6142 : bestThisMaxIndex = index;
6143 : }
6144 : }
6145 : index = 0;
6146 : bool requiredChangeRightForbidden = false;
6147 : int requireChangeToLeftForbidden = -1;
6148 42745684 : for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6149 26484446 : if ((*j).length < bestLength) {
6150 4690892 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6151 122979 : (*j).bestLaneOffset = bestThisIndex - index;
6152 : } else {
6153 4567913 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6154 : }
6155 4690892 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6156 300655 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6157 296062 : || requiredChangeRightForbidden)) {
6158 : // this lane and all further lanes to the left cannot be used
6159 : requiredChangeRightForbidden = true;
6160 4603 : (*j).length = 0;
6161 4686289 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6162 4390196 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6163 : // this lane and all previous lanes to the right cannot be used
6164 32106 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6165 : }
6166 : }
6167 : }
6168 16293399 : for (int i = requireChangeToLeftForbidden; i >= 0; i--) {
6169 32161 : if (last[i].bestLaneOffset > 0) {
6170 32121 : last[i].length = 0;
6171 : }
6172 : }
6173 : #ifdef DEBUG_BESTLANES
6174 : if (DEBUG_COND) {
6175 : std::cout << " last edge=" << last.front().lane->getEdge().getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6176 : std::vector<LaneQ>& laneQs = myBestLanes.back();
6177 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6178 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << "\n";
6179 : }
6180 : }
6181 : #endif
6182 : }
6183 : // go backward through the lanes
6184 : // track back best lane and compute the best prior lane(s)
6185 64576617 : for (std::vector<std::vector<LaneQ> >::reverse_iterator i = myBestLanes.rbegin() + 1; i != myBestLanes.rend(); ++i) {
6186 : std::vector<LaneQ>& nextLanes = (*(i - 1));
6187 : std::vector<LaneQ>& clanes = (*i);
6188 48315379 : MSEdge* const cE = &clanes[0].lane->getEdge();
6189 : int index = 0;
6190 : double bestConnectedLength = -1;
6191 : double bestLength = -1;
6192 120627274 : for (const LaneQ& j : nextLanes) {
6193 144623790 : if (j.lane->isApproachedFrom(cE) && bestConnectedLength < j.length) {
6194 : bestConnectedLength = j.length;
6195 : }
6196 72311895 : if (bestLength < j.length) {
6197 : bestLength = j.length;
6198 : }
6199 : }
6200 : // compute index of the best lane (highest length and least offset from the best next lane)
6201 : int bestThisIndex = 0;
6202 : int bestThisMaxIndex = 0;
6203 48315379 : if (bestConnectedLength > 0) {
6204 : index = 0;
6205 121205220 : for (LaneQ& j : clanes) {
6206 : const LaneQ* bestConnectedNext = nullptr;
6207 72898041 : if (j.allowsContinuation) {
6208 173094107 : for (const LaneQ& m : nextLanes) {
6209 120513093 : if ((m.lane->allowsVehicleClass(getVClass()) || m.lane->hadPermissionChanges())
6210 110299133 : && m.lane->isApproachedFrom(cE, j.lane)) {
6211 64607947 : if (betterContinuation(bestConnectedNext, m)) {
6212 : bestConnectedNext = &m;
6213 : }
6214 : }
6215 : }
6216 62850683 : if (bestConnectedNext != nullptr) {
6217 62850679 : if (bestConnectedNext->length == bestConnectedLength && abs(bestConnectedNext->bestLaneOffset) < 2) {
6218 61181665 : j.length += bestLength;
6219 : } else {
6220 1669014 : j.length += bestConnectedNext->length;
6221 : }
6222 62850679 : j.bestLaneOffset = bestConnectedNext->bestLaneOffset;
6223 : }
6224 : }
6225 62850679 : if (bestConnectedNext != nullptr && (bestConnectedNext->allowsContinuation || bestConnectedNext->length > 0)) {
6226 62825418 : copy(bestConnectedNext->bestContinuations.begin(), bestConnectedNext->bestContinuations.end(), back_inserter(j.bestContinuations));
6227 : } else {
6228 10072623 : j.allowsContinuation = false;
6229 : }
6230 72898041 : if (clanes[bestThisIndex].length < j.length
6231 65345760 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) > abs(j.bestLaneOffset))
6232 199548941 : || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset) &&
6233 61434983 : nextLinkPriority(clanes[bestThisIndex].bestContinuations) < nextLinkPriority(j.bestContinuations))
6234 : ) {
6235 : bestThisIndex = index;
6236 : bestThisMaxIndex = index;
6237 65204086 : } else if (clanes[bestThisIndex].length == j.length
6238 61423279 : && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset)
6239 126627238 : && nextLinkPriority(clanes[bestThisIndex].bestContinuations) == nextLinkPriority(j.bestContinuations)) {
6240 : bestThisMaxIndex = index;
6241 : }
6242 72898041 : index++;
6243 : }
6244 :
6245 : //vehicle with elecHybrid device prefers running under an overhead wire
6246 48307179 : if (getDevice(typeid(MSDevice_ElecHybrid)) != nullptr) {
6247 : index = 0;
6248 221 : for (const LaneQ& j : clanes) {
6249 159 : std::string overheadWireSegmentID = MSNet::getInstance()->getStoppingPlaceID(j.lane, j.currentLength / 2., SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6250 159 : if (overheadWireSegmentID != "") {
6251 : bestThisIndex = index;
6252 : bestThisMaxIndex = index;
6253 : }
6254 159 : index++;
6255 : }
6256 : }
6257 :
6258 : } else {
6259 : // only needed in case of disconnected routes
6260 : int bestNextIndex = 0;
6261 8200 : int bestDistToNeeded = (int) clanes.size();
6262 : index = 0;
6263 21934 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6264 13734 : if ((*j).allowsContinuation) {
6265 : int nextIndex = 0;
6266 30300 : for (std::vector<LaneQ>::const_iterator m = nextLanes.begin(); m != nextLanes.end(); ++m, ++nextIndex) {
6267 16764 : if ((*m).lane->isApproachedFrom(cE, (*j).lane)) {
6268 5895 : if (bestDistToNeeded > abs((*m).bestLaneOffset)) {
6269 : bestDistToNeeded = abs((*m).bestLaneOffset);
6270 : bestThisIndex = index;
6271 : bestThisMaxIndex = index;
6272 : bestNextIndex = nextIndex;
6273 : }
6274 : }
6275 : }
6276 : }
6277 : }
6278 8200 : clanes[bestThisIndex].length += nextLanes[bestNextIndex].length;
6279 8200 : copy(nextLanes[bestNextIndex].bestContinuations.begin(), nextLanes[bestNextIndex].bestContinuations.end(), back_inserter(clanes[bestThisIndex].bestContinuations));
6280 :
6281 : }
6282 : // set bestLaneOffset for all lanes
6283 : index = 0;
6284 : bool requiredChangeRightForbidden = false;
6285 : int requireChangeToLeftForbidden = -1;
6286 121227154 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6287 72911775 : if ((*j).length < clanes[bestThisIndex].length
6288 61197284 : || ((*j).length == clanes[bestThisIndex].length && abs((*j).bestLaneOffset) > abs(clanes[bestThisIndex].bestLaneOffset))
6289 134108855 : || (nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)
6290 : ) {
6291 11889833 : if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6292 732504 : (*j).bestLaneOffset = bestThisIndex - index;
6293 : } else {
6294 11157329 : (*j).bestLaneOffset = bestThisMaxIndex - index;
6295 : }
6296 11889833 : if ((nextLinkPriority((*j).bestContinuations)) < nextLinkPriority(clanes[bestThisIndex].bestContinuations)) {
6297 : // try to move away from the lower-priority lane before it ends
6298 10267761 : (*j).length = (*j).currentLength;
6299 : }
6300 11889833 : if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(getVClass())
6301 3476774 : || !(*j).lane->getParallelLane(-1, false)->allowsVehicleClass(getVClass())
6302 3461148 : || requiredChangeRightForbidden)) {
6303 : // this lane and all further lanes to the left cannot be used
6304 : requiredChangeRightForbidden = true;
6305 32962 : if ((*j).length == (*j).currentLength) {
6306 29938 : (*j).length = 0;
6307 : }
6308 11856871 : } else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(getVClass())
6309 8356155 : || !(*j).lane->getParallelLane(1, false)->allowsVehicleClass(getVClass()))) {
6310 : // this lane and all previous lanes to the right cannot be used
6311 97171 : requireChangeToLeftForbidden = (*j).lane->getIndex();
6312 : }
6313 : } else {
6314 61021942 : (*j).bestLaneOffset = 0;
6315 : }
6316 : }
6317 48421759 : for (int idx = requireChangeToLeftForbidden; idx >= 0; idx--) {
6318 106380 : if (clanes[idx].length == clanes[idx].currentLength) {
6319 100706 : clanes[idx].length = 0;
6320 : };
6321 : }
6322 :
6323 : //vehicle with elecHybrid device prefers running under an overhead wire
6324 48315379 : if (static_cast<MSDevice_ElecHybrid*>(getDevice(typeid(MSDevice_ElecHybrid))) != 0) {
6325 : index = 0;
6326 62 : std::string overheadWireID = MSNet::getInstance()->getStoppingPlaceID(clanes[bestThisIndex].lane, (clanes[bestThisIndex].currentLength) / 2, SUMO_TAG_OVERHEAD_WIRE_SEGMENT);
6327 62 : if (overheadWireID != "") {
6328 211 : for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6329 153 : (*j).bestLaneOffset = bestThisIndex - index;
6330 : }
6331 : }
6332 : }
6333 :
6334 : #ifdef DEBUG_BESTLANES
6335 : if (DEBUG_COND) {
6336 : std::cout << " edge=" << cE->getID() << " (bestIndex=" << bestThisIndex << " bestMaxIndex=" << bestThisMaxIndex << "):\n";
6337 : std::vector<LaneQ>& laneQs = clanes;
6338 : for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6339 : std::cout << " lane=" << (*j).lane->getID() << " length=" << (*j).length << " bestOffset=" << (*j).bestLaneOffset << " allowCont=" << (*j).allowsContinuation << "\n";
6340 : }
6341 : }
6342 : #endif
6343 :
6344 : }
6345 16261238 : updateOccupancyAndCurrentBestLane(startLane);
6346 : #ifdef DEBUG_BESTLANES
6347 : if (DEBUG_COND) {
6348 : std::cout << SIMTIME << " veh=" << getID() << " bestCont=" << toString(getBestLanesContinuation()) << "\n";
6349 : }
6350 : #endif
6351 : }
6352 :
6353 : void
6354 261 : MSVehicle::updateLaneBruttoSum() {
6355 261 : if (myLane != nullptr) {
6356 261 : myLane->markRecalculateBruttoSum();
6357 : }
6358 261 : }
6359 :
6360 : bool
6361 64607947 : MSVehicle::betterContinuation(const LaneQ* bestConnectedNext, const LaneQ& m) const {
6362 64607947 : if (bestConnectedNext == nullptr) {
6363 : return true;
6364 1757268 : } else if (m.lane->getBidiLane() != nullptr && bestConnectedNext->lane->getBidiLane() == nullptr) {
6365 : return false;
6366 1756530 : } else if (bestConnectedNext->lane->getBidiLane() != nullptr && m.lane->getBidiLane() == nullptr) {
6367 : return true;
6368 1756530 : } else if (bestConnectedNext->length < m.length) {
6369 : return true;
6370 1505463 : } else if (bestConnectedNext->length == m.length) {
6371 1127061 : if (abs(bestConnectedNext->bestLaneOffset) > abs(m.bestLaneOffset)) {
6372 : return true;
6373 : }
6374 1029267 : const double contRight = getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_CONTRIGHT, 1);
6375 : if (contRight < 1
6376 : // if we don't check for adjacency, the rightmost line will get
6377 : // multiple chances to be better which leads to an uninituitve distribution
6378 1008 : && (m.lane->getIndex() - bestConnectedNext->lane->getIndex()) == 1
6379 1030048 : && RandHelper::rand(getRNG()) > contRight) {
6380 : return true;
6381 : }
6382 : }
6383 : return false;
6384 : }
6385 :
6386 :
6387 : int
6388 391890096 : MSVehicle::nextLinkPriority(const std::vector<MSLane*>& conts) {
6389 391890096 : if (conts.size() < 2) {
6390 : return -1;
6391 : } else {
6392 354652953 : const MSLink* const link = conts[0]->getLinkTo(conts[1]);
6393 354652953 : if (link != nullptr) {
6394 354646625 : return link->havePriority() ? 1 : 0;
6395 : } else {
6396 : // disconnected route
6397 : return -1;
6398 : }
6399 : }
6400 : }
6401 :
6402 :
6403 : void
6404 1012841523 : MSVehicle::updateOccupancyAndCurrentBestLane(const MSLane* startLane) {
6405 : std::vector<LaneQ>& currLanes = *myBestLanes.begin();
