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overhaul stop signs. can only toggle which roads have a stop sign or

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not. no more granular control of individul turns
This commit is contained in:
Dustin Carlino 2019-11-09 14:20:31 -08:00
parent 7b2a0b87b3
commit 5bb8e0a83b
7 changed files with 69 additions and 264 deletions
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16
data/screenshots/montlake/MANIFEST
View File

@ -1,11 +1,11 @@
32fe6088d0626aea9e2fdfddef6f4da5 ../data/screenshots/pending_montlake/01x01_i19.png
13fd5fb8bf19120156418ac290d6ee4d ../data/screenshots/pending_montlake/02x01_i24.png
99bdbb64f8f357eb9ecc49c0241efe67 ../data/screenshots/pending_montlake/03x01_i0.png
966f567fb9aa9855f4a5b92001cf7cff ../data/screenshots/pending_montlake/02x01_i24.png
8c1227160b6a8244bbdb7c8b504d69aa ../data/screenshots/pending_montlake/03x01_i0.png
abad174a1a96560ae30c2db15ab6c2cb ../data/screenshots/pending_montlake/01x02_i5.png
a15c1c86d0b902b963abf828e5b63bd4 ../data/screenshots/pending_montlake/02x02_i9.png
8212df248d5a3cc957fb9f9ba3f0d615 ../data/screenshots/pending_montlake/03x02_i8.png
e2347d5b9b240f14df5cb7a7b33a3fe3 ../data/screenshots/pending_montlake/01x03_i20.png
5f64e71201de37ebd39d7e12a0f8dbfa ../data/screenshots/pending_montlake/02x03_i71.png
5e0e26848557b3386a8aa1839ad58560 ../data/screenshots/pending_montlake/02x02_i9.png
0a109c274e02027fe355611dc354b74e ../data/screenshots/pending_montlake/03x02_i8.png
ff1f5a0a4efd4d6048de5a3703082695 ../data/screenshots/pending_montlake/01x03_i20.png
9162c2429dace890c01b9f1106af7bfe ../data/screenshots/pending_montlake/02x03_i71.png
6b7de9c100ca476a4aa2fe12830dd44a ../data/screenshots/pending_montlake/03x03_i77.png
e62c06cbcc8b82714009fcc3360d5377 ../data/screenshots/pending_montlake/01x04_i4.png
2d0ad4590f8ceeaf33f0d785bbcc4cd2 ../data/screenshots/pending_montlake/02x04_i1.png
@ -16,6 +16,6 @@ bdc20ec3835d5ea97dfe876c7e91b409 ../data/screenshots/pending_montlake/02x05_i25
c74934011cc0a3edee1b0715a6c917b1 ../data/screenshots/pending_montlake/01x06_i40.png
c4a802fcc9efb8a26652f3db55a89e62 ../data/screenshots/pending_montlake/02x06_i124.png
0109c9ae20b1a1974d5bd4f8607634b2 ../data/screenshots/pending_montlake/03x06_i2.png
a1af056db050da5fab430fc4758d611d ../data/screenshots/pending_montlake/01x07_i26.png
052ee656b3064277306bce62239d9aa2 ../data/screenshots/pending_montlake/02x07_i85.png
abc2e0ef3a1e2bdcb9be7cd0e8d47c6c ../data/screenshots/pending_montlake/01x07_i26.png
2af4fcf2c1dc5d9c2ca4d32a6a6fa561 ../data/screenshots/pending_montlake/02x07_i85.png
a9a97911411e5408655fb6301c859578 ../data/screenshots/pending_montlake/03x07_i27.png

