NEMAController.cpp

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2001-2026 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// An actuated NEMA-phase-compliant traffic light logic
/****************************************************************************/
#include <config.h>
 
#include <cassert>
#include <utility>
#include <vector>
#include <bitset>
#include <sstream>
#include <iostream>
#include <utils/common/FileHelpers.h>
#include <utils/common/StringUtils.h>
#include <utils/common/StringTokenizer.h>
#include <microsim/MSEventControl.h>
#include <microsim/MSGlobals.h>
#include <microsim/MSNet.h>
#include <microsim/MSLane.h>
#include <microsim/MSEdge.h>
#include <microsim/output/MSDetectorControl.h>
#include <microsim/output/MSE2Collector.h>
#include <microsim/output/MSInductLoop.h>
#include <netload/NLDetectorBuilder.h>
#include "NEMAController.h"
 
 
// ===========================================================================
// parameter defaults definitions
// ===========================================================================
#define INVALID_POSITION std::numeric_limits<double>::max() // tl added
 
// #define DEBUG_NEMA
// #define FUZZ_TESTING
// #define DEBUG_NEMA_SWITCH
 
// ===========================================================================
// method definitions
// ===========================================================================
NEMALogic::NEMALogic(MSTLLogicControl& tlcontrol,
                     const std::string& id, const std::string& programID,
                     const SUMOTime _offset,
                     const Phases& phases,
                     int step, SUMOTime delay,
                     const std::map<std::string, std::string>& parameter,
                     const std::string& basePath) :
    MSSimpleTrafficLightLogic(tlcontrol, id, programID, _offset, TrafficLightType::NEMA, phases, step, delay, parameter),
    myPhase(phases[0]->duration, phases[0]->getState()) {
    myDetectorLength = StringUtils::toDouble(getParameter("detector-length", "20"));
    myDetectorLengthLeftTurnLane = StringUtils::toDouble(getParameter("detector-length-leftTurnLane", "20"));
    myCycleLength = TIME2STEPS(StringUtils::toDouble(getParameter("total-cycle-length", getParameter("cycle-length", getParameter(toString(SUMO_ATTR_CYCLETIME), "60")))));
    myNextCycleLength = myCycleLength;
    myDefaultCycleTime = myCycleLength;
    myShowDetectors = StringUtils::toBool(getParameter("show-detectors", toString(OptionsCont::getOptions().getBool("tls.actuated.show-detectors"))));
    myFile = FileHelpers::checkForRelativity(getParameter("file", "NUL"), basePath);
    myFreq = TIME2STEPS(StringUtils::toDouble(getParameter("freq", "300")));
    myVehicleTypes = getParameter("vTypes", "");
    myControllerType = parseControllerType(getParameter("controllerType", "TS2"));
    ignoreErrors = StringUtils::toBool(getParameter("ignore-errors", "false"));
    // This should be extended in the future.
    myNumberRings = 2;
}
 
NEMALogic::~NEMALogic() {
    // delete the phase objects
    for (auto p : myPhaseObjs) {
        delete p;
    }
}
 
void
NEMALogic::constructTimingAndPhaseDefs(std::string& barriers, std::string& coordinates, std::string& ring1, std::string& ring2) {
 
    // read in the barrier and coordinated phases from the XML
    std::vector<int> barrierPhases = readParaFromString(barriers);
    std::vector<int> coordinatePhases = readParaFromString(coordinates);
 
    // create a {{}, {}} vector of phases
    rings.push_back(readParaFromString(ring1));
    rings.push_back(readParaFromString(ring2));
 
#ifdef DEBUG_NEMA
    //print to check
    for (int i = 0; i < (int)rings.size(); i++) {
        int count = 0;
        std::cout << "Ring" << i + 1 << " includes phases: \t";
        for (auto j : rings[i]) {
            count++;
            std::cout << j << " ";
            if (count == 2 || count == 4) {
                std::cout << " | ";
            }
        }
        std::cout << std::endl;
    }
#endif
 
    // load the recalls, if they exist
    std::vector<int> VecMinRecall = readParaFromString(getParameter("minRecall", "1,2,3,4,5,6,7,8"));
    std::vector<int> VecMaxRecall = readParaFromString(getParameter("maxRecall", ""));
 
#ifdef DEBUG_NEMA
    std::cout << "minRecall: ";
    for (int i = 0; i < 8; i++) {
        std::cout << vectorContainsPhase(VecMinRecall, i + 1) << '\t';
    }
    std::cout << std::endl;
 
    std::cout << "maxRecall: ";
    for (int i = 0; i < 8; i++) {
        std::cout << vectorContainsPhase(VecMaxRecall, i + 1) << '\t';
    }
    std::cout << std::endl;
#endif
 
    // loop through the rings and construct NEMAPhases.
    // This relies on the phase being in order in the rings parameter in the configuration file
    int ringNum = 0;
    int lastPhaseIter = 0;
    int phaseIter = 0;
    for (const auto& r : rings) {
        int ringIter = 0;
        lastPhaseIter = phaseIter;
        phaseIter = 0;
        for (const auto& p : r) {
            if (p != 0) {
                // find the phase definition matching the phase integer
                MSPhaseDefinition* tempPhase = nullptr;
                for (const auto& pDef : myPhases) {
                    if (string2int(pDef->getName()) == p) {
                        tempPhase = pDef;
                        break;
                    }
                }
                // there must be a matching MSPhaseDefinition
                if (tempPhase == nullptr) {
                    throw ProcessError("At traffic signal '" + myID + "' program '" + myProgramID + "' no phase named '" + toString(p) + "' was found");
                }
 
                // create lane specific objects
                std::string state = tempPhase->getState();
 
                // check that all phases have the same length. myPhaseStrLen is initially set to -1.
                if (myPhaseStrLen < 0) {
                    myPhaseStrLen = (int)state.size();
                } else if (myPhaseStrLen != (int)state.size()) {
                    throw ProcessError(TLF("At NEMA tlLogic '%', different sizes of NEMA phase states. Please check the NEMA XML", getID()));
                }
 
                // get the lane-based info
                StringVector laneIDs;
                IntVector controlledStateIndexes;
                getLaneInfoFromNEMAState(state, laneIDs, controlledStateIndexes);
 
                std::vector<std::string> laneIDs_vector;
                for (std::string laneID : laneIDs) {
                    laneIDs_vector.push_back(laneID);
                    myLanePhaseMap[laneID] = p;
                }
                phase2ControllerLanesMap[p] = laneIDs_vector;
 
                // Create the Phase Object
                // find if it is at a barrier
                bool barrierPhase = vectorContainsPhase(barrierPhases, p) || vectorContainsPhase(coordinatePhases, p);
                // is it a coordinate phase
                bool coordinatePhase = vectorContainsPhase(coordinatePhases, p) && coordinateMode;
                // is there a minimum or max recall
                bool minRecall = vectorContainsPhase(VecMinRecall, p);
                bool maxRecall = vectorContainsPhase(VecMaxRecall, p);
                // A phase can "green rest" only if it has a recall and no other phases on that ring do OR if NO phases have a recall (unique case)
                bool phaseGreenRest = ((VecMaxRecall.size() + VecMinRecall.size()) < 1);
                if (!phaseGreenRest) {
                    bool recallActive = minRecall || maxRecall;
                    if (recallActive) {
                        for (const auto& pO : r) {
                            if (pO != p) {
                                if (vectorContainsPhase(VecMinRecall, pO)
                                        || vectorContainsPhase(VecMaxRecall, pO)) {
                                    recallActive = false;
                                    break;
                                }
                            }
                        }
                        // only set the green rest to true if I am the only phase on my ring with a recall
                        phaseGreenRest = recallActive;
                    }
                }
                // could add per-phase fixforceoff here
                // barrierNum is either 0 or 1, depending on mainline side or sidestreet
                int barrierNum = ringIter / 2;
 
                // now ready to create the phase
                myPhaseObjs.push_back(
                    new NEMAPhase(p, barrierPhase, phaseGreenRest, coordinatePhase, minRecall, maxRecall, fixForceOff, barrierNum, ringNum, controlledStateIndexes, tempPhase)
                );
 
                // Add a reference to the sequentially prior phase
                if (phaseIter > 0) {
                    myPhaseObjs.back()->setSequentialPriorPhase(myPhaseObjs[lastPhaseIter + (phaseIter - 1)]);
                }
                phaseIter++;
            }
            ringIter++;
        }
        if (lastPhaseIter >= (int)myPhaseObjs.size()) {
            throw ProcessError("At traffic signal '" + myID + "', ring " + toString(ringNum + 1) + " contains only '0'");
        }
        // Set the first to point to the last, wrapping around the ring.
        myPhaseObjs[lastPhaseIter]->setSequentialPriorPhase(myPhaseObjs[lastPhaseIter + phaseIter - 1]);
        // index the ring counter
        ringNum++;
    }
 
