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MSLink.cpp
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MSLink.cpp
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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2001-2023 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
/****************************************************************************/
/// @file MSLink.cpp
/// @author Daniel Krajzewicz
/// @author Jakob Erdmann
/// @author Michael Behrisch
/// @author Laura Bieker
/// @date Sept 2002
///
// A connection between lanes
/****************************************************************************/
#include <config.h>
#include <iostream>
#include <algorithm>
#include <limits>
#include <utils/iodevices/OutputDevice.h>
#include <utils/common/RandHelper.h>
#include <utils/common/StringTokenizer.h>
#include "MSNet.h"
#include "MSJunction.h"
#include "MSJunctionLogic.h"
#include "MSLink.h"
#include "MSLane.h"
#include <microsim/transportables/MSPerson.h>
#include <microsim/transportables/MSTransportableControl.h>
#include "MSEdge.h"
#include "MSGlobals.h"
#include "MSVehicle.h"
#include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
#include <microsim/transportables/MSPModel.h>
//#define MSLink_DEBUG_CROSSING_POINTS
//#define MSLink_DEBUG_CROSSING_POINTS_DETAILS
//#define MSLink_DEBUG_OPENED
//#define DEBUG_APPROACHING
//#define DEBUG_ZIPPER
//#define DEBUG_WALKINGAREA
//#define DEBUG_COND (myLane->getID()=="43[0]_0" && myLaneBefore->getID()==":33_0_0")
//#define DEBUG_COND (myLane->getID()=="end_0")
//#define DEBUG_COND (true)
#define DEBUG_COND2(obj) (obj->isSelected())
//#define DEBUG_COND2(obj) (obj->getID() == "train2")
//#define DEBUG_COND_ZIPPER (gDebugFlag1)
//#define DEBUG_COND_ZIPPER (true)
#define DEBUG_COND_ZIPPER (ego->isSelected())
// ===========================================================================
// static member variables
// ===========================================================================
#define INVALID_TIME -1000
// the default safety gap when passing before oncoming pedestrians
#define JM_CROSSING_GAP_DEFAULT 10
// minimim width between sibling lanes to qualify as non-overlapping
#define DIVERGENCE_MIN_WIDTH 2.5
const SUMOTime MSLink::myLookaheadTime = TIME2STEPS(1);
// additional caution is needed when approaching a zipper link
const SUMOTime MSLink::myLookaheadTimeZipper = TIME2STEPS(4);
std::set<std::pair<MSLink*, MSLink*> > MSLink::myRecheck;
const double MSLink::NO_INTERSECTION(10000);
// ===========================================================================
// ConflictInfo member method definitions
// ===========================================================================
double
MSLink::ConflictInfo::getFoeLengthBehindCrossing(const MSLink* foeExitLink) const {
if (flag == CONFLICT_DUMMY_MERGE) {
return 0;
} else if (foeConflictIndex >= 0) {
return foeExitLink->myConflicts[foeConflictIndex].lengthBehindCrossing;
} else {
return -NO_INTERSECTION;
}
}
double
MSLink::ConflictInfo::getFoeConflictSize(const MSLink* foeExitLink) const {
if (foeConflictIndex >= 0) {
return foeExitLink->myConflicts[foeConflictIndex].conflictSize;
} else {
return 0;
}
}
double
MSLink::ConflictInfo::getLengthBehindCrossing(const MSLink* exitLink) const {
if (flag == CONFLICT_STOP_AT_INTERNAL_JUNCTION) {
return exitLink->getInternalLaneBefore()->getLength();
} else {
return lengthBehindCrossing;
}
}
// ===========================================================================
// member method definitions
// ===========================================================================
MSLink::MSLink(MSLane* predLane, MSLane* succLane, MSLane* via, LinkDirection dir, LinkState state,
double length, double foeVisibilityDistance, bool keepClear,
MSTrafficLightLogic* logic, int tlIndex,
bool indirect) :
myLane(succLane),
myLaneBefore(predLane),
myIndex(-1),
myTLIndex(tlIndex),
myLogic(logic),
myState(state),
myLastGreenState(LINKSTATE_TL_GREEN_MINOR),
myOffState(state),
myLastStateChange(SUMOTime_MIN / 2), // a large negative value, but avoid overflows when subtracting
myDirection(dir),
myLength(length),
myFoeVisibilityDistance(foeVisibilityDistance),
myHasFoes(false),
myAmCont(false),
myAmContOff(false),
myKeepClear(keepClear),
myInternalLane(via),
myInternalLaneBefore(nullptr),
myMesoTLSPenalty(0),
myGreenFraction(1),
myLateralShift(0),
myOffFoeLinks(nullptr),
myWalkingAreaFoe(nullptr),
myWalkingAreaFoeExit(nullptr),
myHavePedestrianCrossingFoe(false),
myParallelRight(nullptr),
myParallelLeft(nullptr),
myAmIndirect(indirect),
myRadius(std::numeric_limits<double>::max()),
myJunction(nullptr) {
if (MSGlobals::gLateralResolution > 0) {
