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fix an awesome parking contention bug

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This commit is contained in:
Dustin Carlino 2019-09-15 14:10:54 -07:00
parent 72c391fe15
commit 0543cb015e
1 changed files with 22 additions and 21 deletions
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13
sim/src/router.rs
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@ -171,12 +171,9 @@ impl Router {
) {
*spot = Some((new_spot, new_pos.dist_along()));
} else {
if let Some((new_path_steps, new_spot, new_pos)) = path_to_free_parking_spot(
self.path.current_step().as_lane(),
vehicle,
map,
parking,
) {
if let Some((new_path_steps, new_spot, new_pos)) =
path_to_free_parking_spot(current_lane, vehicle, map, parking)
{
*spot = Some((new_spot, new_pos.dist_along()));
for step in new_path_steps {
self.path.add(step, map);
@ -238,6 +235,9 @@ fn path_to_free_parking_spot(
while !queue.is_empty() {
let current = queue.pop_front().unwrap();
// If the current lane has a spot open, we wouldn't be asking. This can happen if a spot
// opens up on the 'start' lane, but behind the car.
if current != start {
if let Some((spot, pos)) =
parking.get_first_free_spot(Position::new(current, Distance::ZERO), vehicle, map)
{
@ -256,6 +256,7 @@ fn path_to_free_parking_spot(
current = turn.src;
}
}
}
for turn in map.get_legal_turns(current, vec![LaneType::Driving]) {
if !backrefs.contains_key(&turn.id.dst) {
backrefs.insert(turn.id.dst, turn.id);