6
game/src/edit/stop_signs.rs
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@ -69,7 +69,7 @@ impl State for StopSignEditor {
if let Some(r) = self.selected_sign {
if ctx.input.contextual_action(Key::Space, "toggle stop sign") {
let mut sign = ui.primary.map.get_stop_sign(self.id).clone();
sign.flip_sign(r, &ui.primary.map);
sign.flip_sign(r);
let mut new_edits = ui.primary.map.get_edits().clone();
new_edits.stop_sign_overrides.insert(self.id, sign);
apply_map_edits(&mut ui.primary, &ui.cs, ctx, new_edits);
@ -103,10 +103,10 @@ impl State for StopSignEditor {
ui.cs.get_def("selected stop sign", Color::BLUE),
octagon.clone(),
);
if !sign.roads[r].enabled {
if !sign.roads[r].must_stop {
batch.push(ui.cs.get("stop sign pole").alpha(0.6), pole.clone());
}
} else if !sign.roads[r].enabled {
} else if !sign.roads[r].must_stop {
batch.push(
ui.cs.get("stop sign on side of road").alpha(0.6),
octagon.clone(),

4
game/src/render/intersection.rs
View File

@ -69,7 +69,7 @@ impl DrawIntersection {
}
IntersectionType::StopSign => {
for ss in map.get_stop_sign(i.id).roads.values() {
if ss.enabled {
if ss.must_stop {
if let Some((octagon, pole)) = DrawIntersection::stop_sign_geom(ss, map) {
default_geom
.push(cs.get_def("stop sign on side of road", Color::RED), octagon);
@ -94,7 +94,7 @@ impl DrawIntersection {
// Returns the (octagon, pole) if there's room to draw it.
pub fn stop_sign_geom(ss: &RoadWithStopSign, map: &Map) -> Option<(Polygon, Polygon)> {
let trim_back = Distance::meters(0.1);
let rightmost = &map.get_l(*ss.travel_lanes.last().unwrap()).lane_center_pts;
let rightmost = &map.get_l(ss.rightmost_lane).lane_center_pts;
// TODO The dream of trimming f64's was to isolate epsilon checks like this...
if rightmost.length() - trim_back <= EPSILON_DIST {
// TODO warn

11
map_model/src/map.rs
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@ -109,7 +109,7 @@ impl Map {
for i in &m.intersections {
match i.intersection_type {
IntersectionType::StopSign => {
stop_signs.insert(i.id, ControlStopSign::new(&m, i.id, timer));
stop_signs.insert(i.id, ControlStopSign::new(&m, i.id));
}
IntersectionType::TrafficSignal => {
traffic_signals.insert(i.id, ControlTrafficSignal::new(&m, i.id, timer));
@ -539,7 +539,7 @@ impl Map {
pub fn is_turn_allowed(&self, t: TurnID) -> bool {
if let Some(ss) = self.stop_signs.get(&t.parent) {
ss.get_priority(t) != TurnPriority::Banned
ss.get_priority(t, self) != TurnPriority::Banned
} else if let Some(ts) = self.traffic_signals.get(&t.parent) {
ts.phases
.iter()
@ -684,7 +684,7 @@ impl Map {
}
for id in self.edits.stop_sign_overrides.keys() {
if !new_edits.stop_sign_overrides.contains_key(id) {
all_stop_sign_edits.insert(*id, ControlStopSign::new(self, *id, timer));
all_stop_sign_edits.insert(*id, ControlStopSign::new(self, *id));
}
}
for id in self.edits.traffic_signal_overrides.keys() {
@ -812,8 +812,7 @@ impl Map {
// Do this before applying intersection policy edits.
match i.intersection_type {
IntersectionType::StopSign => {
self.stop_signs
.insert(id, ControlStopSign::new(self, id, timer));
self.stop_signs.insert(id, ControlStopSign::new(self, id));
}
IntersectionType::TrafficSignal => {
self.traffic_signals
@ -899,7 +898,7 @@ impl Map {
let mut delete_stop_signs = Vec::new();
for (id, ss) in &self.edits.stop_sign_overrides {
if *ss == ControlStopSign::new(self, *id, timer) {
if *ss == ControlStopSign::new(self, *id) {
delete_stop_signs.push(*id);
}
}