// detect lateral shift from lane geometries
//std::cout << "DEBUG link=" << myLaneBefore->getID() << "->" << getViaLaneOrLane()->getID() << " hasInternal=" << MSNet::getInstance()->hasInternalLinks() << " shapeBefore=" << myLaneBefore->getShape().back() << " shapeFront=" << getViaLaneOrLane()->getShape().front() << "\n";
if ((myInternalLane != nullptr || predLane->isInternal())
&& myLaneBefore->getShape().back() != getViaLaneOrLane()->getShape().front()) {
PositionVector from = myLaneBefore->getShape();
const PositionVector& to = getViaLaneOrLane()->getShape();
const double dist = from.back().distanceTo2D(to.front());
// figure out direction of shift
try {
from.move2side(dist);
} catch (InvalidArgument&) {
}
myLateralShift = (from.back().distanceTo2D(to.front()) < dist) ? dist : -dist;
if (MSGlobals::gLefthand) {
myLateralShift *= -1;
}
//std::cout << " lateral shift link=" << myLaneBefore->getID() << "->" << getViaLaneOrLane()->getID() << " dist=" << dist << " shift=" << myLateralShift << "\n";
}
}
}
MSLink::~MSLink() {
delete myOffFoeLinks;
}
void
MSLink::addCustomConflict(const MSLane* from, const MSLane* to, double startPos, double endPos) {
myCustomConflicts.push_back(CustomConflict(from, to, startPos, endPos));
}
const MSLink::CustomConflict*
MSLink::getCustomConflict(const MSLane* foeLane) const {
if (myCustomConflicts.size() > 0) {
const MSLane* foeFrom = foeLane->getNormalPredecessorLane();
const MSLane* foeTo = foeLane->getNormalSuccessorLane();
for (const CustomConflict& cc : myCustomConflicts) {
if (cc.from == foeFrom && cc.to == foeTo) {
return &cc;
}
}
}
return nullptr;
}
void
MSLink::setRequestInformation(int index, bool hasFoes, bool isCont,
const std::vector<MSLink*>& foeLinks,
const std::vector<MSLane*>& foeLanes,
MSLane* internalLaneBefore) {
//#ifdef MSLink_DEBUG_CROSSING_POINTS
// std::cout << " setRequestInformation() for junction " << getViaLaneOrLane()->getEdge().getFromJunction()->getID()
// << "\nInternalLanes = " << toString(getViaLaneOrLane()->getEdge().getFromJunction()->getInternalLanes())
// << std::endl;
//#endif
myIndex = index;
myHasFoes = hasFoes;
myAmCont = isCont;
myFoeLinks = foeLinks;
for (MSLane* foeLane : foeLanes) {
// cannot assign vector due to const-ness
myFoeLanes.push_back(foeLane);
}
myJunction = const_cast<MSJunction*>(myLane->getEdge().getFromJunction()); // junctionGraph is initialized after the whole network is loaded
myAmContOff = isCont && myLogic != nullptr && internalLaneBefore == nullptr && checkContOff();
myInternalLaneBefore = internalLaneBefore;
MSLane* lane = nullptr;
if (internalLaneBefore != nullptr) {
// this is an exit link. compute crossing points with all foeLanes
lane = internalLaneBefore;
//} else if (myLane->getEdge().isCrossing()) {
// // this is the link to a pedestrian crossing. compute crossing points with all foeLanes
// // @note not currently used by pedestrians
// lane = myLane;
}
const MSLink* entryLink = getCorrespondingEntryLink();
if (entryLink->getOffState() == LinkState::LINKSTATE_ALLWAY_STOP && entryLink->getTLLogic() != nullptr) {
// TLS has "normal" right of way rules but all conflicting links are foes when switching TLS off
// (unless it's an internal junction link which should ignore all foes and should be ignored by all foes
myOffFoeLinks = new std::vector<MSLink*>();
if (isEntryLink()) {
for (MSLane* foeLane : foeLanes) {
assert(foeLane->isInternal());
MSLink* viaLink = foeLane->getIncomingLanes().front().viaLink;
if (viaLink->getLaneBefore()->isNormal()) {
myOffFoeLinks->push_back(viaLink);
}
}
}
}
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << "link " << myIndex << " to " << getViaLaneOrLane()->getID() << " internalLaneBefore=" << (lane == 0 ? "NULL" : lane->getID()) << " has foes: " << toString(foeLanes) << "\n";
#endif
if (lane != nullptr) {
const bool beforeInternalJunction = lane->getLinkCont()[0]->getViaLaneOrLane()->getEdge().isInternal();
if (lane->getIncomingLanes().size() != 1) {
throw ProcessError("Internal lane '" + lane->getID() + "' has " + toString(lane->getIncomingLanes().size()) + " predecessors");
}
const MSLink* junctionEntryLink = lane->getEntryLink();
const bool isSecondPart = isExitLinkAfterInternalJunction();
// compute crossing points
for (const MSLane* foeLane : myFoeLanes) {
const CustomConflict* cc = junctionEntryLink != nullptr ? junctionEntryLink->getCustomConflict(foeLane) : nullptr;
if (cc != nullptr) {
// handle custom conflict definition
double startPos = cc->startPos;
const double conflictSize = cc->endPos - cc->startPos;
if (isSecondPart) {
startPos -= junctionEntryLink->getViaLane()->getLength();
}
// the foe connection may be split at an internal
// junction, we need to figure out whether the current