    //TODO: set the default phases. This could also be set using dual entry in future
    for (int i = 0; i < 2; i++) {
        // create the coordinate phase ptr
        coordinatePhaseObjs[i] = getPhaseObj(coordinatePhases[i], i);
        defaultBarrierPhases[i][coordinatePhaseObjs[i]->barrierNum] = coordinatePhaseObjs[i];
        // create the other barrier phase ptr
        PhasePtr b = getPhaseObj(barrierPhases[i], i);
        defaultBarrierPhases[i][b->barrierNum] = b;
        // the barrier 1 and barrier 0 default phase must not have the same barrier number
        if (b->barrierNum == coordinatePhaseObjs[i]->barrierNum) {
            throw ProcessError("At traffic signal " + myID + " the barrier and coordinated phases " +
                               std::to_string(b->phaseName) + ", " + std::to_string(coordinatePhaseObjs[i]->barrierNum) +
                               " are located on the same side of a barrier." +
                               " Please check your configuration file");
        }
    }
 
    // Create the PhaseDetectorInfo for each of the phases (needs knowledge of other phases to create)
    IntVector latchingDetectors = readParaFromString(getParameter("latchingDetectors", ""));
    std::vector<std::pair<int, int>> cp;
    for (auto& p : myPhaseObjs) {
        std::string cps = "crossPhaseSwitching:";
        int crossPhase = StringUtils::toInt(getParameter(cps.append(std::to_string(p->phaseName)), "0"));
        if (crossPhase > 0) {
            cp.push_back({ p->phaseName, crossPhase });
        }
    }
 
    // Knowing the cross phase info, we can add that to the phase
    for (auto& p : myPhaseObjs) {
        bool latching = vectorContainsPhase(latchingDetectors, p->phaseName);
        int cpTarget = 0;
        int cpSource = 0;
        for (auto& cp_pair : cp) {
            if (cp_pair.first == p->phaseName || cp_pair.second == p->phaseName) {
                cpTarget = cp_pair.first;
                cpSource = cp_pair.second;
            }
        }
        p->init(this, cpTarget, cpSource, latching);
    }
 
    // Calculate Force offs Based on Timing
    calculateForceOffs();
 
    if (coordinateMode) {
        // Calculate the Initial Phases in coordinated operation only.
        // Otherwise they have already been calculated above
        calculateInitialPhases();
    } else {
        // Fall back being the barrier 0 default phases
        // NEMAPhase* defaultP[2] = {defaultBarrierPhases[0][0], defaultBarrierPhases[1][0]};
        NEMAPhase* defaultP[2] = { getPhasesByRing(0).front(), getPhasesByRing(1).front() };
        defaultP[0]->forceEnter(this);
        defaultP[1]->forceEnter(this);
    }
 
 
#ifdef DEBUG_NEMA
    //print to check the rings and barriers active phase
    std::cout << "After init, active ring1 phase is " << myActivePhaseObjs[0]->phaseName << std::endl;
    std::cout << "After init, active ring2 phase is " << myActivePhaseObjs[1]->phaseName << std::endl;
 
 
    //print to check the phase definition is correct
    std::cout << "Print to check NEMA phase definitions\n";
    for (auto& p : myPhaseObjs) {
        std::cout << "index = " << p->phaseName << "; ";
        std::cout << "minDur = " << std::to_string(p->minDuration) << "; ";
        std::cout << "maxDur = " << std::to_string(p->maxDuration) << "; ";
        std::cout << "vehext = " << std::to_string(p->vehExt) << "; ";
        std::cout << "yellow = " << std::to_string(p->yellow) << "; ";
        std::cout << "red = " << std::to_string(p->red) << "; ";
        std::cout << "state = " << std::to_string((int)p->getCurrentState()) << std::endl;
    }
#endif
 
 
#ifdef DEBUG_NEMA
    std::cout << "After init, r1/r2 barrier phase = " << defaultBarrierPhases[0][1]->phaseName << " and " << defaultBarrierPhases[1][1]->phaseName << std::endl;
    std::cout << "After init, r1/r2 coordinate phase = " << defaultBarrierPhases[0][0]->phaseName << " and " << defaultBarrierPhases[1][0]->phaseName << std::endl;
#endif
 
 
#ifdef DEBUG_NEMA
    std::cout << "R1State = " << myActivePhaseObjs[0]->phaseName << " and its state = " << std::to_string((int)myActivePhaseObjs[0]->getCurrentState()) << std::endl;
    std::cout << "R2State = " << myActivePhaseObjs[1]->phaseName << " and its state = " << std::to_string((int)myActivePhaseObjs[0]->getCurrentState()) << std::endl;
#endif
 
    // Set the initial light state
    myPhase.setState(composeLightString());
    myPhase.setName(toString(myActivePhaseObjs[0]->phaseName) + "+" + toString(myActivePhaseObjs[1]->phaseName));
    setTrafficLightSignals(SIMSTEP);
    myStep = 0;
 
    //validating timing
    validate_timing();
}
 
bool
NEMALogic::vectorContainsPhase(std::vector<int> v, int phaseNum) {
    if (std::find(v.begin(), v.end(), phaseNum) != v.end()) {
        return true;
    }
    return false;
}
 
void
NEMALogic::init(NLDetectorBuilder& nb) {
 
    // TODO: Create a parameter for this
    cycleRefPoint = TIME2STEPS(0);
 
    std::string barriers = getParameter("barrierPhases", "");
    std::string coordinates = getParameter("coordinatePhases", getParameter("barrier2Phases", ""));
    std::string ring1 = getParameter("ring1", "");
    std::string ring2 = getParameter("ring2", "");
 
    fixForceOff = StringUtils::toBool(getParameter("fixForceOff", "false"));
    offset = myOffset;
    myNextOffset = myOffset;
    whetherOutputState = StringUtils::toBool(getParameter("whetherOutputState", "false"));
    coordinateMode = StringUtils::toBool(getParameter("coordinate-mode", "false"));
 
    // set the queued traci changes to false
    queuedTraciChanges = false;
 
    //missing parameter error
    error_handle_not_set(ring1, "ring1");
    error_handle_not_set(ring2, "ring2");
    error_handle_not_set(barriers, "barrierPhases");
    error_handle_not_set(coordinates, "barrier2Phases or coordinatePhases");
 
    //print to check
#ifdef DEBUG_NEMA
    std::cout << "JunctionID = " << myID << std::endl;
    std::cout << "All parameters after calling constructor are: " << std::endl;
    std::cout << "myDetectorLength = " << myDetectorLength << std::endl;
    std::cout << "cycleLength = " << STEPS2TIME(myCycleLength) << std::endl;
    std::cout << "ring1 = " << ring1 << std::endl;
    std::cout << "ring2 = " << ring2 << std::endl;
    std::cout << "barriers = " << barriers << std::endl;
    std::cout << "coordinates = " << coordinates << std::endl;
    std::cout << "offset = " << offset << std::endl;
    std::cout << "cycleSecond = " << getTimeInCycle() << std::endl;
    std::cout << "whetherOutputState = " << whetherOutputState << std::endl;
    std::cout << "myShowDetectors = " << myShowDetectors << std::endl;
    std::cout << "coordinateMode = " << coordinateMode << std::endl;
    std::cout << "fixForceOff = " << fixForceOff << std::endl;
    std::cout << "You reach the end of constructor" << std::endl;
    std::cout << "****************************************\n";
#endif
    // Construct the NEMA specific timing data types and initial phases
    constructTimingAndPhaseDefs(barriers, coordinates, ring1, ring2);
 
