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Code Issues Projects Releases Wiki Activity

PathRequest instead of massive confusing tuples. also can now use bike lanes from spawn layer

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This commit is contained in:
Dustin Carlino 2018-11-17 17:02:34 -08:00
parent 0b53b2e44f
commit 9084f0060b
6 changed files with 102 additions and 91 deletions
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5
docs/design/biking.md
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@ -50,14 +50,13 @@ minimal. Alternate idea for another branch:
- lastly: rename. Car -> Vehicle? Vehicle -> VehicleParams? DrivingSim -> QueuedSim?
- etc
= calculate_paths in spawn needs plumbing. introduce a PathfindingRequest struct, avoid those bools.
- stats; driving.count and trip score
- vehicle enum instead of is_bus, is_bike
- put this in vehicle properties, not on the main
car... then dont need it in Command::DriveFromBorder.
- spawn commands getting to have lots of similarish cases
- reusing DrivingGoal to mean bike start point too?
- calculate_paths in spawn needs plumbing. introduce a PathfindingRequest struct, avoid those bools.
- remove the sim helpers that do specific stuff... think of
another way to set up tests, similar to tutorial mode?

2
map_model/src/lib.rs
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@ -44,7 +44,7 @@ pub use lane::{Lane, LaneID, LaneType, PARKING_SPOT_LENGTH};
pub use make::RoadSpec;
pub use map::Map;
pub use parcel::{Parcel, ParcelID};
pub use pathfind::{Path, PathStep, Pathfinder, Trace};
pub use pathfind::{Path, PathRequest, PathStep, Pathfinder, Trace};
pub use road::{Road, RoadID};
pub use traversable::Traversable;
pub use turn::{Turn, TurnID, TurnType};

16
map_model/src/make/bus_stops.rs
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@ -7,7 +7,7 @@ use multimap::MultiMap;
use ordered_float::NotNaN;
use std::collections::{BTreeMap, HashMap, HashSet};
use std::iter;
use {BusRoute, BusStop, BusStopID, Lane, LaneID, Map, Pathfinder, Road};
use {BusRoute, BusStop, BusStopID, Lane, LaneID, Map, PathRequest, Pathfinder, Road};
pub fn make_bus_stops(
lanes: &mut Vec<Lane>,
@ -130,12 +130,14 @@ pub fn verify_bus_routes(map: &Map, routes: Vec<BusRoute>, timer: &mut Timer) ->
if Pathfinder::shortest_distance(
map,
bs1.driving_lane,
bs1.dist_along,
bs2.driving_lane,
bs2.dist_along,
false,
true,
PathRequest {
start: bs1.driving_lane,
start_dist: bs1.dist_along,
end: bs2.driving_lane,
end_dist: bs2.dist_along,
can_use_bike_lanes: false,
can_use_bus_lanes: true,
},
).is_none()
{
warn!(

29
map_model/src/pathfind.rs
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@ -203,6 +203,16 @@ impl Path {
}
}
#[derive(Clone)]
pub struct PathRequest {
pub start: LaneID,
pub start_dist: si::Meter<f64>,
pub end: LaneID,
pub end_dist: si::Meter<f64>,
pub can_use_bike_lanes: bool,
pub can_use_bus_lanes: bool,
}
pub enum Pathfinder {
ShortestDistance {
goal_pt: Pt2D,
@ -214,24 +224,15 @@ pub enum Pathfinder {
impl Pathfinder {
// Returns an inclusive path, aka, [start, ..., end]
pub fn shortest_distance(
map: &Map,
start: LaneID,
start_dist: si::Meter<f64>,
end: LaneID,
end_dist: si::Meter<f64>,
// TODO ew, bools.
can_use_bike_lanes: bool,
can_use_bus_lanes: bool,
) -> Option<Path> {
pub fn shortest_distance(map: &Map, req: PathRequest) -> Option<Path> {
// TODO using first_pt here and in heuristic_dist is particularly bad for walking
// directions
let goal_pt = map.get_l(end).dist_along(end_dist).0;
let goal_pt = map.get_l(req.end).dist_along(req.end_dist).0;
Pathfinder::ShortestDistance {
goal_pt,
can_use_bike_lanes,
can_use_bus_lanes,
}.pathfind(map, start, start_dist, end, end_dist)
can_use_bike_lanes: req.can_use_bike_lanes,
can_use_bus_lanes: req.can_use_bus_lanes,
}.pathfind(map, req.start, req.start_dist, req.end, req.end_dist)
}
// Returns the cost of the potential next step, plus an optional heuristic to the goal