// foeLane is the intended target for the custom conflict
// There are two possibilities:
// a) We have no custom conflict for the reverse pair of connections
// -> just check whether lane and foeLane intersect
// b) We have a "reverse" custom conflict
// -> check whether it covers the foeLane
const CustomConflict* rcc = foeLane->getEntryLink()->getCustomConflict(lane);
bool haveIntersection = false;
if (rcc == nullptr) {
// a)
haveIntersection = lane->getShape().intersectsAtLengths2D(foeLane->getShape()).size() > 0;
} else {
// b)
const bool foeIsSecondPart = foeLane->getLogicalPredecessorLane()->isInternal();
double foeStartPos = rcc->startPos;
const double foeConflictSize = rcc->endPos - rcc->startPos;
if (foeIsSecondPart) {
foeStartPos -= foeLane->getLogicalPredecessorLane()->getLength();
}
const double foeEndPos = foeStartPos + foeConflictSize;
haveIntersection = ((foeStartPos > 0 && foeStartPos < foeLane->getLength())
|| (foeEndPos > 0 && foeEndPos < foeLane->getLength()));
}
if (haveIntersection) {
myConflicts.push_back(ConflictInfo(lane->getLength() - startPos, conflictSize));
} else {
myConflicts.push_back(ConflictInfo(-NO_INTERSECTION, 0));
}
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " " << lane->getID() << " custom conflict with " << foeLane->getID() << " customReverse=" << (rcc != nullptr)
<< " haveIntersection=" << haveIntersection
<< " startPos=" << startPos << " conflictSize=" << conflictSize
<< " lbc=" << myConflicts.back().lengthBehindCrossing
<< "\n";
#endif
continue;
}
myHavePedestrianCrossingFoe = myHavePedestrianCrossingFoe || foeLane->getEdge().isCrossing();
const bool sameTarget = myLane == foeLane->getLinkCont()[0]->getLane();
if (sameTarget && !beforeInternalJunction && !contIntersect(lane, foeLane)) {
//if (myLane == foeLane->getLinkCont()[0]->getLane()) {
// this foeLane has the same target and merges at the end (lane exits the junction)
const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + foeLane->getWidth()));
if (lane->getShape().back().distanceTo2D(foeLane->getShape().back()) >= minDist) {
// account for lateral shift by the entry links
if (foeLane->getEntryLink()->isIndirect()) {
myConflicts.push_back(ConflictInfo(-NO_INTERSECTION, 0)); // dummy value, never used
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " " << lane->getID() << " dummy merge with indirect" << foeLane->getID() << "\n";
#endif
} else {
myConflicts.push_back(ConflictInfo(0, foeLane->getWidth(), CONFLICT_DUMMY_MERGE)); // dummy value, never used
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " " << lane->getID() << " dummy merge with " << foeLane->getID() << "\n";
#endif
}
} else {
const double distAfterDivergence = computeDistToDivergence(lane, foeLane, minDist, false);
const double lbcLane = lane->interpolateGeometryPosToLanePos(distAfterDivergence);
myConflicts.push_back(ConflictInfo(lbcLane, foeLane->getWidth()));
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout
<< " " << lane->getID()
<< " merges with " << foeLane->getID()
<< " nextLane " << lane->getLinkCont()[0]->getViaLaneOrLane()->getID()
<< " dist1=" << myConflicts.back().lengthBehindCrossing
<< "\n";
#endif
}
} else {
std::vector<double> intersections1 = lane->getShape().intersectsAtLengths2D(foeLane->getShape());
#ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
std::cout << " intersections1=" << toString(intersections1) << "\n";
#endif
bool haveIntersection = true;
if (intersections1.size() == 0) {
intersections1.push_back(-NO_INTERSECTION); // disregard this foe (using maxdouble leads to nasty problems down the line)
haveIntersection = false;
} else if (intersections1.size() > 1) {
std::sort(intersections1.begin(), intersections1.end());
}
std::vector<double> intersections2 = foeLane->getShape().intersectsAtLengths2D(lane->getShape());
#ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
std::cout << " intersections2=" << toString(intersections2) << "\n";
#endif
if (intersections2.size() == 0) {
intersections2.push_back(0);
} else if (intersections2.size() > 1) {
std::sort(intersections2.begin(), intersections2.end());
}
double conflictSize = foeLane->getWidth();
ConflictFlag flag = CONFLICT_NO_INTERSECTION;
if (haveIntersection) {
flag = CONFLICT_DEFAULT;
const double angle1 = GeomHelper::naviDegree(lane->getShape().rotationAtOffset(intersections1.back()));
const double angle2 = GeomHelper::naviDegree(foeLane->getShape().rotationAtOffset(intersections2.back()));
const double angleDiff = GeomHelper::getMinAngleDiff(angle1, angle2);
//const double angleDiff = MIN2(GeomHelper::getMinAngleDiff(angle1, angle2),
// GeomHelper::getMinAngleDiff(angle1, angle2 + 180));
