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handling end-of-path for lookahead

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This commit is contained in:
Dustin Carlino 2018-08-07 10:41:44 -07:00
parent 9dce169a88
commit 4e5d8eccb0
1 changed files with 22 additions and 16 deletions
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38
sim/src/driving.rs
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@ -69,22 +69,6 @@ impl Car {
// TODO speed limit per road
constraints.push(vehicle.accel_to_achieve_speed_in_one_tick(self.speed, SPEED_LIMIT));
// Stop for intersections?
if let On::Lane(id) = current_on {
let req = Request::for_car(
self.id,
choose_turn(&current_path, &self.waiting_for, id, map),
);
requests.push(req.clone());
if !intersections.request_granted(req) {
constraints.push(vehicle.accel_to_stop_in_dist(
self.speed,
current_on.length(map) - current_dist_along,
));
// TODO halt the lookahead now, right?
}
}
// Don't hit the vehicle in front of us
if let Some(other) = sim.next_car_in_front_of(current_on, current_dist_along) {
assert!(self != other);
@ -99,6 +83,28 @@ impl Car {
));
}
// Stop for intersections?
if let On::Lane(id) = current_on {
let stop_at_end = if current_path.is_empty() {
true
} else {
let req = Request::for_car(
self.id,
choose_turn(&current_path, &self.waiting_for, id, map),
);
requests.push(req.clone());
!intersections.request_granted(req)
};
if stop_at_end {
constraints.push(vehicle.accel_to_stop_in_dist(
self.speed,
current_on.length(map) - current_dist_along,
));
// No use in further lookahead.
break;
}
}
// Advance to the next step.
let dist_this_step = current_on.length(map) - current_dist_along;
dist_to_lookahead -= dist_this_step;