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moving state to transit model, making router get directives from it

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This commit is contained in:
Dustin Carlino 2018-08-30 12:12:33 -07:00
parent da402dd2c1
commit c685a80a98
9 changed files with 272 additions and 140 deletions
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21
docs/design.md
View File

@ -652,13 +652,32 @@ for now, since pathfinding ignores live traffic, probably fine to ignore this.
- this actually belongs to the map layer! associated with a sidewalk I guess.
- render the bus in a special color, and also, make it really long (adjust following dist, but not parking spot len)
- how to unit test that a bus has reached a stop and is waiting? how do we even know that a bus is at a stop for peds to soon board it? I think a transit state will happen soon...
- step 2: make some peds pick a SINGLE bus to use for their route, if it helps
- step 3: make peds load on the bus and get off at the correct stop. make buses usually wait a fixed time at each stop, but wait a littl extra if loading passengers takes a while.
- will need to store transit state of what peds are on what bus somewhere... right? or can trips somehow do it? but will want to jump to a ped and spot the bus
- should walking state own peds waiting for a bus?
- yes: easier drawing, later need to know how crowded a sidewalk is, it's just weird to keep indicating we're at a place. router for cars does this, and the transit sim holds the higher-level state. do the same for now.
- no: transit sim can also contribute DrawPeds. the walking layer has nothing left to do with them... right?
- step N: load in GTFS for seattle to get real routes and stops
later: multiple transfers, dedicated bus lanes, light rail...
Actually, jump to step 3 and just hardcode a ped to use a route, for now. what should the setup be? hardcode what stop to go to, what route to use, what stop to get off at? trip plan is a sequence...
- walk to a sidewalk POI (bldg, parking spot, bus stop)
- drive somewhere and park
- ride bus route until some stop
for now, these trip sequences can be hardcoded, and planned later.
## Everything as FSMs
Driving and walking layer are both kind of broken, since they know about
parking spots and bus stops. Feels like they need to be dumb, mechanical layers
that're guided by higher-level behaviors, which understand trips and such.
## Routers, lookahead, cars as FSMs
Hmm, hard to figure out the interactions for the router. when should it get a

1
sim/src/driving.rs
View File

@ -175,6 +175,7 @@ impl Car {
vehicle,
map,
parking_sim,
transit_sim,
);
let dist_to_maybe_stop_at = maybe_stop_early.unwrap_or(current_on.length(map));
let dist_from_stop = dist_to_maybe_stop_at - current_dist_along;

7
sim/src/init.rs
View File

@ -36,13 +36,16 @@ pub fn small_spawn(sim: &mut Sim, map: &Map) {
sim.seed_walking_trips(&map, 100);
sim.seed_driving_trips(&map, 100);
sim.seed_bus(
if sim.seed_bus_route(
vec![
map.get_l(LaneID(309)).bus_stops[0].clone(),
map.get_l(LaneID(840)).bus_stops[0].clone(),
],
map,
).expect("Bus didn't fit");
).len() != 2
{
panic!("Two buses didn't fit");
}
}
pub fn big_spawn(sim: &mut Sim, map: &Map) {

9
sim/src/lib.rs
View File

@ -62,6 +62,15 @@ impl fmt::Display for PedestrianID {
}
}
#[derive(Clone, Copy, Debug, Eq, Hash, PartialEq, PartialOrd, Ord, Serialize, Deserialize)]
pub struct RouteID(pub usize);
impl fmt::Display for RouteID {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "RouteID({0})", self.0)
}
}
#[derive(Serialize, Deserialize, PartialEq, Eq, PartialOrd, Ord, Clone, Copy, Debug, Hash)]
pub enum AgentID {
Car(CarID),