const double widthFactor = 1 / MAX2(sin(DEG2RAD(angleDiff)), 0.2) * 2 - 1;
//std::cout << " intersection of " << lane->getID() << " with " << foeLane->getID() << " angle1=" << angle1 << " angle2=" << angle2 << " angleDiff=" << angleDiff << " widthFactor=" << widthFactor << "\n";
conflictSize *= widthFactor;
conflictSize = MIN2(conflictSize, lane->getLength());
// lane width affects the crossing point
intersections1.back() -= conflictSize / 2;
// ensure non-negative offset for weird geometries
intersections1.back() = MAX2(0.0, intersections1.back());
// also length/geometry factor. (XXX: Why subtract width/2 *before* converting geometric position to lane pos? refs #3031)
intersections1.back() = lane->interpolateGeometryPosToLanePos(intersections1.back());
if (internalLaneBefore->getLogicalPredecessorLane()->getEdge().isInternal() && !foeLane->getEdge().isCrossing()) {
flag = CONFLICT_STOP_AT_INTERNAL_JUNCTION;
}
}
myConflicts.push_back(ConflictInfo(
lane->getLength() - intersections1.back(),
conflictSize, flag));
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout
<< " intersection of " << lane->getID()
<< " totalLength=" << lane->getLength()
<< " with " << foeLane->getID()
<< " totalLength=" << foeLane->getLength()
<< " dist1=" << myConflicts.back().lengthBehindCrossing
<< " widthFactor=" << myConflicts.back().conflictSize / foeLane->getWidth()
<< "\n";
#endif
}
}
// check for overlap with internal lanes from the same source lane
const MSLane* pred = lane->getLogicalPredecessorLane();
// to avoid overlap with vehicles that came from pred (especially when pred has endOffset > 0)
// we add all other internal lanes from pred as foeLanes
for (const MSLink* const link : pred->getLinkCont()) {
const MSLane* const sibling = link->getViaLane();
if (sibling != lane && sibling != nullptr) {
const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + sibling->getWidth()));
if (lane->getShape().front().distanceTo2D(sibling->getShape().front()) >= minDist) {
// account for lateral shift by the entry links
continue;
}
const double distToDivergence = computeDistToDivergence(lane, sibling, minDist, true);
double lbcLane;
if (lane->getLength() == sibling->getLength() && &lane->getEdge() == &sibling->getEdge()) {
// for parallel lanes, avoid inconsistency in distance estimation (#10988)
// between forward distance (getLeaderInfo)
// and backward distance used in lane-changing (getFollowersOnConsecutive)
lbcLane = lane->getLength() - distToDivergence;
} else {
lbcLane = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence));
}
ConflictInfo ci = ConflictInfo(lbcLane, sibling->getWidth());
auto it = std::find(myFoeLanes.begin(), myFoeLanes.end(), sibling);
if (it != myFoeLanes.end()) {
// avoid duplicate foeLane
const int replacedIndex = (int)(it - myFoeLanes.begin());
myConflicts[replacedIndex] = ci;
} else {
myConflicts.push_back(ci);
myFoeLanes.push_back(sibling);
}
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " adding same-origin foe" << sibling->getID()
<< " dist1=" << myConflicts.back().lengthBehindCrossing
<< "\n";
#endif
}
}
// init points for the symmetrical conflict
// for each pair of conflicting lanes, the link that gets second, sets the pointers
for (int i = 0; i < (int)myFoeLanes.size(); i++) {
const MSLane* foeLane = myFoeLanes[i];
MSLink* foeExitLink = foeLane->getLinkCont()[0];
int foundIndex = -1;
for (int i2 = 0; i2 < (int)foeExitLink->myFoeLanes.size(); i2++) {
if (foeExitLink->myFoeLanes[i2] == lane) {
myConflicts[i].foeConflictIndex = i2;
foeExitLink->myConflicts[i2].foeConflictIndex = i;
myRecheck.erase({foeExitLink, this});
foundIndex = i2;
break;
}
}
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << lane->getID() << " foeLane=" << foeLane->getID() << " index=" << i << " foundIndex=" << foundIndex << "\n";
#endif
if (foundIndex < 0) {
if (myConflicts[i].flag != CONFLICT_NO_INTERSECTION) {
myRecheck.insert({this, foeExitLink});
}
}
}
}
if (MSGlobals::gLateralResolution > 0) {
// check for links with the same origin lane and the same destination edge
const MSEdge* myTarget = &myLane->getEdge();
// save foes for entry links
for (MSLink* const it : myLaneBefore->getLinkCont()) {
const MSEdge* target = &(it->getLane()->getEdge());
if (it == this) {
continue;
}
if (target == myTarget) {
mySublaneFoeLinks.push_back(it);
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " sublaneFoeLink (same target): " << it->getViaLaneOrLane()->getID() << "\n";
#endif
} else if (myDirection != LinkDirection::STRAIGHT && it->getDirection() == LinkDirection::STRAIGHT) {
// potential turn conflict
mySublaneFoeLinks2.push_back(it);
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " sublaneFoeLink2 (other target: " << it->getViaLaneOrLane()->getID() << "\n";