6406 : std::vector<LaneQ>::iterator i;
6407 2824243481 : for (i = currLanes.begin(); i != currLanes.end(); ++i) {
6408 : double nextOccupation = 0;
6409 4251958490 : for (std::vector<MSLane*>::const_iterator j = (*i).bestContinuations.begin() + 1; j != (*i).bestContinuations.end(); ++j) {
6410 2440556532 : nextOccupation += (*j)->getBruttoVehLenSum();
6411 : }
6412 1811401958 : (*i).nextOccupation = nextOccupation;
6413 : #ifdef DEBUG_BESTLANES
6414 : if (DEBUG_COND) {
6415 : std::cout << " lane=" << (*i).lane->getID() << " nextOccupation=" << nextOccupation << "\n";
6416 : }
6417 : #endif
6418 1811401958 : if ((*i).lane == startLane) {
6419 1007374014 : myCurrentLaneInBestLanes = i;
6420 : }
6421 : }
6422 1012841523 : }
6423 :
6424 :
6425 : const std::vector<MSLane*>&
6426 2005709588 : MSVehicle::getBestLanesContinuation() const {
6427 2005709588 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6428 : return myEmptyLaneVector;
6429 : }
6430 2005709588 : return (*myCurrentLaneInBestLanes).bestContinuations;
6431 : }
6432 :
6433 :
6434 : const std::vector<MSLane*>&
6435 69471349 : MSVehicle::getBestLanesContinuation(const MSLane* const l) const {
6436 : const MSLane* lane = l;
6437 : // XXX: shouldn't this be a "while" to cover more than one internal lane? (Leo) Refs. #2575
6438 69471349 : if (lane->getEdge().isInternal()) {
6439 : // internal edges are not kept inside the bestLanes structure
6440 4708075 : lane = lane->getLinkCont()[0]->getLane();
6441 : }
6442 69471349 : if (myBestLanes.size() == 0) {
6443 : return myEmptyLaneVector;
6444 : }
6445 115832426 : for (std::vector<LaneQ>::const_iterator i = myBestLanes[0].begin(); i != myBestLanes[0].end(); ++i) {
6446 115820311 : if ((*i).lane == lane) {
6447 69459234 : return (*i).bestContinuations;
6448 : }
6449 : }
6450 : return myEmptyLaneVector;
6451 : }
6452 :
6453 : const std::vector<const MSLane*>
6454 286202 : MSVehicle::getUpcomingLanesUntil(double distance) const {
6455 : std::vector<const MSLane*> lanes;
6456 :
6457 286202 : if (distance <= 0. || hasArrived()) {
6458 : // WRITE_WARNINGF(TL("MSVehicle::getUpcomingLanesUntil(): distance ('%') should be greater than 0."), distance);
6459 : return lanes;
6460 : }
6461 :
6462 285997 : if (!myLaneChangeModel->isOpposite()) {
6463 282671 : distance += getPositionOnLane();
6464 : } else {
6465 3326 : distance += myLane->getOppositePos(getPositionOnLane());
6466 : }
6467 285997 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6468 294019 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6469 8022 : lanes.insert(lanes.end(), lane);
6470 8022 : distance -= lane->getLength();
6471 13493 : lane = lane->getLinkCont().front()->getViaLaneOrLane();
6472 : }
6473 :
6474 285997 : const std::vector<MSLane*>& contLanes = getBestLanesContinuation();
6475 285997 : if (contLanes.empty()) {
6476 : return lanes;
6477 : }
6478 : auto contLanesIt = contLanes.begin();
6479 285997 : MSRouteIterator routeIt = myCurrEdge; // keep track of covered edges in myRoute
6480 612401 : while (distance > 0.) {
6481 334174 : MSLane* l = nullptr;
6482 334174 : if (contLanesIt != contLanes.end()) {
6483 318317 : l = *contLanesIt;
6484 : if (l != nullptr) {
6485 : assert(l->getEdge().getID() == (*routeIt)->getLanes().front()->getEdge().getID());
6486 : }
6487 : ++contLanesIt;
6488 318317 : if (l != nullptr || myLane->isInternal()) {
6489 : ++routeIt;
6490 : }
6491 318317 : if (l == nullptr) {
6492 5467 : continue;
6493 : }
6494 15857 : } else if (routeIt != myRoute->end()) { // bestLanes didn't get us far enough
6495 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6496 8970 : l = (*routeIt)->getLanes().back();
6497 : ++routeIt;
6498 : } else { // the search distance goes beyond our route
6499 : break;
6500 : }
6501 :
6502 : assert(l != nullptr);
6503 :
6504 : // insert internal lanes if applicable
6505 321820 : const MSLane* internalLane = lanes.size() > 0 ? lanes.back()->getInternalFollowingLane(l) : nullptr;
6506 365891 : while ((internalLane != nullptr) && internalLane->isInternal() && (distance > 0.)) {
6507 44071 : lanes.insert(lanes.end(), internalLane);
6508 44071 : distance -= internalLane->getLength();
6509 70434 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6510 : }
6511 321820 : if (distance <= 0.) {
6512 : break;
6513 : }
6514 :
6515 320937 : lanes.insert(lanes.end(), l);
6516 320937 : distance -= l->getLength();
6517 : }
6518 :
6519 : return lanes;
6520 0 : }
6521 :
6522 : const std::vector<const MSLane*>
6523 6664 : MSVehicle::getPastLanesUntil(double distance) const {
6524 : std::vector<const MSLane*> lanes;
6525 :
6526 6664 : if (distance <= 0.) {
6527 : // WRITE_WARNINGF(TL("MSVehicle::getPastLanesUntil(): distance ('%') should be greater than 0."), distance);
6528 : return lanes;
6529 : }
6530 :
6531 6556 : MSRouteIterator routeIt = myCurrEdge;
6532 6556 : if (!myLaneChangeModel->isOpposite()) {
6533 6532 : distance += myLane->getLength() - getPositionOnLane();
6534 : } else {
6535 24 : distance += myLane->getParallelOpposite()->getLength() - myLane->getOppositePos(getPositionOnLane());
6536 : }
6537 6556 : MSLane* lane = myLaneChangeModel->isOpposite() ? myLane->getParallelOpposite() : myLane;
6538 6574 : while (lane->isInternal() && (distance > 0.)) { // include initial internal lanes
6539 18 : lanes.insert(lanes.end(), lane);
6540 18 : distance -= lane->getLength();
6541 18 : lane = lane->getLogicalPredecessorLane();
6542 : }
6543 :
6544 10076 : while (distance > 0.) {
6545 : // choose left-most lane as default (avoid sidewalks, bike lanes etc)
6546 8755 : MSLane* l = (*routeIt)->getLanes().back();
6547 :
6548 : // insert internal lanes if applicable
6549 8755 : const MSEdge* internalEdge = lanes.size() > 0 ? (*routeIt)->getInternalFollowingEdge(&(lanes.back()->getEdge()), getVClass()) : nullptr;
6550 8773 : const MSLane* internalLane = internalEdge != nullptr ? internalEdge->getLanes().front() : nullptr;
6551 : std::vector<const MSLane*> internalLanes;
6552 10968 : while ((internalLane != nullptr) && internalLane->isInternal()) { // collect all internal successor lanes
6553 2213 : internalLanes.insert(internalLanes.begin(), internalLane);
6554 4412 : internalLane = internalLane->getLinkCont().front()->getViaLaneOrLane();
6555 : }
6556 10968 : for (auto it = internalLanes.begin(); (it != internalLanes.end()) && (distance > 0.); ++it) { // check remaining distance in correct order
6557 2213 : lanes.insert(lanes.end(), *it);
6558 2213 : distance -= (*it)->getLength();
6559 : }
6560 8755 : if (distance <= 0.) {
6561 : break;
6562 : }
6563 :
6564 8742 : lanes.insert(lanes.end(), l);
6565 8742 : distance -= l->getLength();
6566 :
6567 : // NOTE: we're going backwards with the (bi-directional) Iterator
6568 : // TODO: consider make reverse_iterator() when moving on to C++14 or later
6569 8742 : if (routeIt != myRoute->begin()) {
6570 : --routeIt;
6571 : } else { // we went backwards to begin() and already processed the first and final element
6572 : break;
6573 : }
6574 8755 : }
6575 :
6576 : return lanes;
6577 0 : }
6578 :
6579 :
6580 : const std::vector<MSLane*>
6581 6355 : MSVehicle::getUpstreamOppositeLanes() const {
6582 6355 : const std::vector<const MSLane*> routeLanes = getPastLanesUntil(myLane->getMaximumBrakeDist());
6583 : std::vector<MSLane*> result;
6584 15441 : for (const MSLane* lane : routeLanes) {
6585 9859 : MSLane* opposite = lane->getOpposite();
6586 9859 : if (opposite != nullptr) {
6587 9086 : result.push_back(opposite);
6588 : } else {
6589 : break;
6590 : }
6591 : }
6592 6355 : return result;
6593 6355 : }
6594 :
6595 :
6596 : int
6597 298122066 : MSVehicle::getBestLaneOffset() const {
6598 298122066 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6599 : return 0;
6600 : } else {
6601 297811360 : return (*myCurrentLaneInBestLanes).bestLaneOffset;
6602 : }
6603 : }
6604 :
6605 : double
6606 20137 : MSVehicle::getBestLaneDist() const {
6607 20137 : if (myBestLanes.empty() || myBestLanes[0].empty()) {
6608 : return -1;
6609 : } else {
6610 20137 : return (*myCurrentLaneInBestLanes).length;
6611 : }
6612 : }
6613 :
6614 :
6615 :
6616 : void
6617 626319880 : MSVehicle::adaptBestLanesOccupation(int laneIndex, double density) {
6618 : std::vector<MSVehicle::LaneQ>& preb = myBestLanes.front();
6619 : assert(laneIndex < (int)preb.size());
6620 626319880 : preb[laneIndex].occupation = density + preb[laneIndex].nextOccupation;
6621 626319880 : }
6622 :
6623 :
6624 : void
6625 63310 : MSVehicle::fixPosition() {
6626 63310 : if (MSGlobals::gLaneChangeDuration > 0 && !myLaneChangeModel->isChangingLanes()) {
6627 33637 : myState.myPosLat = 0;
6628 : }
6629 63310 : }
6630 :
6631 : std::pair<const MSLane*, double>
6632 255 : MSVehicle::getLanePosAfterDist(double distance) const {
6633 255 : if (distance == 0) {
6634 227 : return std::make_pair(myLane, getPositionOnLane());
6635 : }
6636 28 : const std::vector<const MSLane*> lanes = getUpcomingLanesUntil(distance);
6637 28 : distance += getPositionOnLane();
6638 28 : for (const MSLane* lane : lanes) {
6639 28 : if (lane->getLength() > distance) {
6640 : return std::make_pair(lane, distance);
6641 : }
6642 0 : distance -= lane->getLength();
6643 : }
6644 0 : return std::make_pair(nullptr, -1);
6645 28 : }
6646 :
6647 :
6648 : double
6649 16920 : MSVehicle::getDistanceToPosition(double destPos, const MSLane* destLane) const {
6650 16920 : if (isOnRoad() && destLane != nullptr) {
6651 16874 : return myRoute->getDistanceBetween(getPositionOnLane(), destPos, myLane, destLane);
6652 : }
6653 : return std::numeric_limits<double>::max();
6654 : }
6655 :
6656 :
6657 : std::pair<const MSVehicle* const, double>
6658 76413180 : MSVehicle::getLeader(double dist, bool considerCrossingFoes) const {
6659 76413180 : if (myLane == nullptr) {
6660 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6661 : }
6662 76413180 : if (dist == 0) {
6663 2474 : dist = getCarFollowModel().brakeGap(getSpeed()) + getVehicleType().getMinGap();
6664 : }
6665 : const MSVehicle* lead = nullptr;
6666 76413180 : const MSLane* lane = myLane; // ensure lane does not change between getVehiclesSecure and releaseVehicles;
6667 76413180 : const MSLane::VehCont& vehs = lane->getVehiclesSecure();
6668 : // vehicle might be outside the road network
6669 76413180 : MSLane::VehCont::const_iterator it = std::find(vehs.begin(), vehs.end(), this);
6670 76413180 : if (it != vehs.end() && it + 1 != vehs.end()) {
6671 72699967 : lead = *(it + 1);
6672 : }
6673 72699967 : if (lead != nullptr) {
6674 : std::pair<const MSVehicle* const, double> result(
6675 72699967 : lead, lead->getBackPositionOnLane(myLane) - getPositionOnLane() - getVehicleType().getMinGap());
6676 72699967 : lane->releaseVehicles();
6677 72699967 : return result;
6678 : }
6679 3713213 : const double seen = myLane->getLength() - getPositionOnLane();
6680 3713213 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(myLane);
6681 3713213 : std::pair<const MSVehicle* const, double> result = myLane->getLeaderOnConsecutive(dist, seen, getSpeed(), *this, bestLaneConts, considerCrossingFoes);
6682 3713213 : lane->releaseVehicles();
6683 3713213 : return result;
6684 : }
6685 :
6686 :
6687 : std::pair<const MSVehicle* const, double>
6688 2007491 : MSVehicle::getFollower(double dist) const {
6689 2007491 : if (myLane == nullptr) {
6690 0 : return std::make_pair(static_cast<const MSVehicle*>(nullptr), -1);
6691 : }
6692 2007491 : if (dist == 0) {
6693 546453 : dist = getCarFollowModel().brakeGap(myLane->getEdge().getSpeedLimit() * 2, 4.5, 0);
6694 : }