    //init the traffic light
    MSTrafficLightLogic::init(nb);
    assert(myLanes.size() > 0);
    //iterate through the lanes and build one E2 detector for each lane associated with the traffic light control junction
    for (const LaneVector& lanes : myLanes) {
        for (MSLane* const lane : lanes) {
            //decide the detector length
            double detector_length = 0;
            if (isLeftTurnLane(lane)) {
                detector_length = myDetectorLengthLeftTurnLane;
            } else {
                detector_length = myDetectorLength;
            }
            if (noVehicles(lane->getPermissions())) {
                // do not build detectors on green verges or sidewalks
                continue;
            }
            // Build detector and register them in the detector control
            if (myLaneDetectorMap.find(lane) == myLaneDetectorMap.end()) {
                MSE2Collector* det = nullptr;
                const std::string customID = getParameter(lane->getID());
                if (customID != "") {
                    det = dynamic_cast<MSE2Collector*>(MSNet::getInstance()->getDetectorControl().getTypedDetectors(SUMO_TAG_LANE_AREA_DETECTOR).get(customID));
                    if (det == nullptr) {
                        throw ProcessError("Unknown laneAreaDetector '" + customID + "' given as custom detector for NEMA tlLogic '" + getID() + "', program '" + getProgramID() + ".");
                    }
                    //set the detector to be visible in gui
                    det->setVisible(myShowDetectors);
                } else {
                    int phaseNumber = 0;
                    if (myLanePhaseMap.find(lane->getID()) != myLanePhaseMap.end()) {
                        phaseNumber = myLanePhaseMap.find(lane->getID())->second;
                    }
                    int index = lane->getIndex();
                    std::string id = myID + "_" + myProgramID + "_D" + toString(phaseNumber) + "." + toString(index);
                    while (MSNet::getInstance()->getDetectorControl().getTypedDetectors(SUMO_TAG_LANE_AREA_DETECTOR).get(id) != nullptr) {
                        index++;
                        id = myID + "_" + myProgramID + "_D" + toString(phaseNumber) + "." + toString(index);
                    }
                    //createE2Detector() method will lead to bad detector showing in sumo-gui
                    //so it is better to use build2Detector() rather than createE2Detector()
                    nb.buildE2Detector(id, //detectorID
                                       lane, //lane to build this detector
                                       INVALID_POSITION, // set the detector location by end point and length, so this one is set to invalue value so this parameter can be passed
                                       lane->getLength(), // set the end position of the detector at the end of the lane, which is right at the position of stop bar of a junction
                                       detector_length, //detector length
                                       myFile, // detector information output file
                                       myFreq, // detector reading interval
                                       0, // time-based threshold that describes how much time has to pass until a vehicle is considered as halting
                                       0, // speed threshold as halting
                                       0, // minimum dist to the next standing vehicle to make this vehicle count as a participant to the jam
                                       "",
                                       myVehicleTypes, //vehicle types to consider, if it is empty, meaning consider all types of vehicles
                                       "", // nextEdges (no filtering by vehicle route)
                                       (int)PersonMode::NONE, // detector vehicles, not persons
                                       true, // whether to give some slack on positioning
                                       myShowDetectors, // whether to show detectors in sumo-gui
                                       nullptr, //traffic light that triggers aggregation when switching
                                       nullptr); // outgoing lane that associated with the traffic light
 
                    //get the detector to be used in the lane detector map loading
                    det = dynamic_cast<MSE2Collector*>(MSNet::getInstance()->getDetectorControl().getTypedDetectors(SUMO_TAG_LANE_AREA_DETECTOR).get(id));
                }
 
                //map the detector to lane and lane to detector
                myLaneDetectorMap[lane] = det;
                myDetectorLaneMap[det] = lane;
                myDetectorInfoVector.push_back(DetectorInfo(det, (int)myPhases.size()));
 
            }
        }
    }
    for (auto item : phase2ControllerLanesMap) {
        int NEMAPhaseIndex = item.first;
        std::vector<std::string> laneIDs = item.second;
        std::vector<MSE2Collector*> detectors;
        MSE2Collector* detector = nullptr;
        for (std::string laneID : laneIDs) {
            MSLane* lane = MSLane::dictionary(laneID);
            detector = myLaneDetectorMap[lane];
            detectors.push_back(detector);
        }
        // have to try this on both rings, because of the case where both rings have the same phase
        // See Basic NEMA test
        for (int i = 0; i < 2; i++) {
            if (vectorContainsPhase(rings[i], NEMAPhaseIndex)) {
                getPhaseObj(NEMAPhaseIndex, i)->setDetectors(detectors);
            }
        }
    }
 
    //Do not delete. SUMO traffic logic check.
    //SUMO check begin
    const SVCPermissions motorized = ~(SVC_PEDESTRIAN | SVC_BICYCLE);
    std::map<int, std::set<MSE2Collector*>> linkToDetectors;
    std::set<int> actuatedLinks;
 
    const int numLinks = (int)myLinks.size();
    std::vector<bool> neverMajor(numLinks, true);
    for (const MSPhaseDefinition* phase : myPhases) {
        const std::string& state = phase->getState();
        for (int i = 0; i < numLinks; i++) {
            if (state[i] == LINKSTATE_TL_GREEN_MAJOR) {
                neverMajor[i] = false;
            }
        }
    }
    std::vector<bool> oneLane(numLinks, false);
    for (int i = 0; i < numLinks; i++) {
        for (MSLane* lane : getLanesAt(i)) {
            int numMotorized = 0;
            for (MSLane* l : lane->getEdge().getLanes()) {
                if ((l->getPermissions() & motorized) != 0) {
                    numMotorized++;
                }
            }
            if (numMotorized == 1) {
                oneLane[i] = true;
                break;
            }
        }
    }
 
    for (const MSPhaseDefinition* phase : myPhases) {
        const int phaseIndex = (int)myDetectorForPhase.size();
        std::set<MSE2Collector*> detectors;
        if (phase->isActuated()) {
            const std::string& state = phase->getState();
            std::set<int> greenLinks;
            std::map<MSE2Collector*, std::set<int>> detectorLinks;
 
            for (int i = 0; i < numLinks; i++) {
                if (state[i] == LINKSTATE_TL_GREEN_MAJOR
                        || (state[i] == LINKSTATE_TL_GREEN_MINOR
                            && ((neverMajor[i]  // check1a
                                 && hasMajor(state, getLanesAt(i))) // check1b
                                || oneLane[i])) // check1c
                   ) {
                    greenLinks.insert(i);
                    actuatedLinks.insert(i);
                }
 
                for (MSLane* lane : getLanesAt(i)) {
                    if (myLaneDetectorMap.count(lane) != 0) {
                        detectorLinks[myLaneDetectorMap[lane]].insert(i);
                    }
                }
            }
            for (auto& item : detectorLinks) {
                MSE2Collector* det = item.first;
                MSLane* detectorLane = myDetectorLaneMap[det];
                bool usable = true;
                // check 1
                for (int j : item.second) {
                    if (greenLinks.count(j) == 0) {
                        usable = false;
                    }
                }
 
                //check 2
                if (usable) {
                    for (MSLink* link : detectorLane->getLinkCont()) {
                        MSLane* next = link->getLane();
                        if (myLaneDetectorMap.count(next) != 0) {
                            MSE2Collector* nextDet = myLaneDetectorMap[next];
                            for (int j : detectorLinks[nextDet]) {
                                if (greenLinks.count(j) == 0) {
                                    usable = false;
                                    break;
                                }
                            }
                        }
                    }
                }
 
                if (usable) {
                    detectors.insert(item.first);
                    for (int j : item.second) {
                        linkToDetectors[j].insert(item.first);
                    }
                }
            }
            if (detectors.size() == 0) {
                WRITE_WARNINGF(TL("At NEMA tlLogic '%', actuated phase % has no controlling detector"), getID(), toString(phaseIndex));
            }
        }
        std::vector<DetectorInfo*> detectorInfos;
        myDetectorForPhase.push_back(detectorInfos);
        for (MSE2Collector* det : detectors) {
            for (DetectorInfo& detInfo : myDetectorInfoVector) {
                if (detInfo.det == det) {
                    myDetectorForPhase.back().push_back(&detInfo);
                    detInfo.servedPhase[phaseIndex] = true;
                }
            }
        }
    }
 
    for (int i : actuatedLinks) {
        if (linkToDetectors[i].size() == 0 && myLinks[i].size() > 0
                && (myLinks[i].front()->getLaneBefore()->getPermissions() & motorized) != 0) {
            WRITE_WARNINGF(TL("At NEMA tlLogic '%, linkIndex % has no controlling detector"), getID(), toString(i));
        }
    }
}
 
void
NEMALogic::validate_timing() {
    // check that the cycle length for each ring adds up to the specified cycle length
    for (int ringIndex = 0; ringIndex < 2; ringIndex++) {
        SUMOTime cycleLengthCalculated = 0;
        for (auto& p : getPhasesByRing(ringIndex)) {
            cycleLengthCalculated += (p->maxDuration + p->yellow + p->red);
        }
        if (coordinateMode && (cycleLengthCalculated != myCycleLength)) {
            int ringNumber = ringIndex + 1;
            const std::string error = "At NEMA tlLogic '" + getID() + "', Ring " + toString(ringNumber) + " does not add to cycle length.";
            if (ignoreErrors) {
                WRITE_WARNING(error);
            } else {
                throw  ProcessError(error);
            }
        }
    }
    // check that the barriers sum together
    SUMOTime cycleLengths[2][2] = { {0, 0}, {0, 0} };
    for (int ringIndex = 0; ringIndex < 2; ringIndex++) {
        // TS2 Force Offs don't go in order, so using a different method to check cycle time
        for (const auto p : getPhasesByRing(ringIndex)) {
            cycleLengths[ringIndex][p->barrierNum] += p->maxDuration + p->yellow + p->red;
        }
    }
    // Write warnings if the barriers do not sum
    for (int barrierNum = 0; barrierNum < 2; barrierNum++) {
        if (cycleLengths[0][barrierNum] != cycleLengths[1][barrierNum]) {
            const std::string error = "At NEMA tlLogic '" + getID() + "', the phases before barrier " + toString(barrierNum + 1) + " from both rings do not add up. (ring1="
                                      + toString(STEPS2TIME(cycleLengths[0][barrierNum])) + ", ring2=" + toString(STEPS2TIME(cycleLengths[1][barrierNum])) + ")";
            if (coordinateMode && !ignoreErrors) {
                throw  ProcessError(error);
            } else {
                WRITE_WARNING(error);
            }
        }
    }
 