115
sim/src/router.rs
View File

@ -2,8 +2,7 @@ use dimensioned::si;
use driving::{Action, CarView};
use kinematics;
use kinematics::Vehicle;
use map_model;
use map_model::{BuildingID, BusStop, LaneID, Map, TurnID};
use map_model::{BuildingID, LaneID, Map, TurnID};
use parking::ParkingSimState;
use rand::Rng;
use std::collections::VecDeque;
@ -13,11 +12,7 @@ use {Distance, Event, On, ParkingSpot, Tick};
#[derive(Clone, PartialEq, Eq, Serialize, Deserialize)]
enum Goal {
ParkNearBuilding(BuildingID),
// This is stateful -- first stop is the one we're aiming for now, and we might also be waiting
// at that stop for a little while.
// Buses really have a few states... GotoNextStop(list of stops), WaitAtStop(list of stops,
// tick)
CycleThroughStops(Vec<BusStop>, Option<Tick>),
FollowBusRoute,
}
// Gives higher-level instructions to a car.
@ -37,11 +32,10 @@ impl Router {
}
}
pub fn make_router_for_bus(first_path: VecDeque<LaneID>, stops: Vec<BusStop>) -> Router {
assert_eq!(*first_path.back().unwrap(), stops[1].driving_lane);
pub fn make_router_for_bus(first_path: VecDeque<LaneID>) -> Router {
Router {
path: first_path,
goal: Goal::CycleThroughStops(rotate_stops(&stops), None),
goal: Goal::FollowBusRoute,
}
}
@ -64,73 +58,32 @@ impl Router {
transit_sim: &mut TransitSimState,
rng: &mut R,
) -> Option<Action> {
if self.path.is_empty() && view.speed <= kinematics::EPSILON_SPEED {
match self.goal {
Goal::ParkNearBuilding(_) => {
let last_lane = view.on.as_lane();
if let Some(spot) =
find_parking_spot(last_lane, view.dist_along, map, parking_sim)
{
if parking_sim.dist_along_for_car(spot, vehicle) == view.dist_along {
return Some(Action::StartParking(spot));
}
// Being stopped before the parking spot is normal if the final road is
// clogged with other drivers.
} else {
return self.look_for_parking(last_lane, view, map, rng);
if !self.path.is_empty() || view.speed > kinematics::EPSILON_SPEED {
return None;
}
match self.goal {
Goal::ParkNearBuilding(_) => {
let last_lane = view.on.as_lane();
if let Some(spot) = find_parking_spot(last_lane, view.dist_along, map, parking_sim)
{
if parking_sim.dist_along_for_car(spot, vehicle) == view.dist_along {
return Some(Action::StartParking(spot));
}
// Being stopped before the parking spot is normal if the final road is
// clogged with other drivers.
} else {
return self.look_for_parking(last_lane, view, map, rng);
}
Goal::CycleThroughStops(ref mut stops, ref mut wait_until) => {
if view.dist_along == stops[0].dist_along {
if let Some(wait) = wait_until.clone() {
if time == wait {
// TODO is this the right place to actually do the state
// transition, or should we just indicate an event and let
// something else handle it?
events.push(Event::BusDepartedFromStop(view.id, stops[0].clone()));
if view.debug || true {
println!(
"{} finished waiting at bus stop, going to next stop {:?}",
view.id, stops[1]
);
}
let mut new_path = VecDeque::from(
map_model::pathfind(
map,
stops[0].driving_lane,
stops[1].driving_lane,
).expect(&format!(
"No route between bus stops {:?} and {:?}",
stops[0], stops[1]
)),
);
new_path.pop_front();
self.path = new_path;
let new_stops = rotate_stops(stops);
stops.clear();
stops.extend(new_stops);
*wait_until = None;
transit_sim.bus_is_driving(view.id);
}
} else {
assert_eq!(view.on.as_lane(), stops[0].driving_lane);
events.push(Event::BusArrivedAtStop(view.id, stops[0].clone()));
// TODO const
*wait_until = Some(time + 10.0 * si::S);
if view.debug || true {
println!(
"{} reached {:?}, now waiting until {:?}",
view.id, stops[0], wait_until
);
}
transit_sim.bus_is_at_stop(view.id, stops[0].clone());
return Some(Action::Continue(0.0 * si::MPS2, Vec::new()));
}
}
}
Goal::FollowBusRoute => {
let (should_idle, new_path) =
transit_sim.get_action_when_stopped_at_end(events, view, time, map);
if let Some(p) = new_path {
self.path = p;
}
if should_idle {
return Some(Action::Continue(0.0 * si::MPS2, Vec::new()));
}
}
}
@ -146,6 +99,7 @@ impl Router {
vehicle: &Vehicle,
map: &Map,
parking_sim: &ParkingSimState,
transit_sim: &TransitSimState,
) -> Option<Distance> {
if self.path.is_empty() {
match self.goal {
@ -160,8 +114,8 @@ impl Router {
return Some(on.length(map));
}
}
Goal::CycleThroughStops(ref stops, _) => {
return Some(stops[0].dist_along);
Goal::FollowBusRoute => {
return Some(transit_sim.get_dist_to_stop_at(vehicle.id, on.as_lane()));
}
}
}
@ -221,10 +175,3 @@ fn find_parking_spot(
.find_parking_lane(driving_lane)
.and_then(|l| parking_sim.get_first_free_spot(l, dist_along))
}
// TODO double-ended list can do this natively
fn rotate_stops(stops: &Vec<BusStop>) -> Vec<BusStop> {
let mut cycled_stops: Vec<BusStop> = stops[1..].to_vec();
cycled_stops.push(stops[0].clone());
cycled_stops
}

