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slightly improve traffic signal runtime: Priority > Yield

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This commit is contained in:
Dustin Carlino 2019-05-13 15:38:45 -07:00
parent 9252dbd14b
commit 75d1cdd3b9
1 changed files with 18 additions and 7 deletions
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25
sim/src/mechanics/intersection.rs
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@ -162,7 +162,7 @@ impl IntersectionSimState {
self.state[&id]
.accepted
.iter()
.any(|req| cycle.get_priority(req.turn) < TurnPriority::Yield)
.any(|req| cycle.get_priority(req.turn) == TurnPriority::Banned)
} else {
false
}
@ -212,8 +212,6 @@ impl State {
return false;
}
// TODO Actually make TurnPriority::Stop turns pause briefly.
for (r, t) in &self.waiting {
// If there's a higher rank turn waiting, don't allow
if sign.turns[&r.turn] > our_priority {
@ -224,6 +222,9 @@ impl State {
}
}
// TODO Make sure we can optimistically finish this turn before an approaching
// higher-priority vehicle wants to begin.
true
}
@ -238,7 +239,7 @@ impl State {
// For now, just maintain safety when agents over-run.
for req in &self.accepted {
if cycle.get_priority(req.turn) < TurnPriority::Yield {
if cycle.get_priority(req.turn) == TurnPriority::Banned {
/*println!(
"{:?} is still doing {} after the cycle is over",
req.agent, req.turn
@ -248,7 +249,7 @@ impl State {
}
// Can't go at all this cycle.
if cycle.get_priority(new_req.turn) < TurnPriority::Yield {
if cycle.get_priority(new_req.turn) == TurnPriority::Banned {
return false;
}
@ -257,8 +258,18 @@ impl State {
return false;
}
// TODO If there's a choice between a Priority and Yield request, choose Priority. Need
// batched requests to know -- that'll come later, once the walking sim is integrated.
// A yield loses to a conflicting Priority turn.
if cycle.get_priority(new_req.turn) == TurnPriority::Yield {
if self.waiting.keys().any(|r| {
map.get_t(new_req.turn).conflicts_with(map.get_t(r.turn))
&& cycle.get_priority(r.turn) == TurnPriority::Priority
}) {
return false;
}
}
// TODO Make sure we can optimistically finish this turn before an approaching
// higher-priority vehicle wants to begin.
// TODO Don't accept the agent if they won't finish the turn in time. If the turn and
// target lane were clear, we could calculate the time, but it gets hard. For now, allow