6695 2007491 : return myLane->getFollower(this, getPositionOnLane(), dist, MSLane::MinorLinkMode::FOLLOW_NEVER);
6696 : }
6697 :
6698 :
6699 : double
6700 0 : MSVehicle::getTimeGapOnLane() const {
6701 : // calling getLeader with 0 would induce a dist calculation but we only want to look for the leaders on the current lane
6702 0 : std::pair<const MSVehicle* const, double> leaderInfo = getLeader(-1);
6703 0 : if (leaderInfo.first == nullptr || getSpeed() == 0) {
6704 0 : return -1;
6705 : }
6706 0 : return (leaderInfo.second + getVehicleType().getMinGap()) / getSpeed();
6707 : }
6708 :
6709 :
6710 : void
6711 4035675 : MSVehicle::addTransportable(MSTransportable* transportable) {
6712 4035675 : MSBaseVehicle::addTransportable(transportable);
6713 10891 : if (myStops.size() > 0 && myStops.front().reached) {
6714 7691 : if (transportable->isPerson()) {
6715 7112 : if (myStops.front().triggered && myStops.front().numExpectedPerson > 0) {
6716 1504 : myStops.front().numExpectedPerson -= (int)myStops.front().pars.awaitedPersons.count(transportable->getID());
6717 : }
6718 : } else {
6719 579 : if (myStops.front().pars.containerTriggered && myStops.front().numExpectedContainer > 0) {
6720 20 : myStops.front().numExpectedContainer -= (int)myStops.front().pars.awaitedContainers.count(transportable->getID());
6721 : }
6722 : }
6723 : }
6724 10891 : }
6725 :
6726 :
6727 : void
6728 683577852 : MSVehicle::setBlinkerInformation() {
6729 : switchOffSignal(VEH_SIGNAL_BLINKER_RIGHT | VEH_SIGNAL_BLINKER_LEFT);
6730 683577852 : int state = myLaneChangeModel->getOwnState();
6731 : // do not set blinker for sublane changes or when blocked from changing to the right
6732 683577852 : const bool blinkerManoeuvre = (((state & LCA_SUBLANE) == 0) && (
6733 594617888 : (state & LCA_KEEPRIGHT) == 0 || (state & LCA_BLOCKED) == 0));
6734 : Signalling left = VEH_SIGNAL_BLINKER_LEFT;
6735 : Signalling right = VEH_SIGNAL_BLINKER_RIGHT;
6736 683577852 : if (MSGlobals::gLefthand) {
6737 : // lane indices increase from left to right
6738 : std::swap(left, right);
6739 : }
6740 683577852 : if ((state & LCA_LEFT) != 0 && blinkerManoeuvre) {
6741 19478198 : switchOnSignal(left);
6742 664099654 : } else if ((state & LCA_RIGHT) != 0 && blinkerManoeuvre) {
6743 5618202 : switchOnSignal(right);
6744 658481452 : } else if (myLaneChangeModel->isChangingLanes()) {
6745 248275 : if (myLaneChangeModel->getLaneChangeDirection() == 1) {
6746 159178 : switchOnSignal(left);
6747 : } else {
6748 89097 : switchOnSignal(right);
6749 : }
6750 : } else {
6751 658233177 : const MSLane* lane = getLane();
6752 658233177 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, 1, *lane, getBestLanesContinuation());
6753 658233177 : if (link != lane->getLinkCont().end() && lane->getLength() - getPositionOnLane() < lane->getVehicleMaxSpeed(this) * (double) 7.) {
6754 162278468 : switch ((*link)->getDirection()) {
6755 : case LinkDirection::TURN:
6756 : case LinkDirection::LEFT:
6757 : case LinkDirection::PARTLEFT:
6758 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT);
6759 : break;
6760 : case LinkDirection::RIGHT:
6761 : case LinkDirection::PARTRIGHT:
6762 : switchOnSignal(VEH_SIGNAL_BLINKER_RIGHT);
6763 : break;
6764 : default:
6765 : break;
6766 : }
6767 : }
6768 : }
6769 : // stopping related signals
6770 683577852 : if (hasStops()
6771 683577852 : && (myStops.begin()->reached ||
6772 15069575 : (myStopDist < (myLane->getLength() - getPositionOnLane())
6773 4157098 : && myStopDist < getCarFollowModel().brakeGap(myLane->getVehicleMaxSpeed(this), getCarFollowModel().getMaxDecel(), 3)))) {
6774 16771803 : if (myStops.begin()->lane->getIndex() > 0 && myStops.begin()->lane->getParallelLane(-1)->allowsVehicleClass(getVClass())) {
6775 : // not stopping on the right. Activate emergency blinkers
6776 : switchOnSignal(VEH_SIGNAL_BLINKER_LEFT | VEH_SIGNAL_BLINKER_RIGHT);
6777 16544661 : } else if (!myStops.begin()->reached && (myStops.begin()->pars.parking == ParkingType::OFFROAD)) {
6778 : // signal upcoming parking stop on the current lane when within braking distance (~2 seconds before braking)
6779 1582402 : switchOnSignal(MSGlobals::gLefthand ? VEH_SIGNAL_BLINKER_LEFT : VEH_SIGNAL_BLINKER_RIGHT);
6780 : }
6781 : }
6782 683577852 : if (myInfluencer != nullptr && myInfluencer->getSignals() >= 0) {
6783 15 : mySignals = myInfluencer->getSignals();
6784 : myInfluencer->setSignals(-1); // overwrite computed signals only once
6785 : }
6786 683577852 : }
6787 :
6788 : void
6789 85748 : MSVehicle::setEmergencyBlueLight(SUMOTime currentTime) {
6790 :
6791 : //TODO look if timestep ist SIMSTEP
6792 85748 : if (currentTime % 1000 == 0) {
6793 25958 : if (signalSet(VEH_SIGNAL_EMERGENCY_BLUE)) {
6794 : switchOffSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6795 : } else {
6796 : switchOnSignal(VEH_SIGNAL_EMERGENCY_BLUE);
6797 : }
6798 : }
6799 85748 : }
6800 :
6801 :
6802 : int
6803 22684940 : MSVehicle::getLaneIndex() const {
6804 22684940 : return myLane == nullptr ? -1 : myLane->getIndex();
6805 : }
6806 :
6807 :
6808 : void
6809 15277532 : MSVehicle::setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat) {
6810 15277532 : myLane = lane;
6811 15277532 : myState.myPos = pos;
6812 15277532 : myState.myPosLat = posLat;
6813 15277532 : myState.myBackPos = pos - getVehicleType().getLength();
6814 15277532 : }
6815 :
6816 :
6817 : double
6818 380143321 : MSVehicle::getRightSideOnLane() const {
6819 380143321 : return myState.myPosLat + 0.5 * myLane->getWidth() - 0.5 * getVehicleType().getWidth();
6820 : }
6821 :
6822 :
6823 : double
6824 375012226 : MSVehicle::getLeftSideOnLane() const {
6825 375012226 : return myState.myPosLat + 0.5 * myLane->getWidth() + 0.5 * getVehicleType().getWidth();
6826 : }
6827 :
6828 :
6829 : double
6830 300999159 : MSVehicle::getRightSideOnLane(const MSLane* lane) const {
6831 300999159 : return myState.myPosLat + 0.5 * lane->getWidth() - 0.5 * getVehicleType().getWidth();
6832 : }
6833 :
6834 :
6835 : double
6836 300506521 : MSVehicle::getLeftSideOnLane(const MSLane* lane) const {
6837 300506521 : return myState.myPosLat + 0.5 * lane->getWidth() + 0.5 * getVehicleType().getWidth();
6838 : }
6839 :
6840 :
6841 : double
6842 240615459 : MSVehicle::getRightSideOnEdge(const MSLane* lane) const {
6843 240615459 : return getCenterOnEdge(lane) - 0.5 * getVehicleType().getWidth();
6844 : }
6845 :
6846 :
6847 : double
6848 29737471 : MSVehicle::getLeftSideOnEdge(const MSLane* lane) const {
6849 29737471 : return getCenterOnEdge(lane) + 0.5 * getVehicleType().getWidth();
6850 : }
6851 :
6852 :
6853 : double
6854 704513644 : MSVehicle::getCenterOnEdge(const MSLane* lane) const {
6855 704513644 : if (lane == nullptr || &lane->getEdge() == &myLane->getEdge()) {
6856 704048417 : return myLane->getRightSideOnEdge() + myState.myPosLat + 0.5 * myLane->getWidth();
6857 465227 : } else if (lane == myLaneChangeModel->getShadowLane()) {
6858 13709 : if (myLaneChangeModel->isOpposite() && &lane->getEdge() != &myLane->getEdge()) {
6859 13702 : return lane->getRightSideOnEdge() + lane->getWidth() - myState.myPosLat + 0.5 * myLane->getWidth();
6860 : }
6861 7 : if (myLaneChangeModel->getShadowDirection() == -1) {
6862 0 : return lane->getRightSideOnEdge() + lane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6863 : } else {
6864 7 : return lane->getRightSideOnEdge() - myLane->getWidth() + myState.myPosLat + 0.5 * myLane->getWidth();
6865 : }
6866 451518 : } else if (lane == myLane->getBidiLane()) {
6867 1679 : return lane->getRightSideOnEdge() - myState.myPosLat + 0.5 * lane->getWidth();
6868 : } else {
6869 : assert(myFurtherLanes.size() == myFurtherLanesPosLat.size());
6870 525575 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6871 499089 : if (myFurtherLanes[i] == lane) {
6872 : #ifdef DEBUG_FURTHER
6873 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat=" << myFurtherLanesPosLat[i]
6874 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6875 : << "\n";
6876 : #endif
6877 423280 : return lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6878 75809 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6879 : #ifdef DEBUG_FURTHER
6880 : if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat(bidi)=" << myFurtherLanesPosLat[i]
6881 : << " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
6882 : << "\n";
6883 : #endif
6884 73 : return lane->getRightSideOnEdge() - myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
6885 : }
6886 : }
6887 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6888 26486 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6889 26753 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6890 : //if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
6891 26753 : if (shadowFurther[i] == lane) {
6892 : assert(myLaneChangeModel->getShadowLane() != 0);
6893 26486 : return (lane->getRightSideOnEdge() + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] + 0.5 * lane->getWidth()
6894 26486 : + (myLane->getCenterOnEdge() - myLaneChangeModel->getShadowLane()->getCenterOnEdge()));
6895 : }
6896 : }
6897 : assert(false);
6898 0 : throw ProcessError("Request lateral pos of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
6899 : }
6900 : }
6901 :
6902 :
6903 : double
6904 3268406852 : MSVehicle::getLatOffset(const MSLane* lane) const {
6905 : assert(lane != 0);
6906 3268406852 : if (&lane->getEdge() == &myLane->getEdge()) {
6907 3219795693 : return myLane->getRightSideOnEdge() - lane->getRightSideOnEdge();
6908 48611159 : } else if (myLane->getParallelOpposite() == lane) {
6909 2159478 : return (myLane->getWidth() + lane->getWidth()) * 0.5 - 2 * getLateralPositionOnLane();
6910 46451681 : } else if (myLane->getBidiLane() == lane) {
6911 179386 : return -2 * getLateralPositionOnLane();
6912 : } else {
6913 : // Check whether the lane is a further lane for the vehicle
6914 52203345 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6915 51235869 : if (myFurtherLanes[i] == lane) {
6916 : #ifdef DEBUG_FURTHER
6917 : if (DEBUG_COND) {
6918 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherLat=" << myFurtherLanesPosLat[i] << "\n";
6919 : }
6920 : #endif
6921 45278600 : return myFurtherLanesPosLat[i] - myState.myPosLat;
6922 5957269 : } else if (myFurtherLanes[i]->getBidiLane() == lane) {
6923 : #ifdef DEBUG_FURTHER
6924 : if (DEBUG_COND) {
6925 : std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
6926 : }
6927 : #endif
6928 26219 : return -2 * (myFurtherLanesPosLat[i] - myState.myPosLat);
6929 : }
6930 : }
6931 : #ifdef DEBUG_FURTHER
6932 : if (DEBUG_COND) {
6933 : std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
6934 : }
6935 : #endif
6936 : // Check whether the lane is a "shadow further lane" for the vehicle
6937 967476 : const std::vector<MSLane*>& shadowFurther = myLaneChangeModel->getShadowFurtherLanes();
6938 978497 : for (int i = 0; i < (int)shadowFurther.size(); ++i) {
6939 975959 : if (shadowFurther[i] == lane) {
6940 : #ifdef DEBUG_FURTHER
6941 : if (DEBUG_COND) std::cout << " getLatOffset veh=" << getID()
6942 : << " shadowLane=" << Named::getIDSecure(myLaneChangeModel->getShadowLane())
6943 : << " lane=" << lane->getID()
6944 : << " i=" << i
6945 : << " posLat=" << myState.myPosLat
6946 : << " shadowPosLat=" << getLatOffset(myLaneChangeModel->getShadowLane())
6947 : << " shadowFurtherLat=" << myLaneChangeModel->getShadowFurtherLanesPosLat()[i]
6948 : << "\n";
6949 : #endif
6950 964938 : return getLatOffset(myLaneChangeModel->getShadowLane()) + myLaneChangeModel->getShadowFurtherLanesPosLat()[i] - myState.myPosLat;
6951 : }
6952 : }
6953 : // Check whether the vehicle issued a maneuverReservation on the lane.
