NBTrafficLightDefinition.h

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// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2002-2018 German Aerospace Center (DLR) and others.
// This program and the accompanying materials
// are made available under the terms of the Eclipse Public License v2.0
// which accompanies this distribution, and is available at
// http://www.eclipse.org/legal/epl-v20.html
// SPDX-License-Identifier: EPL-2.0
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// The base class for traffic light logic definitions
/****************************************************************************/
#ifndef NBTrafficLightDefinition_h
#define NBTrafficLightDefinition_h


// ===========================================================================
// included modules
// ===========================================================================
#include <config.h>

#include <vector>
#include <string>
#include <bitset>
#include <utility>
#include <set>
#include <utils/common/StdDefs.h>
#include <utils/common/Named.h>
#include <utils/common/VectorHelper.h>
#include <utils/common/SUMOTime.h>
#include <utils/common/UtilExceptions.h>
#include <utils/common/Parameterised.h>
#include "NBCont.h"
#include "NBConnection.h"
#include "NBConnectionDefs.h"
#include "NBLinkPossibilityMatrix.h"


// ===========================================================================
// class declarations
// ===========================================================================
class NBNode;
class OptionsCont;
class NBTrafficLightLogic;


// ===========================================================================
// class definitions
// ===========================================================================
class NBTrafficLightDefinition : public Named, public Parameterised {
public:

    static const SUMOTime UNSPECIFIED_DURATION;
    static const std::string DefaultProgramID;

    enum TLColor {
        TLCOLOR_RED,
        TLCOLOR_YELLOW,
        TLCOLOR_REDYELLOW,
        TLCOLOR_GREEN,
        TLCOLOR_BLINK
    };


    NBTrafficLightDefinition(const std::string& id,
                             const std::vector<NBNode*>& junctions,
                             const std::string& programID,
                             SUMOTime offset,
                             TrafficLightType type);


    NBTrafficLightDefinition(const std::string& id,
                             NBNode* junction,
                             const std::string& programID,
                             SUMOTime offset,
                             TrafficLightType type);


    NBTrafficLightDefinition(const std::string& id, const std::string& programID,
                             SUMOTime offset,
                             TrafficLightType type);


    virtual ~NBTrafficLightDefinition();


    NBTrafficLightLogic* compute(OptionsCont& oc);




    virtual void addNode(NBNode* node);


    virtual void removeNode(NBNode* node);

    virtual void removeConnection(const NBConnection& conn, bool reconstruct = true) {
        UNUSED_PARAMETER(conn);
        UNUSED_PARAMETER(reconstruct);
    }

    const std::vector<NBNode*>& getNodes() const {
        return myControlledNodes;
    }


    bool mustBrake(const NBEdge* const from, const NBEdge* const to) const;


    bool mustBrake(const NBConnection& possProhibited,
                   const NBConnection& possProhibitor,
                   bool regardNonSignalisedLowerPriority) const;

    bool mustBrake(const NBEdge* const possProhibitedFrom, const NBEdge* const possProhibitedTo,
                   const NBEdge* const possProhibitorFrom, const NBEdge* const possProhibitorTo,
                   bool regardNonSignalisedLowerPriority) const;


    bool forbids(const NBEdge* const possProhibitorFrom, const NBEdge* const possProhibitorTo,
                 const NBEdge* const possProhibitedFrom, const NBEdge* const possProhibitedTo,
                 bool regardNonSignalisedLowerPriority,
                 bool sameNodeOnly = false) const;


    bool foes(const NBEdge* const from1, const NBEdge* const to1,
              const NBEdge* const from2, const NBEdge* const to2) const;


    virtual void setTLControllingInformation() const = 0;


    virtual void setParticipantsInformation();


    void addControlledInnerEdges(const std::vector<std::string>& edges);

    std::vector<std::string> getControlledInnerEdges() const;