    // no offset for non coordinated
    if (!coordinateMode && offset != 0) {
        WRITE_WARNINGF(TL("NEMA tlLogic '%' is not coordinated but an offset was set."), getID());
    }
}
 
void
NEMALogic::setNewSplits(std::vector<double> newSplits) {
    assert(newSplits.size() == 8);
    for (auto& p : myPhaseObjs) {
        if (newSplits[p->phaseName - 1] > 0) {
            // set the phase's nextMaxDuration. This will be implemented when implementTraciChanges is called
            p->nextMaxDuration = TIME2STEPS(newSplits[p->phaseName - 1]) - p->yellow - p->red;
        }
    }
}
 
 
void
NEMALogic::setNewMaxGreens(std::vector<double> newMaxGreens) {
    for (auto& p : myPhaseObjs) {
        if (newMaxGreens[p->phaseName - 1] > 0) {
            // set the phase's nextMaxDuration. This will be implemented when implementTraciChanges is called
            p->nextMaxDuration = TIME2STEPS(newMaxGreens[p->phaseName - 1]);
        }
    }
}
 
 
void
NEMALogic::setNewCycleLength(double newCycleLength) {
    // set the controller's next cycle length. This will be implemented when implementTraciChanges is called
    myNextCycleLength = TIME2STEPS(newCycleLength);
}
 
 
void
NEMALogic::setNewOffset(double newOffset) {
    // set the controller's offset. This will be implemented when implementTraciChanges is called
    myNextOffset = TIME2STEPS(newOffset);
}
 
 
std::vector<int> NEMALogic::readParaFromString(std::string s) {
    std::vector<int> output;
    for (char c : s) {
        if (c >= '0' && c <= '9') {
            int temp = c - '0';
            output.push_back(temp);
        }
    }
    return output;
}
 
const MSPhaseDefinition&
NEMALogic::getCurrentPhaseDef() const {
    return myPhase;
}
 
 
void
NEMALogic::resetLastSwitch(SUMOTime t) {
    myPhase.myLastSwitch = t;
}
 
 
int NEMALogic::measureRingDistance(int p1, int p2, int ringNum) {
    int length = (int)rings[ringNum].size();
    int d = 0;
    bool found = false;
    // Loop around the ring and keep track of the distance from p1 to p2
    for (int i = 0; i < (length * 2); i++) {
        if (rings[ringNum][i % length] > 0) {
            if (found) {
                d++;
                if (rings[ringNum][i % length] == p2) {
                    break;
                }
            } else if (rings[ringNum][i % length] == p1) {
                found = true;
            }
        }
    }
    assert(d > 0);
    return d;
}
 
 
SUMOTime
NEMALogic::ModeCycle(SUMOTime a, SUMOTime b) {
    SUMOTime c = a - b;
    while (c >= b) {
        c = c - b;
    }
    while (c < 0) {
        c += b;
    }
    return c;
}
 
 
void
NEMALogic::getLaneInfoFromNEMAState(std::string state, StringVector& laneIDs, IntVector& stateIndex) {
    std::set<std::string> output;
    for (int i = 0; i < (int)myLinks.size(); i++) {
        if (myLinks[i].empty()) {
            // unused index
            continue;
        }
        char ch = state[i];
        // if the ch is 'G', it means that the phase is controlling this lane
        if (ch == 'G') {
            stateIndex.push_back(i);
            for (auto link : myLinks[i]) {
                const MSLane* incoming = link->getLaneBefore();
                if (incoming->isNormal()) {
                    laneIDs.push_back(incoming->getID());
                }
            }
        }
    }
}
 
bool NEMALogic::isLeftTurnLane(const MSLane* const lane) const {
    const std::vector<MSLink*> links = lane->getLinkCont();
    if (links.size() == 1 && links.front()->getDirection() == LinkDirection::LEFT) {
        return true;
    }
    return false;
}
 
bool
NEMALogic::hasMajor(const std::string& state, const LaneVector& lanes) const {
    for (int i = 0; i < (int)state.size(); i++) {
        if (state[i] == LINKSTATE_TL_GREEN_MAJOR) {
            for (MSLane* cand : getLanesAt(i)) {
                for (MSLane* lane : lanes) {
                    if (lane == cand) {
                        return true;
                    }
                }
            }
        }
    }
    return false;
}
 
 
void
NEMALogic::activateProgram() {
    MSTrafficLightLogic::activateProgram();
    for (auto& item : myLaneDetectorMap) {
        item.second->setVisible(true);
    }
}
 
void
NEMALogic::deactivateProgram() {
    MSTrafficLightLogic::deactivateProgram();
    for (auto& item : myLaneDetectorMap) {
        item.second->setVisible(false);
    }
}
 
void
NEMALogic::setShowDetectors(bool show) {
    myShowDetectors = show;
    for (auto& item : myLaneDetectorMap) {
        item.second->setVisible(myShowDetectors);
    }
}
 
int NEMALogic::string2int(std::string s) {
    std::stringstream ss(s);
    int ret = 0;
    ss >> ret;
    return ret;
}
 
 
const std::string
NEMALogic::getParameter(const std::string& key, const std::string defaultValue) const {
    if (StringUtils::startsWith(key, "NEMA.")) {
        if (key == "NEMA.phaseCall") {
            int activeCalls[8] = { 0 };
            for (const auto p : myPhaseObjs) {
                // This handles the case when the controller has multiple of the same phase call
                if (!activeCalls[p->phaseName - 1]) {
                    activeCalls[p->phaseName - 1] = 1 * p->lastDetectActive;
                }
            }
            std::string outStr = "";
            for (int i = 0; i < 8; i++) {
                outStr += std::to_string(activeCalls[i]);
                if (i < 7) {
                    outStr += ",";
                }
            }
            return outStr;
        } else {
            throw InvalidArgument("Unsupported parameter '" + key + "' for NEMA controller '" + getID() + "'");
        }
    } else {
        return Parameterised::getParameter(key, defaultValue);
    }
}
 
 
void
NEMALogic::setParameter(const std::string& key, const std::string& value) {
    queuedTraciChanges = true;
    if (StringUtils::startsWith(key, "NEMA.")) {
        if (key == "NEMA.splits" || key == "NEMA.maxGreens") {
            //splits="2.0 3.0 4.0 5.0 2.0 3.0 4.0 5.0"
            const std::vector<std::string>& tmp = StringTokenizer(value).getVector();
            if (tmp.size() != 8) {
                queuedTraciChanges = false;
                throw InvalidArgument("Parameter '" + key + "' for NEMA controller '" + getID() + "' requires 8 space or comma separated values");
            }
            std::vector<double> timing;
            for (const std::string& s : tmp) {
                timing.push_back(StringUtils::toDouble(s));
            }
            if (key == "NEMA.maxGreens") {
                setNewMaxGreens(timing);
            } else {
                setNewSplits(timing);
            }
        } else if (key == "NEMA.cycleLength") {
            setNewCycleLength(StringUtils::toDouble(value));
        } else if (key == "NEMA.offset") {
            setNewOffset(StringUtils::toDouble(value));
        } else {
            queuedTraciChanges = false;
            throw InvalidArgument("Unsupported parameter '" + key + "' for NEMA controller '" + getID() + "'");
        }
    }
    Parameterised::setParameter(key, value);
}
 
void
NEMALogic::error_handle_not_set(std::string param_variable, std::string param_name) {
    if (param_variable == "") {
        throw InvalidArgument("Please set " + param_name + " for NEMA tlLogic '" + getID() + "'");
    }
}
 
void
NEMALogic::calculateForceOffs170() {
    SUMOTime zeroTime[2] = { TIME2STEPS(0), TIME2STEPS(0) };
    for (int i = 0; i < 2; i++) {
        SUMOTime runningTime = 0;
        // loop through the phases for ring 0 and then 1
        for (auto& p : getPhasesByRing(i)) {
            runningTime += p->maxDuration + p->getTransitionTimeStateless();
            // in 170, the cycle "starts" when the coordinated phase goes to yellow.
            // See https://ops.fhwa.dot.gov/publications/fhwahop08024/chapter6.html
            if (p->coordinatePhase) {
                zeroTime[i] = runningTime;
            }
            p->forceOffTime = runningTime - p->getTransitionTimeStateless();
            p->greatestStartTime = p->forceOffTime - p->minDuration;
        }
    }
    // find the minimum offset time and then subtract from everything, modecycling where negative
    // This sets the 0 cycle time as start of yellow on earliest ending coordinated phase
    SUMOTime minCoordYellow = MIN2(zeroTime[0], zeroTime[1]);
    for (auto& p : myPhaseObjs) {
        p->forceOffTime = ModeCycle(p->forceOffTime - minCoordYellow, myCycleLength);
        p->greatestStartTime = ModeCycle(p->greatestStartTime - minCoordYellow, myCycleLength);
    }
 