#endif
}
}
// save foes for exit links
if (fromInternalLane()) {
//std::cout << " setRequestInformation link=" << getViaLaneOrLane()->getID() << " before=" << myLaneBefore->getID() << " before2=" << myLaneBefore->getIncomingLanes().front().lane->getID() << "\n";
for (const MSLink* const link : myLaneBefore->getIncomingLanes().front().lane->getLinkCont()) {
if (link->getViaLane() != myInternalLaneBefore && &link->getLane()->getEdge() == myTarget) {
//std::cout << " add sublaneFoe=" << (*it)->getViaLane()->getID() << "\n";
mySublaneFoeLanes.push_back(link->getViaLane());
}
}
}
}
if (myInternalLaneBefore != nullptr
&& myDirection != LinkDirection::STRAIGHT
// for right turns, the curvature helps rather than restricts the linkLeader check
&& (
(!MSGlobals::gLefthand && myDirection != LinkDirection::RIGHT)
|| (MSGlobals::gLefthand && myDirection != LinkDirection::LEFT))) {
const double angle = fabs(GeomHelper::angleDiff(
myLaneBefore->getNormalPredecessorLane()->getShape().angleAt2D(-2),
myLane->getShape().angleAt2D(0)));
if (angle > 0) {
double length = myInternalLaneBefore->getShape().length2D();
if (myInternalLaneBefore->getIncomingLanes().size() == 1 &&
myInternalLaneBefore->getIncomingLanes()[0].lane->isInternal()) {
length += myInternalLaneBefore->getIncomingLanes()[0].lane->getShape().length2D();
} else if (myInternalLane != nullptr) {
length += myInternalLane->getShape().length2D();
}
myRadius = length / angle;
//std::cout << getDescription() << " a=" << RAD2DEG(angle) << " l=" << length << " r=" << myRadius << "\n";
}
}
}
void
MSLink::recheckSetRequestInformation() {
for (auto item : myRecheck) {
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " recheck l1=" << item.first->getDescription() << " l2=" << item.second->getDescription() << "\n";
#endif
MSLink* link = item.first;
MSLink* foeExitLink = item.second;
const MSLane* lane = link->getInternalLaneBefore();
const MSLane* foeLane = foeExitLink->getInternalLaneBefore();
int conflictIndex = -1;
for (int i = 0; i < (int)link->myFoeLanes.size(); i++) {
if (link->myFoeLanes[i] == foeLane) {
conflictIndex = i;
break;
}
}
if (conflictIndex == -1) {
WRITE_WARNING("Could not recheck ConflictInfo for " + link->getDescription() + " and " + foeExitLink->getDescription() + "\n");
continue;
}
ConflictInfo& ci = link->myConflicts[conflictIndex];
std::vector<double> intersections1 = foeLane->getShape().intersectsAtLengths2D(lane->getShape());
if (intersections1.size() == 0) {
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " no intersection\n";
#endif
continue;
}
const double widthFactor = ci.conflictSize / foeLane->getWidth();
const double conflictSize2 = lane->getWidth() * widthFactor;
std::sort(intersections1.begin(), intersections1.end());
intersections1.back() -= conflictSize2 / 2;
intersections1.back() = MAX2(0.0, intersections1.back());
ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
foeExitLink->myConflicts.push_back(ConflictInfo(foeLane->getLength() - intersections1.back(), conflictSize2));
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " ci=" << conflictIndex << " wf=" << widthFactor << " flag=" << ci.flag << " flbc=" << foeExitLink->myConflicts.back().lengthBehindCrossing << "\n";
#endif
}
myRecheck.clear();
}
double
MSLink::computeDistToDivergence(const MSLane* lane, const MSLane* sibling, double minDist, bool sameSource) const {
double lbcSibling = 0;
double lbcLane = 0;
PositionVector l = lane->getShape();
PositionVector s = sibling->getShape();
double length = l.length2D();
double sibLength = s.length2D();
if (!sameSource) {
l = l.reverse();
s = s.reverse();
} else if (sibling->getEntryLink()->myAmIndirect) {
// ignore final waiting position since it may be quite close to the lane
// shape but the waiting position is perpendicular (so the minDist
// requirement is not necessary
lbcSibling += s[-1].distanceTo2D(s[-2]);
s.pop_back();
} else if (lane->getEntryLink()->myAmIndirect) {
// ignore final waiting position since it may be quite close to the lane
// shape but the waiting position is perpendicular (so the minDist
// requirement is not necessary
lbcLane += l[-1].distanceTo2D(l[-2]);
l.pop_back();
}
#ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
std::cout << " sameSource=" << sameSource << " minDist=" << minDist << " backDist=" << l.back().distanceTo2D(s.back()) << "\n";
#endif
if (l.back().distanceTo2D(s.back()) > minDist) {
// compute the final divergence point
// this position serves two purposes:
// 1) once the foe vehicle back (on sibling) has passed this point, we can safely ignore it
// 2) both vehicles are put into a cf-relationship while before the point.