6954 : const std::vector<MSLane*>& furtherTargets = myLaneChangeModel->getFurtherTargetLanes();
6955 2876 : for (int i = 0; i < (int)myFurtherLanes.size(); ++i) {
6956 : // Further target lanes are just neighboring lanes of the vehicle's further lanes, @see MSAbstractLaneChangeModel::updateTargetLane()
6957 2876 : MSLane* targetLane = furtherTargets[i];
6958 2876 : if (targetLane == lane) {
6959 2538 : const double targetDir = myLaneChangeModel->getManeuverDist() < 0 ? -1. : 1.;
6960 2538 : const double latOffset = myFurtherLanesPosLat[i] - myState.myPosLat + targetDir * 0.5 * (myFurtherLanes[i]->getWidth() + targetLane->getWidth());
6961 : #ifdef DEBUG_TARGET_LANE
6962 : if (DEBUG_COND) {
6963 : std::cout << " getLatOffset veh=" << getID()
6964 : << " wrt targetLane=" << Named::getIDSecure(myLaneChangeModel->getTargetLane())
6965 : << "\n i=" << i
6966 : << " posLat=" << myState.myPosLat
6967 : << " furtherPosLat=" << myFurtherLanesPosLat[i]
6968 : << " maneuverDist=" << myLaneChangeModel->getManeuverDist()
6969 : << " targetDir=" << targetDir
6970 : << " latOffset=" << latOffset
6971 : << std::endl;
6972 : }
6973 : #endif
6974 2538 : return latOffset;
6975 : }
6976 : }
6977 : assert(false);
6978 0 : throw ProcessError("Request lateral offset of vehicle '" + getID() + "' for invalid lane '" + Named::getIDSecure(lane) + "'");
6979 : }
6980 : }
6981 :
6982 :
6983 : double
6984 34780383 : MSVehicle::lateralDistanceToLane(const int offset) const {
6985 : // compute the distance when changing to the neighboring lane
6986 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
6987 : assert(offset == 0 || offset == 1 || offset == -1);
6988 : assert(myLane != nullptr);
6989 : assert(myLane->getParallelLane(offset) != nullptr || myLane->getParallelOpposite() != nullptr);
6990 34780383 : const double halfCurrentLaneWidth = 0.5 * myLane->getWidth();
6991 34780383 : const double halfVehWidth = 0.5 * (getWidth() + NUMERICAL_EPS);
6992 34780383 : const double latPos = getLateralPositionOnLane();
6993 34780383 : const double oppositeSign = getLaneChangeModel().isOpposite() ? -1 : 1;
6994 34780383 : double leftLimit = halfCurrentLaneWidth - halfVehWidth - oppositeSign * latPos;
6995 34780383 : double rightLimit = -halfCurrentLaneWidth + halfVehWidth - oppositeSign * latPos;
6996 : double latLaneDist = 0; // minimum distance to move the vehicle fully onto the new lane
6997 34780383 : if (offset == 0) {
6998 10 : if (latPos + halfVehWidth > halfCurrentLaneWidth) {
6999 : // correct overlapping left
7000 5 : latLaneDist = halfCurrentLaneWidth - latPos - halfVehWidth;
7001 5 : } else if (latPos - halfVehWidth < -halfCurrentLaneWidth) {
7002 : // correct overlapping right
7003 5 : latLaneDist = -halfCurrentLaneWidth - latPos + halfVehWidth;
7004 : }
7005 10 : latLaneDist *= oppositeSign;
7006 34780373 : } else if (offset == -1) {
7007 15764679 : latLaneDist = rightLimit - (getWidth() + NUMERICAL_EPS);
7008 19015694 : } else if (offset == 1) {
7009 19015694 : latLaneDist = leftLimit + (getWidth() + NUMERICAL_EPS);
7010 : }
7011 : #ifdef DEBUG_ACTIONSTEPS
7012 : if (DEBUG_COND) {
7013 : std::cout << SIMTIME
7014 : << " veh=" << getID()
7015 : << " halfCurrentLaneWidth=" << halfCurrentLaneWidth
7016 : << " halfVehWidth=" << halfVehWidth
7017 : << " latPos=" << latPos
7018 : << " latLaneDist=" << latLaneDist
7019 : << " leftLimit=" << leftLimit
7020 : << " rightLimit=" << rightLimit
7021 : << "\n";
7022 : }
7023 : #endif
7024 34780383 : return latLaneDist;
7025 : }
7026 :
7027 :
7028 : double
7029 4970577927 : MSVehicle::getLateralOverlap(double posLat, const MSLane* lane) const {
7030 4970577927 : return (fabs(posLat) + 0.5 * getVehicleType().getWidth()
7031 4970577927 : - 0.5 * lane->getWidth());
7032 : }
7033 :
7034 : double
7035 0 : MSVehicle::getLateralOverlap(const MSLane* lane) const {
7036 0 : return getLateralOverlap(getLateralPositionOnLane(), lane);
7037 : }
7038 :
7039 : double
7040 4782786625 : MSVehicle::getLateralOverlap() const {
7041 4782786625 : return getLateralOverlap(getLateralPositionOnLane(), myLane);
7042 : }
7043 :
7044 :
7045 : void
7046 627416859 : MSVehicle::removeApproachingInformation(const DriveItemVector& lfLinks) const {
7047 1810457670 : for (const DriveProcessItem& dpi : lfLinks) {
7048 1183040811 : if (dpi.myLink != nullptr) {
7049 831914572 : dpi.myLink->removeApproaching(this);
7050 : }
7051 : }
7052 : // unregister on all shadow links
7053 627416859 : myLaneChangeModel->removeShadowApproachingInformation();
7054 627416859 : }
7055 :
7056 :
7057 : bool
7058 826585 : MSVehicle::unsafeLinkAhead(const MSLane* lane, double zipperDist) const {
7059 : // the following links are unsafe:
7060 : // - zipper links if they are close enough and have approaching vehicles in the relevant time range
7061 : // - unprioritized links if the vehicle is currently approaching a prioritzed link and unable to stop in time
7062 826585 : double seen = myLane->getLength() - getPositionOnLane();
7063 826585 : const double dist = MAX2(zipperDist, getCarFollowModel().brakeGap(getSpeed(), getCarFollowModel().getMaxDecel(), 0));
7064 826585 : if (seen < dist) {
7065 70574 : const std::vector<MSLane*>& bestLaneConts = getBestLanesContinuation(lane);
7066 : int view = 1;
7067 70574 : std::vector<MSLink*>::const_iterator link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7068 : DriveItemVector::const_iterator di = myLFLinkLanes.begin();
7069 117003 : while (!lane->isLinkEnd(link) && seen <= dist) {
7070 70655 : if ((!lane->isInternal()
7071 48414 : && (((*link)->getState() == LINKSTATE_ZIPPER && seen < (*link)->getFoeVisibilityDistance())
7072 26220 : || !(*link)->havePriority()))
7073 96673 : || (lane->isInternal() && zipperDist > 0)) {
7074 : // find the drive item corresponding to this link
7075 : bool found = false;
7076 51400 : while (di != myLFLinkLanes.end() && !found) {
7077 26634 : if ((*di).myLink != nullptr) {
7078 : const MSLane* diPredLane = (*di).myLink->getLaneBefore();
7079 26634 : if (diPredLane != nullptr) {
7080 26634 : if (&diPredLane->getEdge() == &lane->getEdge()) {
7081 : found = true;
7082 : }
7083 : }
7084 : }
7085 26634 : if (!found) {
7086 : di++;
7087 : }
7088 : }
7089 24766 : if (found) {
7090 24766 : const SUMOTime leaveTime = (*link)->getLeaveTime((*di).myArrivalTime, (*di).myArrivalSpeed,
7091 24766 : (*di).getLeaveSpeed(), getVehicleType().getLength());
7092 24766 : const MSLink* entry = (*link)->getCorrespondingEntryLink();
7093 : //if (DEBUG_COND) {
7094 : // 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";
7095 : //}
7096 24766 : if (entry->hasApproachingFoe((*di).myArrivalTime, leaveTime, (*di).myArrivalSpeed, getCarFollowModel().getMaxDecel())) {
7097 : //std::cout << SIMTIME << " veh=" << getID() << " aborting changeTo=" << Named::getIDSecure(bestLaneConts.front()) << " linkState=" << toString((*link)->getState()) << " seen=" << seen << " dist=" << dist << "\n";
7098 : return true;
7099 : }
7100 : }
7101 : // no drive item is found if the vehicle aborts its request within dist
7102 : }
7103 46429 : lane = (*link)->getViaLaneOrLane();
7104 46429 : if (!lane->getEdge().isInternal()) {
7105 24260 : view++;
7106 : }
7107 46429 : seen += lane->getLength();
7108 46429 : link = MSLane::succLinkSec(*this, view, *lane, bestLaneConts);
7109 : }
7110 : }
7111 : return false;
7112 : }
7113 :
7114 :
7115 : PositionVector
7116 6719253 : MSVehicle::getBoundingBox(double offset) const {
7117 6719253 : PositionVector centerLine;
7118 6719253 : Position pos = getPosition();
7119 6719253 : centerLine.push_back(pos);
7120 6719253 : switch (myType->getGuiShape()) {
7121 1730 : case SUMOVehicleShape::BUS_FLEXIBLE:
7122 : case SUMOVehicleShape::RAIL:
7123 : case SUMOVehicleShape::RAIL_CAR:
7124 : case SUMOVehicleShape::RAIL_CARGO:
7125 : case SUMOVehicleShape::TRUCK_SEMITRAILER:
7126 : case SUMOVehicleShape::TRUCK_1TRAILER: {
7127 4460 : for (MSLane* lane : myFurtherLanes) {
7128 2730 : centerLine.push_back(lane->getShape().back());
7129 : }
7130 : break;
7131 : }
7132 : default:
7133 : break;
7134 : }
7135 6719253 : double l = getLength();
7136 6719253 : Position backPos = getBackPosition();
7137 6719253 : if (pos.distanceTo2D(backPos) > l + NUMERICAL_EPS) {
7138 : // getBackPosition may not match the visual back in networks without internal lanes
7139 358047 : double a = getAngle() + M_PI; // angle pointing backwards
7140 358047 : backPos = pos + Position(l * cos(a), l * sin(a));
7141 : }
7142 6719253 : centerLine.push_back(backPos);
7143 6719253 : if (offset != 0) {
7144 6543 : centerLine.extrapolate2D(offset);
7145 : }
7146 : PositionVector result = centerLine;
7147 13434216 : result.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7148 13434216 : centerLine.move2side(MIN2(0.0, -0.5 * myType->getWidth() - offset));
7149 6719253 : result.append(centerLine.reverse(), POSITION_EPS);
7150 6719253 : return result;
7151 6719253 : }
7152 :
7153 :
7154 : PositionVector
7155 72802 : MSVehicle::getBoundingPoly(double offset) const {
7156 72802 : switch (myType->getGuiShape()) {
7157 72318 : case SUMOVehicleShape::PASSENGER:
7158 : case SUMOVehicleShape::PASSENGER_SEDAN:
7159 : case SUMOVehicleShape::PASSENGER_HATCHBACK:
7160 : case SUMOVehicleShape::PASSENGER_WAGON:
7161 : case SUMOVehicleShape::PASSENGER_VAN: {
7162 : // box with corners cut off
7163 72318 : PositionVector result;
7164 72318 : PositionVector centerLine;
7165 72318 : centerLine.push_back(getPosition());
7166 72318 : centerLine.push_back(getBackPosition());
7167 72318 : if (offset != 0) {
7168 1600 : centerLine.extrapolate2D(offset);
7169 : }
7170 : PositionVector line1 = centerLine;
7171 : PositionVector line2 = centerLine;
7172 144636 : line1.move2side(MAX2(0.0, 0.3 * myType->getWidth() + offset));
7173 144636 : line2.move2side(MAX2(0.0, 0.5 * myType->getWidth() + offset));
7174 72318 : line2.scaleRelative(0.8);
7175 72318 : result.push_back(line1[0]);
7176 72318 : result.push_back(line2[0]);
7177 72318 : result.push_back(line2[1]);
7178 72318 : result.push_back(line1[1]);
7179 144636 : line1.move2side(MIN2(0.0, -0.6 * myType->getWidth() - offset));
7180 144636 : line2.move2side(MIN2(0.0, -1.0 * myType->getWidth() - offset));
7181 72318 : result.push_back(line1[1]);
7182 72318 : result.push_back(line2[1]);
7183 72318 : result.push_back(line2[0]);
7184 72318 : result.push_back(line1[0]);
7185 : return result;
7186 72318 : }
7187 484 : default:
7188 484 : return getBoundingBox();
7189 : }
7190 : }
7191 :
7192 :
7193 : bool
7194 561919 : MSVehicle::onFurtherEdge(const MSEdge* edge) const {
7195 647478 : for (std::vector<MSLane*>::const_iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
7196 179060 : if (&(*i)->getEdge() == edge) {
7197 : return true;
7198 : }
7199 : }
7200 : return false;
7201 : }
7202 :
7203 :
7204 : bool
7205 7465628184 : MSVehicle::isBidiOn(const MSLane* lane) const {
7206 7466747956 : return lane->getBidiLane() != nullptr && (
7207 1119772 : myLane == lane->getBidiLane()
7208 561919 : || onFurtherEdge(&lane->getBidiLane()->getEdge()));
7209 : }
7210 :
7211 :
7212 : bool
7213 20 : MSVehicle::rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg) {
7214 : // this function is based on MSTriggeredRerouter::rerouteParkingArea in order to keep
7215 : // consistency in the behaviour.