289
map_model/src/stop_signs.rs
View File

@ -1,9 +1,10 @@
use crate::{IntersectionID, LaneID, Map, RoadID, TurnID, TurnPriority, TurnType};
use abstutil::{deserialize_btreemap, serialize_btreemap, Error, Timer, Warn};
use abstutil::{deserialize_btreemap, serialize_btreemap};
use serde_derive::{Deserialize, Serialize};
use std::collections::{BTreeMap, HashMap, HashSet};
use std::collections::{BTreeMap, HashMap};
// TODO Some of these are probably old notes:
// TODO These are old notes, they don't reflect current reality. But some of the ideas here should
// be implemented, so keeping them...
// 1) Pedestrians always have right-of-way. (for now -- should be toggleable later)
// 2) Incoming roads without a stop sign have priority over roads with a sign.
// 3) Agents with a stop sign have to actually wait some amount of time before starting the turn.
@ -29,12 +30,6 @@ use std::collections::{BTreeMap, HashMap, HashSet};
#[derive(Debug, Serialize, Deserialize, Clone, PartialEq)]
pub struct ControlStopSign {
pub id: IntersectionID,
// Turns may be present here as Banned.
#[serde(
serialize_with = "serialize_btreemap",
deserialize_with = "deserialize_btreemap"
)]
pub turns: BTreeMap<TurnID, TurnPriority>,
#[serde(
serialize_with = "serialize_btreemap",
deserialize_with = "deserialize_btreemap"
@ -44,15 +39,16 @@ pub struct ControlStopSign {
#[derive(Debug, Serialize, Deserialize, Clone, PartialEq)]
pub struct RoadWithStopSign {
pub travel_lanes: Vec<LaneID>,
pub enabled: bool,
pub rightmost_lane: LaneID,
pub must_stop: bool,
}
impl ControlStopSign {
pub fn new(map: &Map, id: IntersectionID, timer: &mut Timer) -> ControlStopSign {
let mut ss = smart_assignment(map, id).get(timer);
ss.validate(map).unwrap().get(timer);
pub fn new(map: &Map, id: IntersectionID) -> ControlStopSign {
let mut ss = ControlStopSign {
id,
roads: BTreeMap::new(),
};
for r in &map.get_i(id).roads {
let travel_lanes: Vec<LaneID> = map
.get_r(*r)
@ -70,248 +66,57 @@ impl ControlStopSign {
ss.roads.insert(
*r,
RoadWithStopSign {
travel_lanes,
enabled: false,
rightmost_lane: *travel_lanes.last().unwrap(),
must_stop: false,
},
);
}
}
ss.recalculate_stop_signs(map);
if ss.roads.len() <= 2 {
// Degenerate roads and deadends don't need any stop signs.
return ss;
}
// What's the rank of each road?
let mut rank: HashMap<RoadID, usize> = HashMap::new();
for r in ss.roads.keys() {
rank.insert(*r, map.get_r(*r).get_rank());
}
let mut ranks: Vec<usize> = rank.values().cloned().collect();
ranks.sort();
ranks.dedup();
// Highest rank is first
ranks.reverse();
// If all roads have the same rank, all-way stop. Otherwise, everything stops except the
// highest-priority roads.
for (r, cfg) in ss.roads.iter_mut() {
if ranks.len() == 1 || rank[r] != ranks[0] {
cfg.must_stop = true;
}
}
ss
}
pub fn get_priority(&self, turn: TurnID) -> TurnPriority {
self.turns[&turn]
}
// TODO rm
pub fn could_be_priority_turn(&self, id: TurnID, map: &Map) -> bool {
for (t, pri) in &self.turns {
if *pri == TurnPriority::Protected && map.get_t(id).conflicts_with(map.get_t(*t)) {
return false;
}
}
true
}
pub fn lane_has_stop_sign(&self, lane: LaneID) -> bool {
for ss in self.roads.values() {
if ss.travel_lanes.contains(&lane) {
return ss.enabled;
}
}
false
}
// Returns both errors and warnings.
fn validate(&self, map: &Map) -> Result<Warn<()>, Error> {
let mut warnings = Vec::new();