#ifdef DEBUG_NEMA
    std::ios_base::fmtflags oldflags = std::cout.flags();
    std::streamsize oldprecision = std::cout.precision();
    for (int i = 0; i < 2; i++) {
        std::cout << "Ring" << i + 1 << " force offs: \t";
        for (auto& p : rings[i]) {
            if (p > 0) {
                PhasePtr pObj = getPhaseObj(p, i);
                std::cout << std::fixed << std::setprecision(2) << STEPS2TIME(pObj->forceOffTime) << "\t";
            } else {
                std::cout << std::to_string(0) << "\t";
            }
        }
        std::cout << std::endl;
    }
    std::cout.flags(oldflags);
    std::cout.precision(oldprecision);
#endif
}
 
void
NEMALogic::calculateForceOffsTS2() {
    // TS2 "0" cycle time is the start of the "first" coordinated phases.
    // We can find this "0" point by first constructing the forceOffs in sequential order via the 170 method
    calculateForceOffs170();
 
    // Switch the Force Off Times to align with TS2 Cycle, which is the *start* of the earliest coordinated phase
    // The coordinate phases will always be the defaultBarrierPhases[i][0]
    SUMOTime minCoordTime = MIN2(coordinatePhaseObjs[0]->forceOffTime - coordinatePhaseObjs[0]->maxDuration,
                                 coordinatePhaseObjs[1]->forceOffTime - coordinatePhaseObjs[1]->maxDuration);
 
    // loop through all the phases and subtract this minCoordTime to move the 0 point to the start of the first coordinated phase
    for (auto& p : myPhaseObjs) {
        if ((p->forceOffTime - minCoordTime) >= 0) {
            p->forceOffTime -= (minCoordTime);
        } else {
            p->forceOffTime = (myCycleLength + (p->forceOffTime - (minCoordTime)));
        }
        p->greatestStartTime = ModeCycle(p->greatestStartTime - minCoordTime, myCycleLength);
    }
}
 
void
NEMALogic::calculateInitialPhases170() {
    // get the time in the cycle
    SUMOTime cycleTime = ModeCycle(getTimeInCycle(), myCycleLength);
    NEMAPhase* activePhases[2];
    for (int i = 0; i < 2; i++) {
        std::vector<NEMAPhase*> ringCopy = getPhasesByRing(i);
        // sort by the minimum start time in the cycle.
        std::sort(ringCopy.begin(), ringCopy.end(),
        [](NEMAPhase * p, NEMAPhase * p1) {
            return p->greatestStartTime <= p1->greatestStartTime;
        }
                 );
        bool found = false;
        // loop through the sorted phases by time and try to find the phase that should be active given the time in the cycle
        for (auto& p : ringCopy) {
            // This handles the wrap around. Checks if the prior phases start time should have already happened.
            // If it should have happened and it's not to the start time of me yet, start in my phase ( will have to be in my phase longer than max time likely )
            SUMOTime syntheticPriorStart = p->getSequentialPriorPhase()->greatestStartTime < p->greatestStartTime ?
                                           p->getSequentialPriorPhase()->greatestStartTime : p->getSequentialPriorPhase()->greatestStartTime - myCycleLength;
            if (cycleTime <= ModeCycle(p->greatestStartTime, myCycleLength) && cycleTime > ModeCycle(syntheticPriorStart, myCycleLength)) {
                found = true;
                activePhases[i] = p;
                break;
            }
        }
        if (!found) {
#ifdef DEBUG_NEMA
            const std::string error = "I can't find the correct phase for NEMA tlLogic '" + getID() + "' Ring " + toString(i) + " to start in.";
            WRITE_WARNING(error);
            WRITE_WARNING(TL("I am starting in the coordinated phases"));
#endif
            activePhases[0] = defaultBarrierPhases[0][0];
            activePhases[1] = defaultBarrierPhases[1][0];
        }
    }
 
    // ensure that the two found phases are on the same side of the barrier. If they aren't, just override with the default barrier phases
    if (activePhases[0]->barrierNum != activePhases[1]->barrierNum) {
        // give preference to whatever is on the coordinate side of the barrier, one must be if they aren't equal to each other
        activePhases[0] = activePhases[0]->barrierNum == 0 ? activePhases[0] : defaultBarrierPhases[0][0];
        activePhases[1] = activePhases[1]->barrierNum == 0 ? activePhases[1] : defaultBarrierPhases[1][0];
    }
 
    // force enter the phases and update their expected duration to last until the forceOff
    activePhases[0]->forceEnter(this);
    activePhases[1]->forceEnter(this);
}
 
void
NEMALogic::calculateInitialPhasesTS2() {
    // Modifications where made to 170 algorithm so that it works with both.
    calculateInitialPhases170();
}
 
NEMALogic::controllerType
NEMALogic::parseControllerType(std::string inputType) {
    std::string cleanString;
    for (const char& c : inputType) {
        if (isalpha(c) || isdigit(c)) {
            cleanString += (char)::tolower(c);
        }
    }
    if (cleanString == "type170") {
        return Type170;
    } else if (cleanString == "ts2") {
        return TS2;
    } else {
        throw InvalidArgument("Please set controllerType for NEMA tlLogic " + myID + " to either Type170 or TS2");
    }
}
 
std::vector<NEMAPhase*>
NEMALogic::getPhasesByRing(int ringNum) {
    std::vector<NEMAPhase*> phases;
    for (auto& p : myPhaseObjs) {
        if (p->ringNum == ringNum) {
            phases.push_back(p);
        }
    }
    return phases;
}
 
void
NEMALogic::setActivePhase(PhasePtr phase) {
    myActivePhaseObjs[phase->ringNum] = phase;
}
 
std::map<std::string, double>
NEMALogic::getDetectorStates() const {
    std::map<std::string, double> result;
    for (auto item : myDetectorLaneMap) {
        result[item.first->getID()] = item.first->getCurrentVehicleNumber();
    }
    return result;
}
 
NEMALogic::PhasePtr
NEMALogic::getOtherPhase(PhasePtr p) {
    // return a pointer to the other active phase
    return myActivePhaseObjs[!p->ringNum];
}
 
NEMAPhase*
NEMALogic::getPhaseObj(int phaseNum, int ringNum) {
    // This satisfies the case where there is a "duplicate" phase on both ring
    std::vector<PhasePtr> iterRing = ringNum >= 0 ? getPhasesByRing(ringNum) : myPhaseObjs;
    for (auto& p : iterRing) {
        if (p->phaseName == phaseNum) {
            return p;
        }
    }
    // the phase must always be found
    throw ProcessError("At traffic signal '" + myID + "' program '" + myProgramID + "' phase '" + toString(phaseNum) + "' not found in ring '" + toString(ringNum) + "'.");
}
 
PhaseTransitionLogic*
NEMALogic::getDefaultTransition(PhaseTransitionLogic* t, PhaseTransitionLogic* ot) {
    NEMAPhase* p = t->getFromPhase();
    // if the current phase is not ready to switch or a barrier cross is desired by the other transition
    // and t fromPhase is not ready to switch, the default transition is back to myself
    if (!p->readyToSwitch ||
            (p->barrierNum == ot->getToPhase()->barrierNum && p->getCurrentState() >= LightState::Green)) {
        return p->getTransition(p->phaseName);
    }
    // otherwise the default transition is to the default phase on whatever barrier ot wants to transition to
    else {
        return p->getTransition(defaultBarrierPhases[p->ringNum][ot->getToPhase()->barrierNum]->phaseName);
    }
}
 
void
NEMALogic::getNextPhases(TransitionPairs& transitions) {
    std::vector<std::vector<PhaseTransitionLogic* >> potentialPhases;
 
    // Get a vector of each phases' potential transitions
    for (const auto& p : myActivePhaseObjs) {
        potentialPhases.push_back(p->trySwitch(this));
    }
 