7216 :
7217 : // get vehicle params
7218 20 : MSParkingArea* destParkArea = getNextParkingArea();
7219 20 : const MSRoute& route = getRoute();
7220 20 : const MSEdge* lastEdge = route.getLastEdge();
7221 :
7222 20 : if (destParkArea == nullptr) {
7223 : // not driving towards a parking area
7224 0 : errorMsg = "Vehicle " + getID() + " is not driving to a parking area so it cannot be rerouted.";
7225 0 : return false;
7226 : }
7227 :
7228 : // if the current route ends at the parking area, the new route will also and at the new area
7229 20 : bool newDestination = (&destParkArea->getLane().getEdge() == route.getLastEdge()
7230 10 : && getArrivalPos() >= destParkArea->getBeginLanePosition()
7231 30 : && getArrivalPos() <= destParkArea->getEndLanePosition());
7232 :
7233 : // retrieve info on the new parking area
7234 20 : MSParkingArea* newParkingArea = (MSParkingArea*) MSNet::getInstance()->getStoppingPlace(
7235 : parkingAreaID, SumoXMLTag::SUMO_TAG_PARKING_AREA);
7236 :
7237 20 : if (newParkingArea == nullptr) {
7238 0 : errorMsg = "Parking area ID " + toString(parkingAreaID) + " not found in the network.";
7239 0 : return false;
7240 : }
7241 :
7242 20 : const MSEdge* newEdge = &(newParkingArea->getLane().getEdge());
7243 20 : SUMOAbstractRouter<MSEdge, SUMOVehicle>& router = getRouterTT();
7244 :
7245 : // Compute the route from the current edge to the parking area edge
7246 : ConstMSEdgeVector edgesToPark;
7247 20 : router.compute(getEdge(), getPositionOnLane(), newEdge, newParkingArea->getEndLanePosition(), this, MSNet::getInstance()->getCurrentTimeStep(), edgesToPark);
7248 :
7249 : // Compute the route from the parking area edge to the end of the route
7250 : ConstMSEdgeVector edgesFromPark;
7251 20 : if (!newDestination) {
7252 15 : router.compute(newEdge, lastEdge, this, MSNet::getInstance()->getCurrentTimeStep(), edgesFromPark);
7253 : } else {
7254 : // adapt plans of any riders
7255 10 : for (MSTransportable* p : getPersons()) {
7256 5 : p->rerouteParkingArea(getNextParkingArea(), newParkingArea);
7257 : }
7258 : }
7259 :
7260 : // we have a new destination, let's replace the vehicle route
7261 20 : ConstMSEdgeVector edges = edgesToPark;
7262 20 : if (edgesFromPark.size() > 0) {
7263 15 : edges.insert(edges.end(), edgesFromPark.begin() + 1, edgesFromPark.end());
7264 : }
7265 :
7266 20 : if (newDestination) {
7267 5 : SUMOVehicleParameter* newParameter = new SUMOVehicleParameter();
7268 5 : *newParameter = getParameter();
7269 5 : newParameter->arrivalPosProcedure = ArrivalPosDefinition::GIVEN;
7270 5 : newParameter->arrivalPos = newParkingArea->getEndLanePosition();
7271 5 : replaceParameter(newParameter);
7272 : }
7273 20 : const double routeCost = router.recomputeCosts(edges, this, MSNet::getInstance()->getCurrentTimeStep());
7274 20 : ConstMSEdgeVector prevEdges(myCurrEdge, myRoute->end());
7275 20 : const double savings = router.recomputeCosts(prevEdges, this, MSNet::getInstance()->getCurrentTimeStep());
7276 20 : if (replaceParkingArea(newParkingArea, errorMsg)) {
7277 20 : const bool onInit = myLane == nullptr;
7278 40 : replaceRouteEdges(edges, routeCost, savings, "TraCI:" + toString(SUMO_TAG_PARKING_AREA_REROUTE), onInit, false, false);
7279 : } else {
7280 0 : WRITE_WARNING("Vehicle '" + getID() + "' could not reroute to new parkingArea '" + newParkingArea->getID()
7281 : + "' reason=" + errorMsg + ", time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
7282 0 : return false;
7283 : }
7284 20 : return true;
7285 20 : }
7286 :
7287 :
7288 : bool
7289 46380 : MSVehicle::addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg) {
7290 46380 : const int numStops = (int)myStops.size();
7291 46380 : const bool result = MSBaseVehicle::addTraciStop(stop, errorMsg);
7292 46380 : if (myLane != nullptr && numStops != (int)myStops.size()) {
7293 44760 : updateBestLanes(true);
7294 : }
7295 46380 : return result;
7296 : }
7297 :
7298 :
7299 : bool
7300 3130 : MSVehicle::handleCollisionStop(MSStop& stop, const double distToStop) {
7301 3130 : if (myCurrEdge == stop.edge && distToStop + POSITION_EPS < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getMaxDecel(), 0)) {
7302 1431 : if (distToStop < getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)) {
7303 1001 : double vNew = getCarFollowModel().maximumSafeStopSpeed(distToStop, getCarFollowModel().getMaxDecel(), getSpeed(), false, 0);
7304 : //std::cout << SIMTIME << " veh=" << getID() << " v=" << myState.mySpeed << " distToStop=" << distToStop
7305 : // << " vMinNex=" << getCarFollowModel().minNextSpeed(getSpeed(), this)
7306 : // << " bg1=" << getCarFollowModel().brakeGap(myState.mySpeed)
7307 : // << " bg2=" << getCarFollowModel().brakeGap(myState.mySpeed, getCarFollowModel().getEmergencyDecel(), 0)
7308 : // << " vNew=" << vNew
7309 : // << "\n";
7310 1001 : myState.mySpeed = MIN2(myState.mySpeed, vNew + ACCEL2SPEED(getCarFollowModel().getEmergencyDecel()));
7311 1001 : myState.myPos = MIN2(myState.myPos, stop.pars.endPos);
7312 1001 : myCachedPosition = Position::INVALID;
7313 1001 : if (myState.myPos < myType->getLength()) {
7314 418 : computeFurtherLanes(myLane, myState.myPos, true);
7315 418 : myAngle = computeAngle();
7316 418 : if (myLaneChangeModel->isOpposite()) {
7317 0 : myAngle += M_PI;
7318 : }
7319 : }
7320 : }
7321 : }
7322 3130 : return true;
7323 : }
7324 :
7325 :
7326 : bool
7327 24369809 : MSVehicle::resumeFromStopping() {
7328 24369809 : if (isStopped()) {
7329 46424 : if (myAmRegisteredAsWaiting) {
7330 118 : MSNet::getInstance()->getVehicleControl().unregisterOneWaiting();
7331 118 : myAmRegisteredAsWaiting = false;
7332 : }
7333 : MSStop& stop = myStops.front();
7334 : // we have waited long enough and fulfilled any passenger-requirements
7335 46424 : if (stop.busstop != nullptr) {
7336 : // inform bus stop about leaving it
7337 17900 : stop.busstop->leaveFrom(this);
7338 : }
7339 : // we have waited long enough and fulfilled any container-requirements
7340 46424 : if (stop.containerstop != nullptr) {
7341 : // inform container stop about leaving it
7342 528 : stop.containerstop->leaveFrom(this);
7343 : }
7344 46424 : if (stop.parkingarea != nullptr && stop.getSpeed() <= 0) {
7345 : // inform parking area about leaving it
7346 7497 : stop.parkingarea->leaveFrom(this);
7347 : }
7348 46424 : if (stop.chargingStation != nullptr) {
7349 : // inform charging station about leaving it
7350 3506 : stop.chargingStation->leaveFrom(this);
7351 : }
7352 : // the current stop is no longer valid
7353 46424 : myLane->getEdge().removeWaiting(this);
7354 : // MSStopOut needs to know whether the stop had a loaded 'ended' value so we call this before replacing the value
7355 46424 : if (stop.pars.started == -1) {
7356 : // waypoint edge was passed in a single step
7357 317 : stop.pars.started = MSNet::getInstance()->getCurrentTimeStep();
7358 : }
7359 46424 : if (MSStopOut::active()) {
7360 3663 : MSStopOut::getInstance()->stopEnded(this, stop.pars, stop.lane->getID());
7361 : }
7362 46424 : stop.pars.ended = MSNet::getInstance()->getCurrentTimeStep();
7363 101904 : for (const auto& rem : myMoveReminders) {
7364 55480 : rem.first->notifyStopEnded();
7365 : }
7366 46424 : if (stop.pars.collision && MSLane::getCollisionAction() == MSLane::COLLISION_ACTION_WARN) {
7367 425 : myCollisionImmunity = TIME2STEPS(5); // leave the conflict area
7368 : }
7369 46424 : if (stop.pars.posLat != INVALID_DOUBLE && MSGlobals::gLateralResolution <= 0) {
7370 : // reset lateral position to default
7371 194 : myState.myPosLat = 0;
7372 : }
7373 46424 : myPastStops.push_back(stop.pars);
7374 46424 : myPastStops.back().routeIndex = (int)(stop.edge - myRoute->begin());
7375 46424 : myStops.pop_front();
7376 46424 : myStopDist = std::numeric_limits<double>::max();
7377 : // do not count the stopping time towards gridlock time.
7378 : // Other outputs use an independent counter and are not affected.
7379 46424 : myWaitingTime = 0;
7380 : // maybe the next stop is on the same edge; let's rebuild best lanes
7381 46424 : updateBestLanes(true);
7382 : // continue as wished...