// Since the actual crossing point is at the start of the junction,
// we want to make sure that both vehicles have the same distance to the crossing point and thus follow each other naturally
std::vector<double> distances = l.distances(s);
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " distances=" << toString(distances) << "\n";
#endif
assert(distances.size() == l.size() + s.size());
if (distances.back() > minDist && distances[l.size() - 1] > minDist) {
// do a pairwise check between lane and sibling to make because we do not know which of them bends more
for (int j = (int)s.size() - 2; j >= 0; j--) {
const int i = j + (int)l.size();
const double segLength = s[j].distanceTo2D(s[j + 1]);
if (distances[i] > minDist) {
lbcSibling += segLength;
} else {
// assume no sharp bends and just interpolate the last segment
lbcSibling += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
break;
}
}
for (int i = (int)l.size() - 2; i >= 0; i--) {
const double segLength = l[i].distanceTo2D(l[i + 1]);
if (distances[i] > minDist) {
lbcLane += segLength;
} else {
// assume no sharp bends and just interpolate the last segment
lbcLane += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
break;
}
}
}
assert(lbcSibling >= -NUMERICAL_EPS);
assert(lbcLane >= -NUMERICAL_EPS);
}
const double distToDivergence1 = sibling->getLength() - lbcSibling;
const double distToDivergence2 = lane->getLength() - lbcLane;
const double distToDivergence = MIN3(
MAX2(distToDivergence1, distToDivergence2),
sibLength, length);
#ifdef MSLink_DEBUG_CROSSING_POINTS
std::cout << " distToDivergence=" << distToDivergence
<< " distTD1=" << distToDivergence1
<< " distTD2=" << distToDivergence2
<< " length=" << length
<< " sibLength=" << sibLength
<< "\n";
#endif
return distToDivergence;
}
bool
MSLink::contIntersect(const MSLane* lane, const MSLane* foe) {
if (foe->getLinkCont()[0]->getViaLane() != nullptr) {
std::vector<double> intersections = lane->getShape().intersectsAtLengths2D(foe->getShape());
return intersections.size() > 0;
}
return false;
}
void
MSLink::setApproaching(const SUMOVehicle* approaching, const SUMOTime arrivalTime, const double arrivalSpeed, const double leaveSpeed,
const bool setRequest, const double arrivalSpeedBraking, const SUMOTime waitingTime, double dist, double latOffset) {
const SUMOTime leaveTime = getLeaveTime(arrivalTime, arrivalSpeed, leaveSpeed, approaching->getVehicleType().getLength());
#ifdef DEBUG_APPROACHING
if (DEBUG_COND2(approaching)) {
std::cout << SIMTIME << " Link '" << (myLaneBefore == 0 ? "NULL" : myLaneBefore->getID()) << "'->'" << (myLane == 0 ? "NULL" : myLane->getID()) << "' Adding approaching vehicle '" << approaching->getID() << "'\nCurrently registered vehicles:" << std::endl;
for (auto i = myApproachingVehicles.begin(); i != myApproachingVehicles.end(); ++i) {
std::cout << "'" << i->first->getID() << "'" << std::endl;
}
}
#endif
myApproachingVehicles.emplace(approaching,
ApproachingVehicleInformation(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, setRequest,
arrivalSpeedBraking, waitingTime, dist, approaching->getSpeed(), latOffset));
}
void
MSLink::setApproaching(const SUMOVehicle* approaching, ApproachingVehicleInformation ai) {
#ifdef DEBUG_APPROACHING
if (DEBUG_COND2(approaching)) {
std::cout << SIMTIME << " Link '" << (myLaneBefore == 0 ? "NULL" : myLaneBefore->getID()) << "'->'" << (myLane == 0 ? "NULL" : myLane->getID()) << "' Adding approaching vehicle '" << approaching->getID() << "'\nCurrently registered vehicles:" << std::endl;
for (auto i = myApproachingVehicles.begin(); i != myApproachingVehicles.end(); ++i) {
std::cout << "'" << i->first->getID() << "'" << std::endl;
}
}
#endif
myApproachingVehicles.emplace(approaching, ai);
}
void
MSLink::addBlockedLink(MSLink* link) {
myBlockedFoeLinks.insert(link);
}
bool
MSLink::willHaveBlockedFoe() const {
for (std::set<MSLink*>::const_iterator i = myBlockedFoeLinks.begin(); i != myBlockedFoeLinks.end(); ++i) {
if ((*i)->isBlockingAnyone()) {
return true;
}
}
return false;
}
void
MSLink::removeApproaching(const SUMOVehicle* veh) {
#ifdef DEBUG_APPROACHING
if (DEBUG_COND2(veh)) {
std::cout << SIMTIME << " Link '" << (myLaneBefore == 0 ? "NULL" : myLaneBefore->getID()) << "'->'" << (myLane == 0 ? "NULL" : myLane->getID()) << std::endl;
std::cout << "' Removing approaching vehicle '" << veh->getID() << "'\nCurrently registered vehicles:" << std::endl;
for (auto i = myApproachingVehicles.begin(); i != myApproachingVehicles.end(); ++i) {
std::cout << "'" << i->first->getID() << "'" << std::endl;
}
}
#endif
myApproachingVehicles.erase(veh);
}
MSLink::ApproachingVehicleInformation
MSLink::getApproaching(const SUMOVehicle* veh) const {
auto i = myApproachingVehicles.find(veh);
if (i != myApproachingVehicles.end()) {
return i->second;
} else {
return ApproachingVehicleInformation(INVALID_TIME, INVALID_TIME, 0, 0, false, 0, 0, 0, 0, 0);
}
}
void
MSLink::clearState() {
myApproachingVehicles.clear();
}
SUMOTime
MSLink::getLeaveTime(const SUMOTime arrivalTime, const double arrivalSpeed,