// Does the assignment cover the correct set of turns?
let all_turns = &map.get_i(self.id).turns;
// TODO Panic after stabilizing merged intersection issues.
if self.turns.len() != all_turns.len() {
warnings.push(format!(
"Stop sign for {} has {} turns but should have {}",
self.id,
self.turns.len(),
all_turns.len()
));
}
for t in all_turns {
if !self.turns.contains_key(t) {
warnings.push(format!("Stop sign for {} is missing {}", self.id, t));
}
// Are all of the SharedSidewalkCorner prioritized?
if map.get_t(*t).turn_type == TurnType::SharedSidewalkCorner {
assert_eq!(self.turns[t], TurnPriority::Protected);
}
}
// Do any of the priority turns conflict?
let priority_turns: Vec<TurnID> = self
.turns
.iter()
.filter_map(|(turn, pri)| {
if *pri == TurnPriority::Protected {
Some(*turn)
} else {
None
}
})
.collect();
for t1 in &priority_turns {
for t2 in &priority_turns {
if map.get_t(*t1).conflicts_with(map.get_t(*t2)) {
return Err(Error::new(format!(
"Stop sign has conflicting priority turns {:?} and {:?}",
t1, t2
)));
}
}
}
Ok(Warn::empty_warnings(warnings))
}
pub fn change(&mut self, t: TurnID, pri: TurnPriority, map: &Map) {
let turn = map.get_t(t);
self.turns.insert(t, pri);
if turn.turn_type == TurnType::Crosswalk {
for id in &turn.other_crosswalk_ids {
self.turns.insert(*id, pri);
}
}
self.recalculate_stop_signs(map);
}
// TODO Actually want to recalculate individual turn priorities for everything when anything
// changes! I think the base data model needs to become 'roads' with some Banned overrides.
pub fn flip_sign(&mut self, r: RoadID, map: &Map) {
let ss = self.roads.get_mut(&r).unwrap();
ss.enabled = !ss.enabled;
let new_pri = if ss.enabled {
// TODO Or cache
pub fn get_priority(&self, turn: TurnID, map: &Map) -> TurnPriority {
match map.get_t(turn).turn_type {
TurnType::SharedSidewalkCorner => TurnPriority::Protected,
// TODO This actually feels like a policy bit that should be flippable.
TurnType::Crosswalk => TurnPriority::Protected,
_ => {
if self.roads[&map.get_l(turn.src).parent].must_stop {
TurnPriority::Yield
} else {
TurnPriority::Protected
};
for l in ss.travel_lanes.clone() {
for (turn, _) in map.get_next_turns_and_lanes(l, self.id) {
self.turns.insert(turn.id, new_pri);
// Upgrade some turns to priority
if new_pri == TurnPriority::Yield && self.could_be_priority_turn(turn.id, map) {
match turn.turn_type {
TurnType::Straight | TurnType::Right | TurnType::Crosswalk => {
self.turns.insert(turn.id, TurnPriority::Protected);
}
_ => {}
}
}
}
}
}
fn recalculate_stop_signs(&mut self, map: &Map) {
for ss in self.roads.values_mut() {
ss.enabled = false;
for l in &ss.travel_lanes {
for (turn, _) in map.get_next_turns_and_lanes(*l, self.id) {
match self.turns[&turn.id] {
TurnPriority::Yield | TurnPriority::Banned => {
ss.enabled = true;
}
_ => {}
}
}
}
}
pub fn flip_sign(&mut self, r: RoadID) {
let ss = self.roads.get_mut(&r).unwrap();
ss.must_stop = !ss.must_stop;
}
}
fn smart_assignment(map: &Map, id: IntersectionID) -> Warn<ControlStopSign> {
// Count the number of roads with incoming lanes to determine degenerate/deadends. Might have
// one incoming road to two outgoing. Don't count sidewalks as incoming; crosswalks always
// yield anyway.
let mut incoming_roads: HashSet<RoadID> = HashSet::new();
for l in &map.get_i(id).incoming_lanes {
if map.get_l(*l).lane_type.is_for_moving_vehicles() {
incoming_roads.insert(map.get_l(*l).parent);