7383 46424 : MSNet::getInstance()->informVehicleStateListener(this, MSNet::VehicleState::ENDING_STOP);
7384 46424 : MSNet::getInstance()->getVehicleControl().registerStopEnded();
7385 46424 : return true;
7386 : }
7387 : return false;
7388 : }
7389 :
7390 :
7391 : MSVehicle::Influencer&
7392 4558561 : MSVehicle::getInfluencer() {
7393 4558561 : if (myInfluencer == nullptr) {
7394 3530 : myInfluencer = new Influencer();
7395 : }
7396 4558561 : return *myInfluencer;
7397 : }
7398 :
7399 : MSVehicle::BaseInfluencer&
7400 24 : MSVehicle::getBaseInfluencer() {
7401 24 : return getInfluencer();
7402 : }
7403 :
7404 :
7405 : const MSVehicle::Influencer*
7406 0 : MSVehicle::getInfluencer() const {
7407 0 : return myInfluencer;
7408 : }
7409 :
7410 : const MSVehicle::BaseInfluencer*
7411 237449 : MSVehicle::getBaseInfluencer() const {
7412 237449 : return myInfluencer;
7413 : }
7414 :
7415 :
7416 : double
7417 4090 : MSVehicle::getSpeedWithoutTraciInfluence() const {
7418 4090 : if (myInfluencer != nullptr && myInfluencer->getOriginalSpeed() >= 0) {
7419 : // influencer original speed is -1 on initialization
7420 1666 : return myInfluencer->getOriginalSpeed();
7421 : }
7422 2424 : return myState.mySpeed;
7423 : }
7424 :
7425 :
7426 : int
7427 969990026 : MSVehicle::influenceChangeDecision(int state) {
7428 969990026 : if (hasInfluencer()) {
7429 2815542 : state = getInfluencer().influenceChangeDecision(
7430 : MSNet::getInstance()->getCurrentTimeStep(),
7431 2815542 : myLane->getEdge(),
7432 : getLaneIndex(),
7433 : state);
7434 : }
7435 969990026 : return state;
7436 : }
7437 :
7438 :
7439 : void
7440 7775 : MSVehicle::setRemoteState(Position xyPos) {
7441 7775 : myCachedPosition = xyPos;
7442 7775 : }
7443 :
7444 :
7445 : bool
7446 778116360 : MSVehicle::isRemoteControlled() const {
7447 778116360 : return myInfluencer != nullptr && myInfluencer->isRemoteControlled();
7448 : }
7449 :
7450 :
7451 : bool
7452 21149 : MSVehicle::wasRemoteControlled(SUMOTime lookBack) const {
7453 21149 : return myInfluencer != nullptr && myInfluencer->getLastAccessTimeStep() + lookBack >= MSNet::getInstance()->getCurrentTimeStep();
7454 : }
7455 :
7456 :
7457 : bool
7458 500674628 : MSVehicle::keepClear(const MSLink* link) const {
7459 500674628 : if (link->hasFoes() && link->keepClear() /* && item.myLink->willHaveBlockedFoe()*/) {
7460 155348281 : const double keepClearTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_KEEPCLEAR_TIME, -1);
7461 : //std::cout << SIMTIME << " veh=" << getID() << " keepClearTime=" << keepClearTime << " accWait=" << getAccumulatedWaitingSeconds() << " keepClear=" << (keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime) << "\n";
7462 156770464 : return keepClearTime < 0 || getAccumulatedWaitingSeconds() < keepClearTime;
7463 : } else {
7464 : return false;
7465 : }
7466 : }
7467 :
7468 :
7469 : bool
7470 701991179 : MSVehicle::ignoreRed(const MSLink* link, bool canBrake) const {
7471 701991179 : if ((myInfluencer != nullptr && !myInfluencer->getEmergencyBrakeRedLight())) {
7472 : return true;
7473 : }
7474 701683912 : const double ignoreRedTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME, -1);
7475 : #ifdef DEBUG_IGNORE_RED
7476 : if (DEBUG_COND) {
7477 : std::cout << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID() << " state=" << toString(link->getState()) << "\n";
7478 : }
7479 : #endif
7480 701683912 : if (ignoreRedTime < 0) {
7481 701678513 : const double ignoreYellowTime = getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_YELLOW_TIME, 0);
7482 701678513 : if (ignoreYellowTime > 0 && link->haveYellow()) {
7483 : assert(link->getTLLogic() != 0);
7484 52 : const double yellowDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7485 : // when activating ignoreYellow behavior, vehicles will drive if they cannot brake
7486 92 : return !canBrake || ignoreYellowTime > yellowDuration;
7487 : } else {
7488 : return false;
7489 : }
7490 5399 : } else if (link->haveYellow()) {
7491 : // always drive at yellow when ignoring red
7492 : return true;
7493 5243 : } else if (link->haveRed()) {
7494 : assert(link->getTLLogic() != 0);
7495 3832 : const double redDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
7496 : #ifdef DEBUG_IGNORE_RED
7497 : if (DEBUG_COND) {
7498 : std::cout
7499 : // << SIMTIME << " veh=" << getID() << " link=" << link->getViaLaneOrLane()->getID()
7500 : << " ignoreRedTime=" << ignoreRedTime
7501 : << " spentRed=" << redDuration
7502 : << " canBrake=" << canBrake << "\n";
7503 : }
7504 : #endif
7505 : // when activating ignoreRed behavior, vehicles will always drive if they cannot brake
7506 6356 : return !canBrake || ignoreRedTime > redDuration;
7507 : } else {
7508 : return false;
7509 : }
7510 : }
7511 :
7512 : bool
7513 1278274301 : MSVehicle::ignoreFoe(const SUMOTrafficObject* foe) const {
7514 1278274301 : if (!getParameter().wasSet(VEHPARS_CFMODEL_PARAMS_SET)) {
7515 : return false;
7516 : }
7517 2768 : for (const std::string& typeID : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_TYPES), "")).getVector()) {
7518 398 : if (typeID == foe->getVehicleType().getID()) {
7519 : return true;
7520 : }
7521 1384 : }
7522 2381 : for (const std::string& id : StringTokenizer(getParameter().getParameter(toString(SUMO_ATTR_CF_IGNORE_IDS), "")).getVector()) {
7523 986 : if (id == foe->getID()) {
7524 : return true;
7525 : }
7526 986 : }
7527 409 : return false;
7528 : }
7529 :
7530 : bool
7531 537322521 : MSVehicle::passingMinor() const {
7532 : // either on an internal lane that was entered via minor link
7533 : // or on approach to minor link below visibility distance
7534 537322521 : if (myLane == nullptr) {
7535 : return false;
7536 : }
7537 537322521 : if (myLane->getEdge().isInternal()) {
7538 10159912 : return !myLane->getIncomingLanes().front().viaLink->havePriority();
7539 527162609 : } else if (myLFLinkLanes.size() > 0 && myLFLinkLanes.front().myLink != nullptr) {
7540 : MSLink* link = myLFLinkLanes.front().myLink;
7541 270235137 : return !link->havePriority() && myLFLinkLanes.front().myDistance <= link->getFoeVisibilityDistance();
7542 : }
7543 : return false;
7544 : }
7545 :
7546 : bool
7547 20116911 : MSVehicle::isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const {
7548 : assert(link->fromInternalLane());
7549 20116911 : if (veh == nullptr) {
7550 : return false;
7551 : }
7552 20116911 : if (!myLane->isInternal() || myLane->getEdge().getToJunction() != link->getJunction()) {
7553 : // if this vehicle is not yet on the junction, every vehicle is a leader
7554 : return true;
7555 : }
7556 1816155 : if (veh->getLaneChangeModel().hasBlueLight()) {
7557 : // blue light device automatically gets right of way
7558 : return true;
7559 : }
7560 1815872 : const MSLane* foeLane = veh->getLane();
7561 1815872 : if (foeLane->isInternal()) {
7562 1350967 : if (foeLane->getEdge().getFromJunction() == link->getJunction()) {
7563 1334166 : SUMOTime egoET = myJunctionConflictEntryTime;
7564 1334166 : SUMOTime foeET = veh->myJunctionEntryTime;
7565 : // check relationship between link and foeLane
7566 1334166 : if (foeLane->getNormalPredecessorLane() == link->getInternalLaneBefore()->getNormalPredecessorLane()) {
7567 : // we are entering the junction from the same lane
7568 454421 : egoET = myJunctionEntryTimeNeverYield;
7569 454421 : foeET = veh->myJunctionEntryTimeNeverYield;
7570 454421 : if (link->isExitLinkAfterInternalJunction() && link->getInternalLaneBefore()->getLogicalPredecessorLane()->getEntryLink()->isIndirect()) {
7571 91633 : egoET = myJunctionConflictEntryTime;
7572 : }
7573 : } else {
7574 879745 : const MSLink* foeLink = foeLane->getIncomingLanes()[0].viaLink;
7575 879745 : const MSJunctionLogic* logic = link->getJunction()->getLogic();
7576 : assert(logic != nullptr);
7577 : // determine who has right of way
7578 : bool response; // ego response to foe
7579 : bool response2; // foe response to ego
7580 : // attempt 1: tlLinkState
7581 879745 : const MSLink* entry = link->getCorrespondingEntryLink();
7582 879745 : const MSLink* foeEntry = foeLink->getCorrespondingEntryLink();
7583 879745 : if (entry->haveRed() || foeEntry->haveRed()) {
7584 : // ensure that vehicles which are stuck on the intersection may exit
7585 115610 : if (!foeEntry->haveRed() && veh->getSpeed() > SUMO_const_haltingSpeed && gap < 0) {
7586 : // foe might be oncoming, don't drive unless foe can still brake safely
7587 11467 : const double foeNextSpeed = veh->getSpeed() + ACCEL2SPEED(veh->getCarFollowModel().getMaxAccel());
7588 11467 : const double foeBrakeGap = veh->getCarFollowModel().brakeGap(
7589 11467 : foeNextSpeed, veh->getCarFollowModel().getMaxDecel(), veh->getCarFollowModel().getHeadwayTime());
7590 : // the minGap was subtracted from gap in MSLink::getLeaderInfo (enlarging the negative gap)
7591 : // so the -2* makes it point in the right direction
7592 11467 : const double foeGap = -gap - veh->getLength() - 2 * getVehicleType().getMinGap();
7593 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7594 : if (DEBUG_COND) {
7595 : std::cout << " foeGap=" << foeGap << " foeBGap=" << foeBrakeGap << "\n";
7596 :
7597 : }
7598 : #endif
7599 11467 : if (foeGap < foeBrakeGap) {
7600 : response = true;
7601 : response2 = false;
7602 : } else {
7603 : response = false;
7604 : response2 = true;
7605 : }
7606 : } else {
7607 : // let conflict entry time decide
7608 : response = true;
7609 : response2 = true;
7610 : }
7611 764135 : } else if (entry->havePriority() != foeEntry->havePriority()) {
7612 560219 : response = !entry->havePriority();
7613 560219 : response2 = !foeEntry->havePriority();
7614 203916 : } else if (entry->haveYellow() && foeEntry->haveYellow()) {
7615 : // let the faster vehicle keep moving
7616 5153 : response = veh->getSpeed() >= getSpeed();
7617 5153 : response2 = getSpeed() >= veh->getSpeed();
7618 : } else {
7619 : // fallback if pedestrian crossings are involved
7620 198763 : response = logic->getResponseFor(link->getIndex()).test(foeLink->getIndex());
7621 198763 : response2 = logic->getResponseFor(foeLink->getIndex()).test(link->getIndex());
7622 : }
7623 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7624 : if (DEBUG_COND) {
7625 : std::cout << SIMTIME
7626 : << " foeLane=" << foeLane->getID()
7627 : << " foeLink=" << foeLink->getViaLaneOrLane()->getID()
7628 : << " linkIndex=" << link->getIndex()
7629 : << " foeLinkIndex=" << foeLink->getIndex()
7630 : << " entryState=" << toString(entry->getState())
7631 : << " entryState2=" << toString(foeEntry->getState())
7632 : << " response=" << response
7633 : << " response2=" << response2
7634 : << "\n";
7635 : }
7636 : #endif
7637 879745 : if (!response) {
7638 : // if we have right of way over the foe, entryTime does not matter
7639 77668 : foeET = veh->myJunctionConflictEntryTime;
7640 77668 : egoET = myJunctionEntryTime;
7641 802077 : } else if (response && response2) {
7642 : // in a mutual conflict scenario, use entry time to avoid deadlock
7643 127385 : foeET = veh->myJunctionConflictEntryTime;
7644 127385 : egoET = myJunctionConflictEntryTime;
7645 : }
7646 : }
7647 1334166 : if (egoET == foeET) {
7648 : // try to use speed as tie braker
7649 106210 : if (getSpeed() == veh->getSpeed()) {
7650 : // use ID as tie braker
7651 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7652 : if (DEBUG_COND) {
7653 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7654 : << " foeIsLeaderByID=" << (getID() < veh->getID()) << "\n";
7655 : }
7656 : #endif
7657 57319 : return getID() < veh->getID();
7658 : } else {
7659 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7660 : if (DEBUG_COND) {
7661 : std::cout << SIMTIME << " veh=" << getID() << " equal ET " << egoET << " with foe " << veh->getID()
7662 : << " foeIsLeaderBySpeed=" << (getSpeed() < veh->getSpeed())
7663 : << " v=" << getSpeed() << " foeV=" << veh->getSpeed()
7664 : << "\n";
7665 : }
7666 : #endif
7667 48891 : return getSpeed() < veh->getSpeed();
7668 : }
7669 : } else {
7670 : // leader was on the junction first
7671 : #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7672 : if (DEBUG_COND) {
7673 : std::cout << SIMTIME << " veh=" << getID() << " egoET " << egoET << " with foe " << veh->getID()