111
sim/src/spawn.rs
View File

@ -2,7 +2,9 @@ use abstutil::{elapsed_seconds, fork_rng, WeightedUsizeChoice};
use dimensioned::si;
use driving::{CreateCar, DrivingGoal, DrivingSimState};
use kinematics::Vehicle;
use map_model::{BuildingID, BusRoute, BusStopID, LaneID, LaneType, Map, Path, Pathfinder, RoadID};
use map_model::{
BuildingID, BusRoute, BusStopID, LaneID, LaneType, Map, Path, PathRequest, Pathfinder, RoadID,
};
use parking::ParkingSimState;
use rand::{Rng, XorShiftRng};
use router::Router;
@ -50,30 +52,32 @@ impl Command {
}
}
fn get_pathfinding_request(
&self,
map: &Map,
parking_sim: &ParkingSimState,
) -> (LaneID, Distance, LaneID, Distance) {
fn get_pathfinding_request(&self, map: &Map, parking_sim: &ParkingSimState) -> PathRequest {
match self {
Command::Walk(_, _, _, start, goal) => (
start.sidewalk,
start.dist_along,
goal.sidewalk,
goal.dist_along,
),
Command::Walk(_, _, _, start, goal) => PathRequest {
start: start.sidewalk,
start_dist: start.dist_along,
end: goal.sidewalk,
end_dist: goal.dist_along,
can_use_bike_lanes: false,
can_use_bus_lanes: false,
},
Command::Drive(_, _, parked_car, goal) => {
let goal_lane = match goal {
DrivingGoal::ParkNear(b) => find_driving_lane_near_building(*b, map),
DrivingGoal::Border(_, l) => *l,
};
(
map.get_driving_lane_from_parking(parked_car.spot.lane)
PathRequest {
start: map
.get_driving_lane_from_parking(parked_car.spot.lane)
.unwrap(),
parking_sim.dist_along_for_car(parked_car.spot, &parked_car.vehicle),
goal_lane,
map.get_l(goal_lane).length(),
)
start_dist: parking_sim
.dist_along_for_car(parked_car.spot, &parked_car.vehicle),
end: goal_lane,
end_dist: map.get_l(goal_lane).length(),
can_use_bike_lanes: false,
can_use_bus_lanes: false,
}
}
Command::Bike {
start_sidewalk,
@ -85,24 +89,33 @@ impl Command {
DrivingGoal::ParkNear(b) => find_biking_goal_near_building(*b, map),
DrivingGoal::Border(_, l) => (*l, map.get_l(*l).length()),
};
(
map.get_driving_lane_from_sidewalk(*start_sidewalk).unwrap(),
*start_dist,
goal_lane,
goal_dist,
)
PathRequest {
start: map.get_driving_lane_from_sidewalk(*start_sidewalk).unwrap(),
start_dist: *start_dist,
end: goal_lane,
end_dist: goal_dist,
can_use_bus_lanes: false,
can_use_bike_lanes: true,
}
}
Command::DriveFromBorder { start, goal, .. } => {
Command::DriveFromBorder {
start,
goal,
is_bike,
..
} => {
let goal_lane = match goal {
DrivingGoal::ParkNear(b) => find_driving_lane_near_building(*b, map),
DrivingGoal::Border(_, l) => *l,
};
(
*start,
0.0 * si::M,
goal_lane,
map.get_l(goal_lane).length(),
)
PathRequest {
start: *start,
start_dist: 0.0 * si::M,
end: goal_lane,
end_dist: map.get_l(goal_lane).length(),
can_use_bus_lanes: false,
can_use_bike_lanes: *is_bike,
}
}
}
}
@ -181,7 +194,7 @@ impl Spawner {
trips: &mut TripManager,
) {
let mut commands: Vec<Command> = Vec::new();
let mut requested_paths: Vec<(LaneID, Distance, LaneID, Distance)> = Vec::new();
let mut requests: Vec<PathRequest> = Vec::new();
loop {
if self
.commands
@ -190,7 +203,7 @@ impl Spawner {
.unwrap_or(false)
{
let cmd = self.commands.pop().unwrap();
requested_paths.push(cmd.get_pathfinding_request(map, parking_sim));
requests.push(cmd.get_pathfinding_request(map, parking_sim));
commands.push(cmd);
} else {
break;
@ -199,11 +212,10 @@ impl Spawner {
if commands.is_empty() {
return;
}
let paths = calculate_paths(&requested_paths, map);
let paths = calculate_paths(map, &requests);
let mut spawned_agents = 0;
for (cmd, (req, maybe_path)) in commands.into_iter().zip(requested_paths.iter().zip(paths))
{
for (cmd, (req, maybe_path)) in commands.into_iter().zip(requests.iter().zip(paths)) {
if let Some(path) = maybe_path {
match cmd {
Command::Drive(_, trip, ref parked_car, ref goal) => {
@ -301,11 +313,11 @@ impl Spawner {
owner: None,
maybe_parked_car: None,
vehicle: vehicle.clone(),
start: req.0,
dist_along: req.1,
start: req.start,
dist_along: req.start_dist,
router: match goal {
DrivingGoal::ParkNear(_) => {
Router::make_bike_router(path, req.3)
Router::make_bike_router(path, req.end_dist)
}
DrivingGoal::Border(_, _) => {
Router::make_router_to_border(path)
@ -330,14 +342,14 @@ impl Spawner {
} else {
error!(
"Couldn't find path from {} to {} for {:?}",
req.0, req.2, cmd
req.start, req.end, cmd
);
}
}
debug!(
"Spawned {} agents of requested {}",
spawned_agents,
requested_paths.len()
requests.len()
);
}
@ -788,23 +800,16 @@ impl Spawner {
}
}
fn calculate_paths(
requested_paths: &Vec<(LaneID, Distance, LaneID, Distance)>,
map: &Map,
) -> Vec<Option<Path>> {
fn calculate_paths(map: &Map, requests: &Vec<PathRequest>) -> Vec<Option<Path>> {
use rayon::prelude::*;
debug!("Calculating {} paths", requested_paths.len());
debug!("Calculating {} paths", requests.len());
// TODO better timer macro
let timer = Instant::now();
let paths: Vec<Option<Path>> = requested_paths
let paths: Vec<Option<Path>> = requests
.par_iter()
// TODO No bikes yet, so never use the bike lanes
// TODO I don't think buses ever use this, so also hardcode false. requested_paths should
// be a struct of the required input to shortest_distance, probably.
.map(|(start, start_dist, goal, goal_dist)| {
Pathfinder::shortest_distance(map, *start, *start_dist, *goal, *goal_dist, false, false)
}).collect();
.map(|req| Pathfinder::shortest_distance(map, req.clone()))
.collect();
debug!(
"Calculating {} paths took {}s",