    // Loop through all combination of transitions, keeping only the valid ones and filling in the gaps where necessary
    for (const auto& r1_t : potentialPhases[0]) {
        for (const auto& r2_t : potentialPhases[1]) {
            // if both transitions go to the same barrier then we are good
            if (r1_t->getToPhase()->barrierNum == r2_t->getToPhase()->barrierNum) {
                transitions.push_back({ r1_t, r2_t, (float)(r1_t->getDistance(r2_t) + r2_t->getDistance(r1_t)) / 2 });
            } else {
                // If the rings are different, add a choice where one of them is the default choice for whatever ring it is
                // create two choices, one for each of the phase as they are on  different rings
                if (r1_t->getFromPhase()->readyToSwitch) {
                    // get the r2 default
                    PhaseTransitionLogic* r2_t_temp = getDefaultTransition(r2_t, r1_t);
                    // only add it if it does not cross a barrier!
                    if (r2_t_temp->getToPhase()->barrierNum == r1_t->getToPhase()->barrierNum) {
                        transitions.push_back({ r1_t, r2_t_temp, (float)(r2_t_temp->getDistance(r1_t) + r1_t->getDistance(r2_t_temp)) / 2 });
                    }
                }
                if (r2_t->getFromPhase()->readyToSwitch) {
                    // R1 default
                    PhaseTransitionLogic* r1_t_temp = getDefaultTransition(r1_t, r2_t);
                    // only add it if it does not cross a barrier!
                    if (r1_t_temp->getToPhase()->barrierNum == r2_t->getToPhase()->barrierNum) {
                        transitions.push_back({ r1_t_temp, r2_t, (float)(r2_t->getDistance(r1_t_temp) + r1_t_temp->getDistance(r2_t)) / 2 });
                    }
                }
                // If the distances are <= 1, this means that this is the shortest transition possible
                // and we can return early without considering any other options
                if (!transitions.empty()) {
                    if (transitions.back().distance < 1) {
                        return;
                    }
                }
            }
        }
    }
}
 
 
std::string
NEMALogic::composeLightString() {
    // FIX with plan to support #10742
    std::string out(myPhaseStrLen, 'r');
    for (int i = 0; i < myPhaseStrLen; i++) {
        bool controlled = false;
        std::string phaseChars = "";
        for (auto& p : myActivePhaseObjs) {
            phaseChars += p->getNEMAChar(i);
            if (p->controlledIndex(i)) {
                out[i] = p->getNEMAChar(i);
                controlled = true;
            }
        }
        // if the index wasn't a controlled one, the prior priority order still stands
        if (!controlled) {
            for (auto priority_char : lightHeadPriority) {
                if (std::count(phaseChars.begin(), phaseChars.end(), priority_char)) {
                    out[i] = priority_char;
                    break;
                }
            }
        }
    }
    return out;
}
 
 
SUMOTime
NEMALogic::trySwitch() {
#ifdef DEBUG_NEMA_SWITCH
    std::cout << SIMTIME << " trySwitch tls=" << getID() << "\n";
#endif
    PhaseTransitionLogic* nextPhases[2] = { nullptr, nullptr };
 
    // update the internal time. This is a must. Could have just used a reference to the time
    setCurrentTime();
 
    // Check the Detectors
    for (auto& p : myPhaseObjs) {
        p->checkMyDetectors();
    }
 
    // Update the timing parameters
    for (const auto& p : myActivePhaseObjs) {
        p->update(this);
    }
 
    // Calculate the Next Phases, but only if atleast one of them is ready to transition
    if (myActivePhaseObjs[0]->readyToSwitch || myActivePhaseObjs[1]->readyToSwitch) {
        TransitionPairs transitions;
        // set the next phases by reference
        getNextPhases(transitions);
 
        // Sort the next phases by distance and select the closest.
        // TODO: Is there a way to avoid this sort? The transitions are already sorted by distance prior
        // to picking the valid ones
        if (transitions.size() > 1) {
            std::sort(transitions.begin(), transitions.end(),
            [](const transitionInfo & i, const transitionInfo & j) {
                return i.distance < j.distance;
            });
        }
 
        // Set the Next Phases = to the transition with least combined distance
        nextPhases[0] = transitions.front().p1;
        nextPhases[1] = transitions.front().p2;
 
        // Try the exit logic. This doesn't necessarily mean that the phase will exit,
        // as it could go into green rest or green transfer, but this is considered an "exit"
        for (const auto& p : myActivePhaseObjs) {
            if (p->readyToSwitch) {
                p->exit(this, nextPhases);
            }
        }
 
        // This is the only time when something might have happened, so we update the phase strings here
        std::string newState = composeLightString();
        if (newState != myPhase.getState()) {
            myPhase.setState(newState);
            myPhase.setName(toString(myActivePhaseObjs[0]->phaseName) + "+" + toString(myActivePhaseObjs[1]->phaseName));
            // ensure that SwitchCommand::execute notices a change
            myStep = 1 - myStep;
 
        }
    }
 
    // clear the phases' detectors
    for (auto& p : myPhaseObjs) {
        p->clearMyDetectors();
    }
 
 
#ifdef FUZZ_TESTING
    // Basic Assertion to ensure that the Barrier is not crossed
    assert(myActivePhaseObjs[0]->barrierNum == myActivePhaseObjs[1]->barrierNum);
#endif
 
    // return the simulation timestep, as this controller must be checked every simulation step
    return DELTA_T;
}
 
 
void
NEMALogic::implementTraciChanges(void) {
    // Implement Traci Updates on the start of ring1 coordinated phase (rising edge of it turning green)
    if (queuedTraciChanges) {
        for (auto& p : myPhaseObjs) {
            p->maxDuration = p->nextMaxDuration;
        }
        offset = myNextOffset;
        myCycleLength = myNextCycleLength;
        // now that we have set the cycle length, offset and max duration, we need to update force off times
        calculateForceOffs();
        queuedTraciChanges = false;
    }
}
 
 
// ===========================================================================
// NEMAPhase Definitions
// ===========================================================================
NEMAPhase::NEMAPhase(int phaseName, bool isBarrier, bool isGreenRest, bool isCoordinated,
                     bool minRecall, bool maxRecall, bool fixForceOff, int barrierNum, int ringNum,
                     IntVector phaseStringInds,
                     MSPhaseDefinition* phase) :
    phaseName(phaseName),
    isAtBarrier(isBarrier),
    isGreenRest(isGreenRest),
    barrierNum(barrierNum),
    coordinatePhase(isCoordinated),
    minRecall(minRecall),
    maxRecall(maxRecall),
    fixForceOff(fixForceOff),
    ringNum(ringNum),
    myCorePhase(phase),
    myPhaseStringInds(phaseStringInds) {
    // Public
    readyToSwitch = false;
    greenRestTimer = 0;
    forceOffTime = 0;
    lastDetectActive = false;
 
    // Private
    myInstance = this;
    myLastPhaseInstance = nullptr;
    sequentialPriorPhase = nullptr;
    myLightState = LightState::Red;
    transitionActive = false;
 
    // Timing Parameters
    maxGreenDynamic = myCorePhase->maxDuration;
    myStartTime = TIME2STEPS(0.);
    myExpectedDuration = myCorePhase->minDuration;
    myLastEnd = TIME2STEPS(0.);
 
    // set the phase colors
    setMyNEMAStates();
}
 
NEMAPhase::~NEMAPhase() {
    // Delete the transitions from their alloc
    for (auto t : myTransitions) {
        delete t;
    }
}
 
void
NEMAPhase::init(NEMALogic* controller, int crossPhaseTarget, int crossPhaseSource, bool latching) {
    // switch the durations from steps2time
    recalculateTiming();
 
    for (auto p : controller->getPhasesByRing(ringNum)) {
        // construct transitions for all potential movements, including back to myself
        myTransitions.push_back(new PhaseTransitionLogic(this, p));
        myTransitions.back()->setDistance(controller->measureRingDistance(phaseName, p->phaseName, ringNum));
    }
 
    // sort the transitions by distance for speed later. Using plain distance here
    std::sort(myTransitions.begin(), myTransitions.end(), [&](const PhaseTransitionLogic * i, const PhaseTransitionLogic * j) {
        return i->distance < j->distance;
    });
 
    // create the phase detector info
    myDetectorInfo = PhaseDetectorInfo(latching,
                                       crossPhaseSource > 0 ? controller->getPhaseObj(crossPhaseSource) : nullptr,
                                       crossPhaseTarget > 0 ? controller->getPhaseObj(crossPhaseTarget) : nullptr
                                      );
}
 
void
NEMAPhase::recalculateTiming(void) {
    // This could be extended in the future to allow for traci manipulation
    yellow = myCorePhase->yellow;
    red = myCorePhase->red;
    minDuration = myCorePhase->minDuration;
    maxDuration = myCorePhase->maxDuration;
    nextMaxDuration = myCorePhase->maxDuration;
    maxGreenDynamic = myCorePhase->maxDuration;
    vehExt = myCorePhase->vehext;
}
 