7674 : << " foeET=" << foeET << " isLeader=" << (egoET > foeET) << "\n";
7675 : }
7676 : #endif
7677 1227956 : return egoET > foeET;
7678 : }
7679 : } else {
7680 : // vehicle can only be partially on the junction. Must be a leader
7681 : return true;
7682 : }
7683 : } else {
7684 : // vehicle can only be partially on the junction. Must be a leader
7685 : return true;
7686 : }
7687 : }
7688 :
7689 : void
7690 2477 : MSVehicle::saveState(OutputDevice& out) {
7691 2477 : MSBaseVehicle::saveState(out);
7692 : // here starts the vehicle internal part (see loading)
7693 : std::vector<std::string> internals;
7694 2477 : internals.push_back(toString(myParameter->parametersSet));
7695 2477 : internals.push_back(toString(myDeparture));
7696 2477 : internals.push_back(toString(distance(myRoute->begin(), myCurrEdge)));
7697 2477 : internals.push_back(toString(myDepartPos));
7698 2477 : internals.push_back(toString(myWaitingTime));
7699 2477 : internals.push_back(toString(myTimeLoss));
7700 2477 : internals.push_back(toString(myLastActionTime));
7701 2477 : internals.push_back(toString(isStopped()));
7702 2477 : internals.push_back(toString(myPastStops.size()));
7703 2477 : out.writeAttr(SUMO_ATTR_STATE, internals);
7704 2477 : out.writeAttr(SUMO_ATTR_POSITION, std::vector<double> { myState.myPos, myState.myBackPos, myState.myLastCoveredDist });
7705 2477 : out.writeAttr(SUMO_ATTR_SPEED, std::vector<double> { myState.mySpeed, myState.myPreviousSpeed });
7706 2477 : out.writeAttr(SUMO_ATTR_ANGLE, GeomHelper::naviDegree(myAngle));
7707 2477 : out.writeAttr(SUMO_ATTR_POSITION_LAT, myState.myPosLat);
7708 2477 : out.writeAttr(SUMO_ATTR_WAITINGTIME, myWaitingTimeCollector.getState());
7709 2477 : myLaneChangeModel->saveState(out);
7710 : // save past stops
7711 5404 : for (SUMOVehicleParameter::Stop stop : myPastStops) {
7712 2927 : stop.write(out, false);
7713 : // do not write started and ended twice
7714 2927 : if ((stop.parametersSet & STOP_STARTED_SET) == 0) {
7715 5844 : out.writeAttr(SUMO_ATTR_STARTED, time2string(stop.started));
7716 : }
7717 2927 : if ((stop.parametersSet & STOP_ENDED_SET) == 0) {
7718 5844 : out.writeAttr(SUMO_ATTR_ENDED, time2string(stop.ended));
7719 : }
7720 2927 : stop.writeParams(out);
7721 2927 : out.closeTag();
7722 2927 : }
7723 : // save upcoming stops
7724 2939 : for (MSStop& stop : myStops) {
7725 462 : stop.write(out);
7726 : }
7727 : // save parameters and device states
7728 2477 : myParameter->writeParams(out);
7729 6255 : for (MSVehicleDevice* const dev : myDevices) {
7730 3778 : dev->saveState(out);
7731 : }
7732 2477 : out.closeTag();
7733 2477 : }
7734 :
7735 : void
7736 4160 : MSVehicle::loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset) {
7737 4160 : if (!attrs.hasAttribute(SUMO_ATTR_POSITION)) {
7738 0 : throw ProcessError(TL("Error: Invalid vehicles in state (may be a meso state)!"));
7739 : }
7740 : int routeOffset;
7741 : bool stopped;
7742 : int pastStops;
7743 :
7744 4160 : std::istringstream bis(attrs.getString(SUMO_ATTR_STATE));
7745 4160 : bis >> myParameter->parametersSet;
7746 4160 : bis >> myDeparture;
7747 4160 : bis >> routeOffset;
7748 4160 : bis >> myDepartPos;
7749 4160 : bis >> myWaitingTime;
7750 4160 : bis >> myTimeLoss;
7751 4160 : bis >> myLastActionTime;
7752 : bis >> stopped;
7753 4160 : bis >> pastStops;
7754 :
7755 4160 : if (attrs.hasAttribute(SUMO_ATTR_ARRIVALPOS_RANDOMIZED)) {
7756 : bool ok;
7757 4 : myArrivalPos = attrs.get<double>(SUMO_ATTR_ARRIVALPOS_RANDOMIZED, getID().c_str(), ok);
7758 : }
7759 : // load stops
7760 : myStops.clear();
7761 4160 : addStops(!MSGlobals::gCheckRoutes, &myCurrEdge, false);
7762 :
7763 4160 : if (hasDeparted()) {
7764 1784 : myCurrEdge = myRoute->begin() + routeOffset;
7765 1784 : myDeparture -= offset;
7766 : // fix stops
7767 4685 : while (pastStops > 0) {
7768 2901 : myPastStops.push_back(myStops.front().pars);
7769 2901 : myPastStops.back().routeIndex = (int)(myStops.front().edge - myRoute->begin());
7770 2901 : myStops.pop_front();
7771 2901 : pastStops--;
7772 : }
7773 : // see MSBaseVehicle constructor
7774 1784 : if (myParameter->wasSet(VEHPARS_FORCE_REROUTE)) {
7775 1385 : calculateArrivalParams(true);
7776 : }
7777 : // a (tentative lane is needed for calling hasArrivedInternal
7778 1784 : myLane = (*myCurrEdge)->getLanes()[0];
7779 : }
7780 4160 : if (getActionStepLength() == DELTA_T && !isActionStep(SIMSTEP)) {
7781 1 : myLastActionTime -= (myLastActionTime - SIMSTEP) % DELTA_T;
7782 3 : WRITE_WARNINGF(TL("Action steps are out of sync for loaded vehicle '%'."), getID());
7783 : }
7784 4160 : std::istringstream pis(attrs.getString(SUMO_ATTR_POSITION));
7785 4160 : pis >> myState.myPos >> myState.myBackPos >> myState.myLastCoveredDist;
7786 4160 : std::istringstream sis(attrs.getString(SUMO_ATTR_SPEED));
7787 4160 : sis >> myState.mySpeed >> myState.myPreviousSpeed;
7788 4160 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7789 4160 : myAngle = GeomHelper::fromNaviDegree(attrs.getFloat(SUMO_ATTR_ANGLE));
7790 4160 : myState.myPosLat = attrs.getFloat(SUMO_ATTR_POSITION_LAT);
7791 4160 : std::istringstream dis(attrs.getString(SUMO_ATTR_DISTANCE));
7792 4160 : dis >> myOdometer >> myNumberReroutes;
7793 4160 : myWaitingTimeCollector.setState(attrs.getString(SUMO_ATTR_WAITINGTIME));
7794 4160 : if (stopped) {
7795 216 : myStops.front().startedFromState = true;
7796 216 : myStopDist = 0;
7797 : }
7798 4160 : myLaneChangeModel->loadState(attrs);
7799 : // no need to reset myCachedPosition here since state loading happens directly after creation
7800 4160 : }
7801 :
7802 : void
7803 37 : MSVehicle::loadPreviousApproaching(MSLink* link, bool setRequest,
7804 : SUMOTime arrivalTime, double arrivalSpeed,
7805 : double arrivalSpeedBraking,
7806 : double dist, double leaveSpeed) {
7807 : // ensure that approach information is reset on the next call to setApproachingForAllLinks
7808 37 : myLFLinkLanes.push_back(DriveProcessItem(link, 0, 0, setRequest,
7809 : arrivalTime, arrivalSpeed, arrivalSpeedBraking, dist, leaveSpeed));
7810 :
7811 37 : }
7812 :
7813 :
7814 : std::shared_ptr<MSSimpleDriverState>
7815 2436121 : MSVehicle::getDriverState() const {
7816 2436121 : return myDriverState->getDriverState();
7817 : }
7818 :
7819 :
7820 : double
7821 609580216 : MSVehicle::getFriction() const {
7822 609580216 : return myFrictionDevice == nullptr ? 1. : myFrictionDevice->getMeasuredFriction();
7823 : }
7824 :
7825 :
7826 : void
7827 241 : MSVehicle::setPreviousSpeed(double prevSpeed, double prevAcceleration) {
7828 241 : myState.mySpeed = MAX2(0., prevSpeed);
7829 : // also retcon acceleration
7830 241 : if (prevAcceleration != std::numeric_limits<double>::min()) {
7831 8 : myAcceleration = prevAcceleration;
7832 : } else {
7833 233 : myAcceleration = SPEED2ACCEL(myState.mySpeed - myState.myPreviousSpeed);
7834 : }
7835 241 : }
7836 :
7837 :
7838 : double
7839 1819744671 : MSVehicle::getCurrentApparentDecel() const {
7840 : //return MAX2(-myAcceleration, getCarFollowModel().getApparentDecel());
7841 1819744671 : return getCarFollowModel().getApparentDecel();
7842 : }
7843 :
7844 : /****************************************************************************/
7845 : bool
7846 32 : MSVehicle::setExitManoeuvre() {
7847 32 : return (myManoeuvre.configureExitManoeuvre(this));
7848 : }
7849 :
7850 : /* -------------------------------------------------------------------------
7851 : * methods of MSVehicle::manoeuvre
7852 : * ----------------------------------------------------------------------- */
7853 :
7854 4586388 : MSVehicle::Manoeuvre::Manoeuvre() : myManoeuvreStop(""), myManoeuvreStartTime(0), myManoeuvreCompleteTime(0), myManoeuvreType(MSVehicle::MANOEUVRE_NONE), myGUIIncrement(0) {}
7855 :
7856 :
7857 0 : MSVehicle::Manoeuvre::Manoeuvre(const Manoeuvre& manoeuvre) {
7858 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
7859 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
7860 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
7861 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
7862 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
7863 0 : }
7864 :
7865 :
7866 : MSVehicle::Manoeuvre&
7867 0 : MSVehicle::Manoeuvre::operator=(const Manoeuvre& manoeuvre) {
7868 0 : myManoeuvreStop = manoeuvre.myManoeuvreStop;
7869 0 : myManoeuvreStartTime = manoeuvre.myManoeuvreStartTime;
7870 0 : myManoeuvreCompleteTime = manoeuvre.myManoeuvreCompleteTime;
7871 0 : myManoeuvreType = manoeuvre.myManoeuvreType;
7872 0 : myGUIIncrement = manoeuvre.myGUIIncrement;
7873 0 : return *this;
7874 : }
7875 :
7876 :
7877 : bool
7878 0 : MSVehicle::Manoeuvre::operator!=(const Manoeuvre& manoeuvre) {
7879 0 : return (myManoeuvreStop != manoeuvre.myManoeuvreStop ||
7880 0 : myManoeuvreStartTime != manoeuvre.myManoeuvreStartTime ||
7881 0 : myManoeuvreCompleteTime != manoeuvre.myManoeuvreCompleteTime ||
7882 0 : myManoeuvreType != manoeuvre.myManoeuvreType ||
7883 0 : myGUIIncrement != manoeuvre.myGUIIncrement
7884 0 : );
7885 : }
7886 :
7887 :
7888 : double
7889 450 : MSVehicle::Manoeuvre::getGUIIncrement() const {
7890 450 : return (myGUIIncrement);
7891 : }
7892 :
7893 :
7894 : MSVehicle::ManoeuvreType
7895 2971 : MSVehicle::Manoeuvre::getManoeuvreType() const {
7896 2971 : return (myManoeuvreType);
7897 : }
7898 :
7899 :
7900 : MSVehicle::ManoeuvreType
7901 2971 : MSVehicle::getManoeuvreType() const {
7902 2971 : return (myManoeuvre.getManoeuvreType());
7903 : }
7904 :
7905 :
7906 : void
7907 30 : MSVehicle::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
7908 30 : myManoeuvre.setManoeuvreType(mType);
7909 30 : }
7910 :
7911 :
7912 : void
7913 30 : MSVehicle::Manoeuvre::setManoeuvreType(const MSVehicle::ManoeuvreType mType) {
7914 30 : myManoeuvreType = mType;
7915 30 : }
7916 :
7917 :
7918 : bool
7919 30 : MSVehicle::Manoeuvre::configureEntryManoeuvre(MSVehicle* veh) {
7920 30 : if (!veh->hasStops()) {
7921 : return false; // should never happen - checked before call
7922 : }
7923 :
7924 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
7925 30 : const MSStop& stop = veh->getNextStop();
7926 :
7927 30 : int manoeuverAngle = stop.parkingarea->getLastFreeLotAngle();
7928 30 : double GUIAngle = stop.parkingarea->getLastFreeLotGUIAngle();
7929 30 : if (abs(GUIAngle) < 0.1) {
7930 : GUIAngle = -0.1; // Wiggle vehicle on parallel entry
7931 : }
7932 30 : myManoeuvreVehicleID = veh->getID();
7933 30 : myManoeuvreStop = stop.parkingarea->getID();
7934 30 : myManoeuvreType = MSVehicle::MANOEUVRE_ENTRY;
7935 30 : myManoeuvreStartTime = currentTime;
7936 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getEntryManoeuvreTime(manoeuverAngle);
7937 30 : myGUIIncrement = GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
7938 :
7939 : #ifdef DEBUG_STOPS
7940 : if (veh->isSelected()) {
7941 : 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 <<
7942 : " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
7943 : }
7944 : #endif
7945 :
7946 30 : return (true);
7947 : }
7948 :
7949 :
7950 : bool
7951 32 : MSVehicle::Manoeuvre::configureExitManoeuvre(MSVehicle* veh) {
7952 : // At the moment we only want to set for parking areas
7953 32 : if (!veh->hasStops()) {
7954 : return true;
7955 : }
7956 32 : if (veh->getNextStop().parkingarea == nullptr) {
7957 : return true;
7958 : }
7959 :
7960 30 : if (myManoeuvreType != MSVehicle::MANOEUVRE_NONE) {
7961 : return (false);
7962 : }
7963 :
7964 30 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
7965 :
7966 30 : int manoeuverAngle = veh->getCurrentParkingArea()->getManoeuverAngle(*veh);
7967 30 : double GUIAngle = veh->getCurrentParkingArea()->getGUIAngle(*veh);
7968 30 : if (abs(GUIAngle) < 0.1) {
7969 : GUIAngle = 0.1; // Wiggle vehicle on parallel exit
7970 : }
7971 :
7972 30 : myManoeuvreVehicleID = veh->getID();
7973 30 : myManoeuvreStop = veh->getCurrentParkingArea()->getID();
7974 30 : myManoeuvreType = MSVehicle::MANOEUVRE_EXIT;
7975 30 : myManoeuvreStartTime = currentTime;
7976 30 : myManoeuvreCompleteTime = currentTime + veh->myType->getExitManoeuvreTime(manoeuverAngle);
7977 30 : myGUIIncrement = -GUIAngle / (STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) / TS);