30
sim/src/transit.rs
View File

@ -2,7 +2,7 @@ use abstutil::{deserialize_btreemap, serialize_btreemap};
use dimensioned::si;
use events::Event;
use instrument::capture_backtrace;
use map_model::{BusRoute, BusStop, LaneID, Map, Path, Pathfinder};
use map_model::{BusRoute, BusStop, LaneID, Map, Path, PathRequest, Pathfinder};
use spawn::Spawner;
use std::collections::BTreeMap;
use trips::TripManager;
@ -97,12 +97,14 @@ impl TransitSimState {
let stop2 = &route.stops[next_stop];
let path = Pathfinder::shortest_distance(
map,
stop1.driving_lane,
stop1.dist_along,
stop2.driving_lane,
stop2.dist_along,
false,
true,
PathRequest {
start: stop1.driving_lane,
start_dist: stop1.dist_along,
end: stop2.driving_lane,
end_dist: stop2.dist_along,
can_use_bike_lanes: false,
can_use_bus_lanes: true,
},
).expect(&format!(
"No route between bus stops {:?} and {:?}",
stop1, stop2
@ -168,12 +170,14 @@ impl TransitSimState {
let new_path = Pathfinder::shortest_distance(
map,
stop.driving_lane,
stop.dist_along,
route.stops[next_stop].driving_lane,
route.stops[next_stop].dist_along,
false,
true,
PathRequest {
start: stop.driving_lane,
start_dist: stop.dist_along,
end: route.stops[next_stop].driving_lane,
end_dist: route.stops[next_stop].dist_along,
can_use_bike_lanes: false,
can_use_bus_lanes: true,
},
).expect(&format!(
"No route between bus stops {:?} and {:?}",
stop, route.stops[next_stop]