 
// TODO: this can be computed once.
char
NEMAPhase::getNEMAChar(int i) {
    if (myLightState >= LightState::Green) {
        return myGreenString[i];
    } else if (myLightState <= LightState::Red) {
        return myRedString[i];
    } else {
        return myYellowString[i];
    }
}
 
void
NEMAPhase::setMyNEMAStates() {
    myGreenString = myCorePhase->getState();
    myRedString = "";
    myYellowString = "";
    for (char ch : myGreenString) {
        myRedString += 'r';
        if (ch == 'G' || ch == 'g') {
            myYellowString += 'y';
        } else {
            myYellowString += ch;
        }
    }
}
 
void
NEMAPhase::clearMyDetectors() {
    lastDetectActive = myDetectorInfo.detectActive;
    // remove the active flag on the detector if the detector is not latching or if it is green
    if ((!myDetectorInfo.latching) || (myLightState >= LightState::Green)) {
        myDetectorInfo.detectActive = false;
    }
}
 
void
NEMAPhase::checkMyDetectors() {
    // Check my Detectors, only necessary if it isn't currently marked as on
    if (!myDetectorInfo.detectActive) {
        // If I have a cross phase target and it is active and I am not, save my detector as not active
        if (myDetectorInfo.cpdTarget != nullptr) {
            if (myDetectorInfo.cpdTarget->getCurrentState() >= LightState::Green) {
                if (myLightState < LightState::Green) {
                    myDetectorInfo.detectActive = false;
                    return;
                }
            }
        }
        // If we make it to this point, check my detector like normal.
        for (auto& d : myDetectorInfo.detectors) {
            if (d->getCurrentVehicleNumber() > 0) {
                myDetectorInfo.detectActive = true;
                return;
            }
        }
        // If my detector is not active, check my cross phase
        if ((myDetectorInfo.cpdSource != nullptr) && (myLightState >= LightState::Green)) {
            if (myDetectorInfo.cpdSource->getCurrentState() < LightState::Green) {
                for (auto& d : myDetectorInfo.cpdSource->getDetectors()) {
                    if (d->getCurrentVehicleNumber() > 0) {
                        myDetectorInfo.detectActive = true;
                        return;
                    }
                }
            }
        }
    }
}
 
void
NEMAPhase::enter(NEMALogic* controller, NEMAPhase* lastPhase) {
#ifdef DEBUG_NEMA_SWITCH
    std::cout << SIMTIME << " enter tls=" << controller->getID() << " phase=" << phaseName << "\n";
#endif
 
    // set the last phase instance to inactive
    lastPhase->cleanupExit();
 
    // Enter the phase
    myStartTime = controller->getCurrentTime();
    myLightState = LightState::Green;
    myLastPhaseInstance = lastPhase;
    readyToSwitch = false;
 
    // implement the new timing parameters on the first coordinated phase to appear
    if (phaseName == controller->coordinatePhaseObjs[ringNum]->phaseName) {
        controller->implementTraciChanges();
    }
 
    // Handle Green Rest Peculiarities
    if (!controller->coordinateMode && isGreenRest) {
        // If the controller is in free mode and the phase is a green rest phase, then it should enter as "green rest"
        myLightState = LightState::GreenRest;
        // if the phase has "green rest" capabilities, set its timer to the dynamic maxGreen
        greenRestTimer = maxDuration * isGreenRest;
    }
 
    // clear the last transition decision
    lastTransitionDecision = nullptr;
 
    // Calculate the Max Green Time & Expected Duration here:
    if (controller->coordinateMode) {
        if (coordinatePhase) {
            myExpectedDuration = controller->ModeCycle(forceOffTime - controller->getTimeInCycle(), controller->getCurrentCycleLength());
        } else {
            maxGreenDynamic = controller->ModeCycle(forceOffTime - controller->getTimeInCycle(), controller->getCurrentCycleLength());
            if (!fixForceOff) {
                maxGreenDynamic = MIN2(maxDuration, maxGreenDynamic);
            }
            myExpectedDuration = minDuration;
        }
    } else {
        myExpectedDuration = minDuration;
    }
    // Implements the maxRecall functionality
    if (maxRecall && !coordinatePhase) {
        myExpectedDuration = maxGreenDynamic;
    }
    // Set the controller's active phase
    controller->setActivePhase(this);
}
 
void NEMAPhase::exit(NEMALogic* controller, PhaseTransitionLogic* nextPhases[2]) {
    if (nextPhases[ringNum]->getToPhase() != this) {
        // if the next phase is not me, then I need to go into a transition
        lastTransitionDecision = nextPhases[ringNum];
        if (myLightState >= LightState::Green) {
            // if I am in green, then I need to enter yellow
            enterYellow(controller);
            return;
        }
 
        if (controller->getCurrentTime() - myLastEnd < (yellow + red)) {
            if (controller->getCurrentTime() - myLastEnd >= yellow) {
                // if I am in yellow, then I need to enter red
                myLightState = LightState::Red;
            }
            // I am currently in the Red state but haven't reached max
            return;
        }
 
        handleRedXferOrNextPhase(controller, nextPhases);
        return;
    }
 
    handleGreenRestOrTransfer(controller, nextPhases);
}
 
void NEMAPhase::enterYellow(NEMALogic* controller) {
    myLastEnd = controller->getCurrentTime();
    myLightState = LightState::Yellow;
    transitionActive = true;
}
 
void NEMAPhase::handleRedXferOrNextPhase(NEMALogic* controller, PhaseTransitionLogic* nextPhases[2]) {
    PhasePtr otherPhase = controller->getOtherPhase(this);
    bool barrierCross = nextPhases[ringNum]->getToPhase()->barrierNum != barrierNum;
    bool barrierCrossButOkay = barrierCross && (
                                   nextPhases[ringNum]->getToPhase()->barrierNum == nextPhases[otherPhase->ringNum]->getToPhase()->barrierNum
                               ) && otherPhase->okay2ForceSwitch(controller);
 
    if (!barrierCross) {
        nextPhases[ringNum]->getToPhase()->enter(controller, this);
        return;
    }
 
    if (barrierCrossButOkay) {
        // if the barrier is crossed, but the other phase is going to the same barrier, then I can enter red transfer
        // enter the next phase
        nextPhases[ringNum]->getToPhase()->enter(controller, this);
        // trigger the other phase to enter red transfer
        nextPhases[otherPhase->ringNum]->getToPhase()->enter(controller, this);
        return;
    }
 
    myLightState = LightState::RedXfer;
    readyToSwitch = true;
    transitionActive = false;
}
 
void NEMAPhase::handleGreenRestOrTransfer(NEMALogic* controller, PhaseTransitionLogic* nextPhases[2]) {
    NEMAPhase* otherPhase = controller->getOtherPhase(this);
    readyToSwitch = false;
    bool isOtherPhaseReady = nextPhases[!ringNum]->getToPhase() == otherPhase && otherPhase->readyToSwitch;
    bool isOtherPhaseInGreenRest = otherPhase->greenRestTimer >= otherPhase->maxDuration && otherPhase->getCurrentState() == LightState::GreenRest;
 
    if (isOtherPhaseReady || isOtherPhaseInGreenRest) {
        myLightState = LightState::GreenRest;
        myStartTime = controller->getCurrentTime() - minDuration;
        myExpectedDuration = minDuration;
        greenRestTimer = maxDuration * isGreenRest;
    } else {
        myLightState = LightState::GreenXfer;
        if (isAtBarrier) {
            myExpectedDuration = (otherPhase->myExpectedDuration + otherPhase->myStartTime) - myStartTime;
        }
    }
}
 
SUMOTime
NEMAPhase::getTransitionTime(NEMALogic* controller) {
    if (myLightState == LightState::RedXfer) {
        // if in red xfer, I am ready to switch whenevery
        return TIME2STEPS(0);
    }
    if (!transitionActive) {
        // if a transition is not active, the transition is just yellow + red time
        return getTransitionTimeStateless();
    }
    // if a transition is active, then return the time left in the transition
    return MAX2(TIME2STEPS(0), ((yellow + red) - (controller->getCurrentTime() - myLastEnd)));
}
 
SUMOTime
NEMAPhase::calcVehicleExtension(SUMOTime duration) {
    if (myExpectedDuration < maxGreenDynamic && myDetectorInfo.detectActive) {
        // add the vehicle extension timer if the detector is active.
        // capped by the minimum and maximum duration
        return MIN2(MAX2(duration + vehExt, minDuration), maxGreenDynamic);
    }
    return myExpectedDuration;
}
 
void
NEMAPhase::update(NEMALogic* controller) {
    // If I am in a transition, the rest of the update logic does not matter
    if (myLightState < LightState::Green) {
        // return early
        readyToSwitch = true;
        return;
    }
 
    // Continuation Logic
    SUMOTime duration = controller->getCurrentTime() - myStartTime;
    // Check the vehicle extension timer as long as not in green transfer and not a coordinated phase
    if (myLightState != LightState::GreenXfer && !coordinatePhase) {
        myExpectedDuration = calcVehicleExtension(duration);
    }
    // Special Logic for Green Rest, which behaves uniquely
    if (myLightState == LightState::GreenRest) {
        // check all other detectors and see if anything else is active. If so,
        // start the green rest timer countdown, which is == to the max duration of the phase
        bool vehicleActive = false;
        for (auto& p : controller->getPhaseObjs()) {
            if ((p->phaseName != phaseName)
                    && (p->phaseName != controller->getOtherPhase(this)->phaseName)
                    && p->callActive()) {
                greenRestTimer -= DELTA_T;
                vehicleActive = true;
                break;
            }
        }
        // catch the rising edge of the sidestreet detection and calculate the maximum timer
        if (vehicleActive && (greenRestTimer + DELTA_T >= maxDuration)) {
            maxGreenDynamic = minDuration + maxDuration;
        }
 