    virtual void remapRemoved(NBEdge* removed,
                              const EdgeVector& incoming, const EdgeVector& outgoing) = 0;


    virtual void replaceRemoved(NBEdge* removed, int removedLane,
                                NBEdge* by, int byLane) = 0;

    virtual void shiftTLConnectionLaneIndex(NBEdge* edge, int offset, int threshold = -1) {
        UNUSED_PARAMETER(edge);
        UNUSED_PARAMETER(offset);
        UNUSED_PARAMETER(threshold);
    }

    const EdgeVector& getIncomingEdges() const;


    const NBConnectionVector& getControlledLinks() const {
        return myControlledLinks;
    }


    NBConnectionVector& getControlledLinks() {
        return myControlledLinks;
    }


    const std::string& getProgramID() const {
        return mySubID;
    };


    void setProgramID(const std::string& programID) {
        mySubID = programID;
    }


    SUMOTime getOffset() {
        return myOffset;
    }


    TrafficLightType getType() const {
        return myType;
    }

    virtual void setType(TrafficLightType type) {
        myType = type;
    }

    /* @brief computes whether the given stream may have green minor while the
     * other stream has green major in the same phase
     */
    bool needsCont(const NBEdge* fromE, const NBEdge* toE, const NBEdge* otherFromE, const NBEdge* otherToE) const;

    virtual bool rightOnRedConflict(int index, int foeIndex) const;

    /* initialize myNeedsContRelation and set myNeedsContRelationReady to true
     * This information is a byproduct of NBOwnTLDef::myCompute. All other
     * subclasses instantiate a private instance of NBOwnTLDef to answer this query */
    virtual void initNeedsContRelation() const;

    virtual int getMaxIndex() = 0;

    virtual int getMaxValidIndex() {
        return getMaxIndex();
    }

    int computeBrakingTime(double minDecel) const;

    virtual bool usingSignalGroups() const {
        return false;
    };

protected:
    static const std::string DummyID;

    virtual NBTrafficLightLogic* myCompute(int brakingTime) = 0;


    virtual void collectLinks() = 0;


    virtual void collectEdges();


    // @return whether this traffic light is invalid and should be computed
    virtual bool amInvalid() const;

    void collectAllLinks();

protected:
    std::vector<NBNode*> myControlledNodes;

    EdgeVector myIncomingEdges;

    EdgeVector myEdgesWithin;

    NBConnectionVector myControlledLinks;

    std::set<std::string> myControlledInnerEdges;

    std::string mySubID;

    SUMOTime myOffset;

    TrafficLightType myType;

    struct StreamPair {
        StreamPair(const NBEdge* _from1, const NBEdge* _to1, const NBEdge* _from2, const NBEdge* _to2):
            from1(_from1),
            to1(_to1),
            from2(_from2),
            to2(_to2) {}

        bool operator==(const StreamPair& o) const {
            return (from1 == o.from1 && to1 == o.to1
                    && from2 == o.from2 && to2 == o.to2);
        }

        bool operator<(const StreamPair& o) const {
            if (from1 != o.from1) {
                return from1 < o.from1;
            }
            if (to1 != o.to1) {
                return to1 < o.to1;
            }
            if (from2 != o.from2) {
                return from2 < o.from2;
            }
            return to2 < o.to2;
        }

        const NBEdge* from1;
        const NBEdge* to1;
        const NBEdge* from2;
        const NBEdge* to2;
    };
    typedef std::set<StreamPair> NeedsContRelation;
    mutable NeedsContRelation myNeedsContRelation;
    mutable bool myNeedsContRelationReady;

    typedef std::set<std::pair<int, int> > RightOnRedConflicts;
    mutable RightOnRedConflicts myRightOnRedConflicts;
    mutable bool myRightOnRedConflictsReady;

private:
    static std::set<NBEdge*> collectReachable(EdgeVector outer, const EdgeVector& within, bool checkControlled);


};


#endif

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