const double leaveSpeed, const double vehicleLength) const {
return arrivalTime == SUMOTime_MAX ? SUMOTime_MAX : arrivalTime + TIME2STEPS((getLength() + vehicleLength) / MAX2(0.5 * (arrivalSpeed + leaveSpeed), NUMERICAL_EPS));
}
bool
MSLink::opened(SUMOTime arrivalTime, double arrivalSpeed, double leaveSpeed, double vehicleLength,
double impatience, double decel, SUMOTime waitingTime, double posLat,
BlockingFoes* collectFoes, bool ignoreRed, const SUMOTrafficObject* ego) const {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << SIMTIME << " opened? link=" << getDescription() << " red=" << haveRed() << " cont=" << isCont() << " numFoeLinks=" << myFoeLinks.size() << " havePrio=" << havePriority() << " lastWasContMajorGreen=" << lastWasContState(LINKSTATE_TL_GREEN_MAJOR) << "\n";
}
#endif
if (haveRed() && !ignoreRed) {
return false;
}
if (isCont() && MSGlobals::gUsingInternalLanes) {
return true;
}
const SUMOTime leaveTime = getLeaveTime(arrivalTime, arrivalSpeed, leaveSpeed, vehicleLength);
if (MSGlobals::gLateralResolution > 0) {
// check for foes on the same lane with the same target edge
for (const MSLink* foeLink : mySublaneFoeLinks) {
assert(myLane != foeLink->getLane());
for (const auto& it : foeLink->myApproachingVehicles) {
const SUMOVehicle* foe = it.first;
if (
// there only is a conflict if the paths cross
((posLat < foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() > foeLink->myLane->getIndex())
|| (posLat > foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() < foeLink->myLane->getIndex()))
// the vehicle that arrives later must yield
&& (arrivalTime > it.second.arrivalTime
// if both vehicles arrive at the same time, the one
// to the left must yield
|| (arrivalTime == it.second.arrivalTime && posLat > foe->getLateralPositionOnLane()))) {
if (blockedByFoe(foe, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, false,
impatience, decel, waitingTime, ego)) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << SIMTIME << " blocked by " << foe->getID() << " arrival=" << arrivalTime << " foeArrival=" << it.second.arrivalTime << "\n";
}
#endif
if (collectFoes == nullptr) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << " link=" << getViaLaneOrLane()->getID() << " blocked by sublaneFoe=" << foe->getID() << " foeLink=" << foeLink->getViaLaneOrLane()->getID() << " posLat=" << posLat << "\n";
}
#endif
return false;
} else {
collectFoes->push_back(it.first);
}
}
}
}
}
// check for foes on the same lane with a different target edge
// (straight movers take precedence if the paths cross)
const int lhSign = MSGlobals::gLefthand ? -1 : 1;
for (const MSLink* foeLink : mySublaneFoeLinks2) {
assert(myDirection != LinkDirection::STRAIGHT);
for (const auto& it : foeLink->myApproachingVehicles) {
const SUMOVehicle* foe = it.first;
// there only is a conflict if the paths cross
// and if the vehicles are not currently in a car-following relationship
const double egoWidth = ego == nullptr ? 1.8 : ego->getVehicleType().getWidth();
if (!lateralOverlap(posLat, egoWidth, foe->getLateralPositionOnLane() + it.second.latOffset, foe->getVehicleType().getWidth())
&& (((myDirection == LinkDirection::RIGHT || myDirection == LinkDirection::PARTRIGHT)
&& (posLat * lhSign > (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign))
|| ((myDirection == LinkDirection::LEFT || myDirection == LinkDirection::PARTLEFT)
&& (posLat * lhSign < (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign)))) {
if (blockedByFoe(foe, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, false,
impatience, decel, waitingTime, ego)) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << SIMTIME << " blocked by sublane foe " << foe->getID() << " arrival=" << arrivalTime << " foeArrival=" << it.second.arrivalTime << "\n";
}
#endif
if (collectFoes == nullptr) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << " link=" << getViaLaneOrLane()->getID() << " blocked by sublaneFoe2=" << foe->getID() << " foeLink=" << foeLink->getViaLaneOrLane()->getID() << " posLat=" << posLat << "\n";
}
#endif
return false;
} else {
collectFoes->push_back(it.first);
}
}
}
}
}
}
if ((havePriority() || lastWasContState(LINKSTATE_TL_GREEN_MAJOR)) && myState != LINKSTATE_ZIPPER) {
// priority usually means the link is open but there are exceptions:
// zipper still needs to collect foes
// sublane model could have detected a conflict
return collectFoes == nullptr || collectFoes->size() == 0;
}
if ((myState == LINKSTATE_STOP || myState == LINKSTATE_ALLWAY_STOP) && waitingTime == 0) {
return false;
}
const std::vector<MSLink*>& foeLinks = (myOffFoeLinks == nullptr || getCorrespondingEntryLink()->getState() != LINKSTATE_ALLWAY_STOP) ? myFoeLinks : *myOffFoeLinks;
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << SIMTIME << " opened link=" << getViaLaneOrLane()->getID() << " foeLinks=" << foeLinks.size() << "\n";
}
#endif
if (MSGlobals::gUseMesoSim && impatience == 1) {
return true;
}
const bool lastWasContRed = lastWasContState(LINKSTATE_TL_RED);
for (const MSLink* const link : foeLinks) {