7978 30 : if (veh->remainingStopDuration() > 0) {
7979 20 : myManoeuvreCompleteTime += veh->remainingStopDuration();
7980 : }
7981 :
7982 : #ifdef DEBUG_STOPS
7983 : if (veh->isSelected()) {
7984 : std::cout << "EXIT manoeuvre start: vehicle=" << veh->getID() << " Manoeuvre Angle=" << manoeuverAngle << " increment=" << RAD2DEG(myGUIIncrement) << " currentTime=" << currentTime
7985 : << " endTime=" << myManoeuvreCompleteTime << " manoeuvre time=" << myManoeuvreCompleteTime - currentTime << " parkArea=" << myManoeuvreStop << std::endl;
7986 : }
7987 : #endif
7988 :
7989 : return (true);
7990 : }
7991 :
7992 :
7993 : bool
7994 222 : MSVehicle::Manoeuvre::entryManoeuvreIsComplete(MSVehicle* veh) {
7995 : // At the moment we only want to consider parking areas - need to check because we could be setting up a manoeuvre
7996 222 : if (!veh->hasStops()) {
7997 : return (true);
7998 : }
7999 : MSStop* currentStop = &veh->myStops.front();
8000 222 : if (currentStop->parkingarea == nullptr) {
8001 : return true;
8002 220 : } else if (currentStop->parkingarea->getID() != myManoeuvreStop || MSVehicle::MANOEUVRE_ENTRY != myManoeuvreType) {
8003 30 : if (configureEntryManoeuvre(veh)) {
8004 30 : MSNet::getInstance()->informVehicleStateListener(veh, MSNet::VehicleState::MANEUVERING);
8005 30 : return (false);
8006 : } else { // cannot configure entry so stop trying
8007 : return true;
8008 : }
8009 190 : } else if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8010 : return false;
8011 : } else { // manoeuvre complete
8012 30 : myManoeuvreType = MSVehicle::MANOEUVRE_NONE;
8013 30 : return true;
8014 : }
8015 : }
8016 :
8017 :
8018 : bool
8019 0 : MSVehicle::Manoeuvre::manoeuvreIsComplete(const ManoeuvreType checkType) const {
8020 0 : if (checkType != myManoeuvreType) {
8021 : return true; // we're not maneuvering / wrong manoeuvre
8022 : }
8023 :
8024 0 : if (MSNet::getInstance()->getCurrentTimeStep() < myManoeuvreCompleteTime) {
8025 : return false;
8026 : } else {
8027 : return true;
8028 : }
8029 : }
8030 :
8031 :
8032 : bool
8033 6266 : MSVehicle::Manoeuvre::manoeuvreIsComplete() const {
8034 6266 : return (MSNet::getInstance()->getCurrentTimeStep() >= myManoeuvreCompleteTime);
8035 : }
8036 :
8037 :
8038 : bool
8039 6266 : MSVehicle::manoeuvreIsComplete() const {
8040 6266 : return (myManoeuvre.manoeuvreIsComplete());
8041 : }
8042 :
8043 :
8044 : std::pair<double, double>
8045 7058 : MSVehicle::estimateTimeToNextStop() const {
8046 7058 : if (hasStops()) {
8047 7058 : MSLane* lane = myLane;
8048 7058 : if (lane == nullptr) {
8049 : // not in network
8050 84 : lane = getEdge()->getLanes()[0];
8051 : }
8052 : const MSStop& stop = myStops.front();
8053 : auto it = myCurrEdge + 1;
8054 : // drive to end of current edge
8055 7058 : double dist = (lane->getLength() - getPositionOnLane());
8056 7058 : double travelTime = lane->getEdge().getMinimumTravelTime(this) * dist / lane->getLength();
8057 : // drive until stop edge
8058 8414 : while (it != myRoute->end() && it < stop.edge) {
8059 1356 : travelTime += (*it)->getMinimumTravelTime(this);
8060 1356 : dist += (*it)->getLength();
8061 : it++;
8062 : }
8063 : // drive up to the stop position
8064 7058 : const double stopEdgeDist = stop.pars.endPos - (lane == stop.lane ? lane->getLength() : 0);
8065 7058 : dist += stopEdgeDist;
8066 7058 : travelTime += stop.lane->getEdge().getMinimumTravelTime(this) * (stopEdgeDist / stop.lane->getLength());
8067 : // estimate time loss due to acceleration and deceleration
8068 : // maximum speed is limited by available distance:
8069 : const double a = getCarFollowModel().getMaxAccel();
8070 : const double b = getCarFollowModel().getMaxDecel();
8071 7058 : const double c = getSpeed();
8072 : const double d = dist;
8073 7058 : const double len = getVehicleType().getLength();
8074 7058 : const double vs = MIN2(MAX2(stop.getSpeed(), 0.0), stop.lane->getVehicleMaxSpeed(this));
8075 : // distAccel = (v - c)^2 / (2a)
8076 : // distDecel = (v + vs)*(v - vs) / 2b = (v^2 - vs^2) / (2b)
8077 : // distAccel + distDecel < d
8078 7058 : const double maxVD = MAX2(c, ((sqrt(MAX2(0.0, pow(2 * c * b, 2) + (4 * ((b * ((a * (2 * d * (b + a) + (vs * vs) - (c * c))) - (b * (c * c))))
8079 13848 : + pow((a * vs), 2))))) * 0.5) + (c * b)) / (b + a));
8080 7058 : it = myCurrEdge;
8081 : double v0 = c;
8082 7058 : bool v0Stable = getAcceleration() == 0 && v0 > 0;
8083 : double timeLossAccel = 0;
8084 : double timeLossDecel = 0;
8085 : double timeLossLength = 0;
8086 16848 : while (it != myRoute->end() && it <= stop.edge) {
8087 9790 : double v = MIN2(maxVD, (*it)->getVehicleMaxSpeed(this));
8088 9790 : double edgeLength = (it == stop.edge ? stop.pars.endPos : (*it)->getLength()) - (it == myCurrEdge ? getPositionOnLane() : 0);
8089 9790 : if (edgeLength <= len && v0Stable && v0 < v) {
8090 : const double lengthDist = MIN2(len, edgeLength);
8091 20 : const double dTL = lengthDist / v0 - lengthDist / v;
8092 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " el=" << edgeLength << " lDist=" << lengthDist << " newTLL=" << dTL<< "\n";
8093 20 : timeLossLength += dTL;
8094 : }
8095 9790 : if (edgeLength > len) {
8096 8698 : const double dv = v - v0;
8097 8698 : if (dv > 0) {
8098 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8099 6350 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8100 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8101 6350 : timeLossAccel += dTA;
8102 : // time loss from vehicle length
8103 2348 : } else if (dv < 0) {
8104 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8105 540 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8106 : //std::cout << " e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8107 540 : timeLossDecel += dTD;
8108 : }
8109 : v0 = v;
8110 : v0Stable = true;
8111 : }
8112 : it++;
8113 : }
8114 : // final deceleration to stop (may also be acceleration or deceleration to waypoint speed)
8115 : double v = vs;
8116 7058 : const double dv = v - v0;
8117 7058 : if (dv > 0) {
8118 : // timeLossAccel = timeAccel - timeMaxspeed = dv / a - distAccel / v
8119 144 : const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
8120 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLA=" << dTA << "\n";
8121 144 : timeLossAccel += dTA;
8122 : // time loss from vehicle length
8123 6914 : } else if (dv < 0) {
8124 : // timeLossDecel = timeDecel - timeMaxspeed = dv / b - distDecel / v
8125 6890 : const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
8126 : //std::cout << " final e=" << (*it)->getID() << " v0=" << v0 << " v=" << v << " newTLD=" << dTD << "\n";
8127 6890 : timeLossDecel += dTD;
8128 : }
8129 7058 : const double result = travelTime + timeLossAccel + timeLossDecel + timeLossLength;
8130 : //std::cout << SIMTIME << " v=" << c << " a=" << a << " b=" << b << " maxVD=" << maxVD << " tt=" << travelTime
8131 : // << " ta=" << timeLossAccel << " td=" << timeLossDecel << " tl=" << timeLossLength << " res=" << result << "\n";
8132 7058 : return {MAX2(0.0, result), dist};
8133 : } else {
8134 0 : return {INVALID_DOUBLE, INVALID_DOUBLE};
8135 : }
8136 : }
8137 :
8138 :
8139 : double
8140 1675 : MSVehicle::getStopDelay() const {
8141 1675 : if (hasStops() && myStops.front().pars.until >= 0) {
8142 : const MSStop& stop = myStops.front();
8143 1392 : SUMOTime estimatedDepart = MSNet::getInstance()->getCurrentTimeStep() - DELTA_T;
8144 1392 : if (stop.reached) {
8145 732 : return STEPS2TIME(estimatedDepart + stop.duration - stop.pars.until);
8146 : }
8147 660 : if (stop.pars.duration > 0) {
8148 588 : estimatedDepart += stop.pars.duration;
8149 : }
8150 660 : estimatedDepart += TIME2STEPS(estimateTimeToNextStop().first);
8151 660 : const double result = MAX2(0.0, STEPS2TIME(estimatedDepart - stop.pars.until));
8152 660 : return result;
8153 : } else {
8154 : // vehicles cannot drive before 'until' so stop delay can never be
8155 : // negative and we can use -1 to signal "undefined"
8156 : return -1;
8157 : }
8158 : }
8159 :
8160 :
8161 : double
8162 5430 : MSVehicle::getStopArrivalDelay() const {
8163 5430 : if (hasStops() && myStops.front().pars.arrival >= 0) {
8164 : const MSStop& stop = myStops.front();
8165 4252 : if (stop.reached) {
8166 1304 : return STEPS2TIME(stop.pars.started - stop.pars.arrival);
8167 : } else {
8168 2948 : return STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep()) + estimateTimeToNextStop().first - STEPS2TIME(stop.pars.arrival);
8169 : }
8170 : } else {
8171 : // vehicles can arrival earlier than planned so arrival delay can be negative
8172 : return INVALID_DOUBLE;
8173 : }
8174 : }
8175 :
8176 :
8177 : const MSEdge*
8178 3019160903 : MSVehicle::getCurrentEdge() const {
8179 3019160903 : return myLane != nullptr ? &myLane->getEdge() : getEdge();
8180 : }
8181 :
8182 :
8183 : const MSEdge*
8184 3896 : MSVehicle::getNextEdgePtr() const {
8185 3896 : if (myLane == nullptr || (myCurrEdge + 1) == myRoute->end()) {
8186 8 : return nullptr;
8187 : }
8188 3888 : if (myLane->isInternal()) {
8189 568 : return &myLane->getCanonicalSuccessorLane()->getEdge();
8190 : } else {
8191 3320 : const MSEdge* nextNormal = succEdge(1);
8192 3320 : const MSEdge* nextInternal = myLane->getEdge().getInternalFollowingEdge(nextNormal, getVClass());
8193 3320 : return nextInternal ? nextInternal : nextNormal;
8194 : }
8195 : }
8196 :
8197 :
8198 : const MSLane*
8199 1601 : MSVehicle::getPreviousLane(const MSLane* current, int& furtherIndex) const {
8200 1601 : if (furtherIndex < (int)myFurtherLanes.size()) {
8201 1224 : return myFurtherLanes[furtherIndex++];
8202 : } else {
8203 : // try to use route information
8204 377 : int routeIndex = getRoutePosition();
8205 : bool resultInternal;
8206 377 : if (MSGlobals::gUsingInternalLanes && MSNet::getInstance()->hasInternalLinks()) {
8207 0 : if (myLane->isInternal()) {
8208 0 : if (furtherIndex % 2 == 0) {
8209 0 : routeIndex -= (furtherIndex + 0) / 2;
8210 : resultInternal = false;
8211 : } else {
8212 0 : routeIndex -= (furtherIndex + 1) / 2;
8213 : resultInternal = false;
8214 : }
8215 : } else {
8216 0 : if (furtherIndex % 2 != 0) {
8217 0 : routeIndex -= (furtherIndex + 1) / 2;
8218 : resultInternal = false;
8219 : } else {
8220 0 : routeIndex -= (furtherIndex + 2) / 2;
8221 : resultInternal = true;
8222 : }
8223 : }
8224 : } else {
8225 377 : routeIndex -= furtherIndex;
8226 : resultInternal = false;
8227 : }
8228 377 : furtherIndex++;
8229 377 : if (routeIndex >= 0) {
8230 163 : if (resultInternal) {
8231 0 : const MSEdge* prevNormal = myRoute->getEdges()[routeIndex];
8232 0 : for (MSLane* cand : prevNormal->getLanes()) {
8233 0 : for (MSLink* link : cand->getLinkCont()) {
8234 0 : if (link->getLane() == current) {
8235 0 : if (link->getViaLane() != nullptr) {
8236 : return link->getViaLane();
8237 : } else {
8238 0 : return const_cast<MSLane*>(link->getLaneBefore());
8239 : }
8240 : }
8241 : }
8242 : }
8243 : } else {
8244 163 : return myRoute->getEdges()[routeIndex]->getLanes()[0];
8245 : }
8246 : }
8247 : }
8248 : return current;
8249 : }
8250 :
8251 : SUMOTime
8252 1476129827 : MSVehicle::getWaitingTimeFor(const MSLink* link) const {
8253 : // this vehicle currently has the highest priority on the allway_stop
8254 1476129827 : return link == myHaveStoppedFor ? SUMOTime_MAX : getWaitingTime();
8255 : }
8256 :
8257 :
8258 : void
8259 655 : MSVehicle::resetApproachOnReroute() {
8260 : bool diverged = false;
8261 : const ConstMSEdgeVector& route = myRoute->getEdges();
8262 655 : int ri = getRoutePosition();
8263 2890 : for (const DriveProcessItem& dpi : myLFLinkLanes) {
8264 2235 : if (dpi.myLink != nullptr) {
8265 2232 : if (!diverged) {
8266 1999 : const MSEdge* next = route[ri + 1];
8267 1999 : if (&dpi.myLink->getLane()->getEdge() != next) {
8268 : diverged = true;
8269 : } else {
8270 1933 : if (dpi.myLink->getViaLane() == nullptr) {
8271 : ri++;
8272 : }
8273 : }
8274 : }
8275 : if (diverged) {
8276 299 : dpi.myLink->removeApproaching(this);
8277 : }
8278 : }
8279 : }
8280 655 : }
8281 :
8282 : /****************************************************************************/
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