        // if there are no other vehicles slide the startTime along
        if (!vehicleActive) {
            greenRestTimer = maxDuration;
            if (duration >= minDuration) {
                myStartTime = controller->getCurrentTime() - minDuration;
                maxGreenDynamic = minDuration + maxDuration;
                myExpectedDuration = minDuration + MAX2(TIME2STEPS(0), myExpectedDuration - duration);
            }
        }
 
        // if the green rest timer is exhausted, set ready to switch
        if (greenRestTimer < DELTA_T) {
            readyToSwitch = true;
            // force the counterpart to be ready to switch too. This needs to be latching....
            NEMAPhase* otherPhase = controller->getOtherPhase(this);
            if (otherPhase->getCurrentState() > LightState::Green) {
                otherPhase->readyToSwitch = true;
            }
        }
 
        // Special Behavior when the Green Rest Circles all the way around in coordinated mode
        if (coordinatePhase) {
            // This means that we have green rested until I should "start" again. Just call my entry function again.
            if (controller->getTimeInCycle() <= ((forceOffTime - maxDuration) + DELTA_T / 2)) {
                enter(controller, this);
            }
        }
    }
    // Check to see if a switch is desired
    if (duration >= myExpectedDuration) {
        readyToSwitch = true;
    }
}
 
PhaseTransitionLogic*
NEMAPhase::getTransition(int toPhase) {
    for (auto t : myTransitions) {
        if (t->getToPhase()->phaseName == toPhase) {
            return t;
        }
    }
    // This point should never be reached
    assert(0);
    // To satisfy the compiler and return value from all control paths
    return myTransitions.front();
}
 
std::vector<PhaseTransitionLogic*>
NEMAPhase::trySwitch(NEMALogic* controller) {
    // this function returns the preferred valid transition for the phase
    std::vector<PhaseTransitionLogic*> nextTransitions;
    if (readyToSwitch) {
        // only try to switch if I am ready to switch
        for (auto& t : myTransitions) {
            // for the transitions check if it is okay
            if (t->okay(controller)) {
                // if there was already a transition decision, it can be overriden but only if the new transition
                // is on the same side of a barrier
                if (lastTransitionDecision != nullptr) {
                    if (t->getToPhase()->barrierNum == lastTransitionDecision->getToPhase()->barrierNum) {
                        nextTransitions.push_back(t);
                        break;
                    }
                } else {
                    nextTransitions.push_back(t);
                    // break once there is a valid option (they have already been sorted)
                    break;
                }
            }
        }
    }
    // Add in the last transition decision if it hasn't been added in yet
    if (lastTransitionDecision != nullptr) {
        bool found = false;
        bool sameBarrier = false;
        for (auto& t : nextTransitions) {
            if (t == lastTransitionDecision) {
                found = true;
                break;
            }
            if (t->getToPhase()->barrierNum == lastTransitionDecision->getToPhase()->barrierNum) {
                sameBarrier = true;
                break;
            }
        }
        // but only need to add it if it is not in the list AND if nothing in the list is the same barrier as it was.
        if (!found && !sameBarrier) {
            nextTransitions.push_back(lastTransitionDecision);
        }
    }
    // Add the transition back to myself, but only in the case when no others have been added
    if (nextTransitions.size() < 1) {
        nextTransitions.push_back(myTransitions.back());
    }
 
    return nextTransitions;
}
 
// ===========================================================================
// PhaseTransitionLogic Definitions
// ===========================================================================
PhaseTransitionLogic::PhaseTransitionLogic(
    NEMAPhase* fromPhase, NEMAPhase* toPhase) :
    distance(0),
    fromPhase(fromPhase),
    toPhase(toPhase)
{}
 
bool
PhaseTransitionLogic::okay(NEMALogic* controller) {
    // Picking the correct transition logic to use
    // #TODO this could be a case of using function as variable and setting it at PhaseTransitionLogic
    // creation time
    if (fromPhase == toPhase) {
        // for green rest or green transfer, it cannot return to itself if a transition is active
        return fromPhase->getCurrentState() >= LightState::Green;
    } else if (fromPhase->coordinatePhase) {
        // if the from phase is a coordinated phase i.e. {2, 6} in a standard setup
        return fromCoord(controller);
    } else if (fromPhase->isAtBarrier) {
        // if the phase is at a barrier i.e. {2, 6, 4, 8} in a standard setup
        return fromBarrier(controller);
    } else if (controller->coordinateMode) {
        // typical coordinate mode transition,
        return coordBase(controller);
    } else {
        // base transition logic
        return freeBase(controller);
    }
}
 
bool
PhaseTransitionLogic::freeBase(NEMALogic* controller) {
    // Simplest transition logic. Just check if a detector (or recall) is active on that phase and
    bool okay = false;
    // is a call active on the toPhase?
    if (toPhase->callActive()) {
        // would the transition be a barrier cross?
        if (fromPhase->barrierNum != toPhase->barrierNum) {
            PhasePtr otherPhase = controller->getOtherPhase(fromPhase);
            // If it is a barrier cross, then the other phase must also be ready to switch
            // or have a transition time that is lower than mine currently. DELTA_T is critical here
            if (otherPhase->readyToSwitch) {
                // #&& otherPhase->getTransitionTime(controller) <= fromPhase->getTransitionTime(controller)) {
                okay = true;
            }
        } else {
            okay = true;
        }
    }
    return okay;
}
 
bool
PhaseTransitionLogic::coordBase(NEMALogic* controller) {
    if (toPhase->coordinatePhase &&
            (controller->getOtherPhase(fromPhase)->readyToSwitch || fromPhase->barrierNum == toPhase->barrierNum)) {
        // transitions TO the coordinated phase may always happen, as long as the other phase is okay to switch too
        return true;
    }
    // first check if the free logic is upheld
    else if (freeBase(controller)) {
        // Then check if the "to phase" can fit, which means that there is enough time to fit the current transition + the minimum time of the next phase
        SUMOTime transitionTime = fromPhase->getTransitionTime(controller);
        SUMOTime timeTillForceOff = controller->ModeCycle(toPhase->forceOffTime - controller->getTimeInCycle(), controller->getCurrentCycleLength());
        if (toPhase->minDuration + transitionTime <= timeTillForceOff) {
            return true;
        }
    }
    return false;
}
 
 
bool
PhaseTransitionLogic::fromBarrier(NEMALogic* controller) {
    if (freeBase(controller)) {
        if (fromPhase->barrierNum == toPhase->barrierNum) {
            // same barrier side so we are good.
            // Check if green transfer is active. If so, we need to make sure that there are no calls on the other side of the barrier
            if (fromPhase->getCurrentState() >= LightState::Green) {
                for (auto& p : controller->getPhasesByRing(fromPhase->ringNum)) {
                    if (p->barrierNum != fromPhase->barrierNum && p->callActive()) {
                        return false;
                    }
                }
            }
            return true;
        } else {
            // This is now a barrier cross and we need to make sure that the other phase is also ready to transition
            if (fromPhase->readyToSwitch && controller->getOtherPhase(fromPhase)->readyToSwitch) {
                return true;
            }
        }
    }
    return false;
}
 
 
bool
PhaseTransitionLogic::fromCoord(NEMALogic* controller) {
    if (coordBase(controller)) {
        // Determine if the other phase is also ready to switch
        if (controller->getOtherPhase(fromPhase)->readyToSwitch) {
            // Dr. Wang had the Type-170 code setup in a way that it could transition whenever - meaning that it didn't matter if the prior phase could fit or not
            if (controller->isType170()) {
                return true;
            }
            // If the transition is already active, then report that the movement is possible
            if (fromPhase->isTransitionActive()) {
                return true;
            }
            // now determine if there my prior phase can fit or not. We already know that I can fit.
            NEMAPhase* priorPhase = toPhase->getSequentialPriorPhase();
            SUMOTime timeTillForceOff = controller->ModeCycle(priorPhase->forceOffTime - controller->getTimeInCycle(), controller->getCurrentCycleLength());
            SUMOTime transitionTime = fromPhase->getTransitionTime(controller);
            // if the time till the force off is less than the min duration ||
            // if it is greater than the cycle length minus the length of the coordinate phase (which the fromPhase automatically is)
            if ((priorPhase->minDuration + transitionTime) > timeTillForceOff || timeTillForceOff > (controller->getCurrentCycleLength() - fromPhase->minDuration)) {
                return true;
            }
        }
    }
    return false;
}
 
int
PhaseTransitionLogic::getDistance(PhaseTransitionLogic* otherTrans) {
    // Returns the other transitions distance in green transfer situations
    if ((toPhase == fromPhase) && (otherTrans->toPhase->barrierNum == toPhase->barrierNum)) {
        if (toPhase->getCurrentState() == LightState::Green || toPhase->getCurrentState() == LightState::GreenXfer) {
            return otherTrans->distance;
        }
    }
    return distance;
}