}
}
if incoming_roads.len() <= 2 {
return for_degenerate_and_deadend(map, id);
}
// Higher numbers are higher rank roads
let mut rank_per_incoming_lane: HashMap<LaneID, usize> = HashMap::new();
let mut ranks: HashSet<usize> = HashSet::new();
let mut highest_rank = 0;
// TODO should just be incoming, but because of weirdness with sidewalks...
for l in map
.get_i(id)
.incoming_lanes
.iter()
.chain(map.get_i(id).outgoing_lanes.iter())
{
let rank = map.get_parent(*l).get_rank();
rank_per_incoming_lane.insert(*l, rank);
highest_rank = highest_rank.max(rank);
ranks.insert(rank);
}
if ranks.len() == 1 {
return Warn::ok(all_way_stop(map, id));
}
let mut ss = ControlStopSign {
id,
turns: BTreeMap::new(),
roads: BTreeMap::new(),
};
for t in &map.get_i(id).turns {
if map.get_t(*t).turn_type == TurnType::SharedSidewalkCorner {
ss.turns.insert(*t, TurnPriority::Protected);
} else if rank_per_incoming_lane[&t.src] == highest_rank {
// If it's the highest rank road, prioritize main turns and make others yield.
ss.turns.insert(*t, TurnPriority::Yield);
if ss.could_be_priority_turn(*t, map) {
match map.get_t(*t).turn_type {
TurnType::Straight | TurnType::Right | TurnType::Crosswalk => {
ss.turns.insert(*t, TurnPriority::Protected);
}
_ => {}
}
}
} else {
// Lower rank roads have to stop.
ss.turns.insert(*t, TurnPriority::Yield);
}
}
Warn::ok(ss)
}
fn all_way_stop(map: &Map, id: IntersectionID) -> ControlStopSign {
let mut ss = ControlStopSign {
id,
turns: BTreeMap::new(),
roads: BTreeMap::new(),
};
for t in &map.get_i(id).turns {
if map.get_t(*t).turn_type == TurnType::SharedSidewalkCorner {
ss.turns.insert(*t, TurnPriority::Protected);
} else {
ss.turns.insert(*t, TurnPriority::Yield);
}
}
ss
}
fn for_degenerate_and_deadend(map: &Map, id: IntersectionID) -> Warn<ControlStopSign> {
let mut ss = ControlStopSign {
id,
turns: BTreeMap::new(),
roads: BTreeMap::new(),
};
for t in &map.get_i(id).turns {
// Only the crosswalks should conflict with other turns.
let priority = match map.get_t(*t).turn_type {
TurnType::Crosswalk => TurnPriority::Yield,
TurnType::LaneChangeLeft | TurnType::LaneChangeRight => TurnPriority::Yield,
_ => TurnPriority::Protected,
};
ss.turns.insert(*t, priority);
}
// Due to a few observed issues (multiple driving lanes road (a temporary issue) and bad
// intersection geometry), sometimes more turns conflict than really should. For now, just
// detect and fallback to an all-way stop.
if let Err(err) = ss.validate(map) {
return Warn::warn(
all_way_stop(map, id),
format!("Giving up on for_degenerate_and_deadend({}): {}", id, err),
);
}
Warn::ok(ss)
}

3
map_model/src/turn.rs
View File

@ -51,7 +51,8 @@ impl TurnType {
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone, Copy, PartialOrd)]
pub enum TurnPriority {
// Can't do this turn at all!
// For stop signs: Can't currently specify this!
// For traffic signals: Can't do this turn right now.
Banned,
// For stop signs: cars have to stop before doing this turn, and are accepted with the lowest priority.
// For traffic signals: Cars can do this immediately if there are no previously accepted conflicting turns.

2
sim/src/mechanics/intersection.rs
View File

@ -250,7 +250,7 @@ impl State {
return false;
}
let our_priority = sign.turns[&req.turn];
let our_priority = sign.get_priority(req.turn, map);
assert!(our_priority != TurnPriority::Banned);
let our_time = self.waiting[req];