if (MSGlobals::gUseMesoSim) {
if (link->haveRed()) {
continue;
}
}
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::cout << " foeLink=" << link->getViaLaneOrLane()->getID() << " numApproaching=" << link->getApproaching().size() << "\n";
}
#endif
if (link->blockedAtTime(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, myLane == link->getLane(),
impatience, decel, waitingTime, collectFoes, ego, lastWasContRed)) {
return false;
}
}
if (collectFoes != nullptr && collectFoes->size() > 0) {
return false;
}
return true;
}
bool
MSLink::blockedAtTime(SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
BlockingFoes* collectFoes, const SUMOTrafficObject* ego, bool lastWasContRed) const {
for (const auto& it : myApproachingVehicles) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
if (ego != nullptr
&& ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) >= it.second.speed
&& ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) > 0) {
std::stringstream stream; // to reduce output interleaving from different threads
stream << SIMTIME << " " << myApproachingVehicles.size() << " foe link=" << getViaLaneOrLane()->getID()
<< " foeVeh=" << it.first->getID() << " (below ignore speed)"
<< " ignoreFoeProb=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0)
<< "\n";
std::cout << stream.str();
}
}
#endif
if (it.first != ego
&& (ego == nullptr
|| ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
|| ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.second.speed
|| ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
&& !ignoreFoe(ego, it.first)
&& (!lastWasContRed || it.first->getSpeed() > SUMO_const_haltingSpeed)
&& blockedByFoe(it.first, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, sameTargetLane,
impatience, decel, waitingTime, ego)) {
if (collectFoes == nullptr) {
return true;
} else {
collectFoes->push_back(it.first);
}
}
}
return false;
}
bool
MSLink::blockedByFoe(const SUMOVehicle* veh, const ApproachingVehicleInformation& avi,
SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
const SUMOTrafficObject* ego) const {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1) {
std::stringstream stream; // to reduce output interleaving from different threads
stream << " link=" << getDescription()
<< " foeVeh=" << veh->getID()
<< " req=" << avi.willPass
<< " aT=" << avi.arrivalTime
<< " lT=" << avi.leavingTime
<< "\n";
std::cout << stream.str();
}
#endif
if (!avi.willPass) {
return false;
}
if (myState == LINKSTATE_ALLWAY_STOP) {
assert(waitingTime > 0);
if (waitingTime > avi.waitingTime) {
return false;
}
if (waitingTime == avi.waitingTime && arrivalTime < avi.arrivalTime) {
return false;
}
}
SUMOTime foeArrivalTime = avi.arrivalTime;
double foeArrivalSpeedBraking = avi.arrivalSpeedBraking;
if (impatience > 0 && arrivalTime < avi.arrivalTime) {
#ifdef MSLink_DEBUG_OPENED
gDebugFlag6 = ((ego == nullptr || ego->isSelected()) && (veh == nullptr || veh->isSelected()));
#endif
const SUMOTime fatb = computeFoeArrivalTimeBraking(arrivalTime, veh, avi.arrivalTime, impatience, avi.dist, foeArrivalSpeedBraking);
foeArrivalTime = (SUMOTime)((1. - impatience) * (double)avi.arrivalTime + impatience * (double)fatb);
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag6) {
std::cout << SIMTIME << " link=" << getDescription() << " ego=" << ego->getID() << " foe=" << veh->getID()
<< " at=" << STEPS2TIME(arrivalTime)
<< " fat=" << STEPS2TIME(avi.arrivalTime)
<< " fatb=" << STEPS2TIME(fatb)
<< " fat2=" << STEPS2TIME(foeArrivalTime)
<< "\n";
}
#endif
}
const SUMOTime lookAhead = (myState == LINKSTATE_ZIPPER
? myLookaheadTimeZipper
: (ego == nullptr
? myLookaheadTime
: TIME2STEPS(ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, STEPS2TIME(myLookaheadTime)))));
//if (ego != 0) std::cout << SIMTIME << " ego=" << ego->getID() << " jmTimegapMinor=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, -1) << " lookAhead=" << lookAhead << "\n";
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1 || gDebugFlag6) {
std::stringstream stream; // to reduce output interleaving from different threads
stream << " imp=" << impatience << " fAT2=" << foeArrivalTime << " fASb=" << foeArrivalSpeedBraking << " lA=" << lookAhead << " egoAT=" << arrivalTime << " egoLT=" << leaveTime << " egoLS=" << leaveSpeed << "\n";
std::cout << stream.str();
}
#endif
if (avi.leavingTime < arrivalTime) {
// ego wants to be follower
if (sameTargetLane && (arrivalTime - avi.leavingTime < lookAhead
|| unsafeMergeSpeeds(avi.leaveSpeed, arrivalSpeed,
veh->getVehicleType().getCarFollowModel().getMaxDecel(), decel))) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1 || gDebugFlag6) {
std::cout << " blocked (cannot follow)\n";
}
#endif
return true;
}
} else if (foeArrivalTime > leaveTime + lookAhead) {
// ego wants to be leader.
if (sameTargetLane && unsafeMergeSpeeds(leaveSpeed, foeArrivalSpeedBraking,
decel, veh->getVehicleType().getCarFollowModel().getMaxDecel())) {
#ifdef MSLink_DEBUG_OPENED
if (gDebugFlag1 || gDebugFlag6) {
std::cout << " blocked (cannot lead)\n";
}
#endif