10
sim/src/sim.rs
View File

@ -115,10 +115,11 @@ impl Sim {
}
}
pub fn seed_bus(&mut self, stops: Vec<BusStop>, map: &Map) -> Option<CarID> {
pub fn seed_bus_route(&mut self, stops: Vec<BusStop>, map: &Map) -> Vec<CarID> {
// TODO throw away the events? :(
let mut events: Vec<Event> = Vec::new();
if let Some(v) = self.spawner.seed_bus(
let mut result: Vec<CarID> = Vec::new();
for v in self.spawner.seed_bus_route(
&mut events,
stops,
&mut self.rng,
@ -130,10 +131,9 @@ impl Sim {
) {
let id = v.id;
self.car_properties.insert(v.id, v);
Some(id)
} else {
None
result.push(id);
}
result
}
pub fn seed_specific_parked_cars(&mut self, lane: LaneID, spots: Vec<usize>) -> Vec<CarID> {

64
sim/src/spawn.rs
View File

@ -168,7 +168,7 @@ impl Spawner {
}
// This happens immediately; it isn't scheduled.
pub fn seed_bus<R: Rng + ?Sized>(
pub fn seed_bus_route<R: Rng + ?Sized>(
&mut self,
events: &mut Vec<Event>,
stops: Vec<BusStop>,
@ -178,38 +178,40 @@ impl Spawner {
transit_sim: &mut TransitSimState,
now: Tick,
properties: &BTreeMap<CarID, Vehicle>,
) -> Option<Vehicle> {
assert!(stops.len() > 1);
let id = CarID(self.car_id_counter);
self.car_id_counter += 1;
let vehicle = Vehicle::generate_bus(id, rng);
) -> Vec<Vehicle> {
let route = transit_sim.create_empty_route(stops);
let mut vehicles: Vec<Vehicle> = Vec::new();
// Try to spawn a bus at each stop
for (next_stop_idx, start_dist_along, mut path) in
transit_sim.get_route_starts(route, map).into_iter()
{
let id = CarID(self.car_id_counter);
self.car_id_counter += 1;
let vehicle = Vehicle::generate_bus(id, rng);
let mut first_path = VecDeque::from(
map_model::pathfind(map, stops[0].driving_lane, stops[1].driving_lane).expect(
&format!(
"No route between bus stops {:?} and {:?}",
stops[0], stops[1]
),
),
);
let start = first_path.pop_front().unwrap();
if driving_sim.start_car_on_lane(
events,
now,
id,
None,
stops[0].dist_along,
start,
Router::make_router_for_bus(first_path, stops),
map,
properties,
) {
transit_sim.bus_is_driving(id);
println!("Spawned bus {}", id);
return Some(vehicle);
let start = path.pop_front().unwrap();
if driving_sim.start_car_on_lane(
events,
now,
id,
None,
start_dist_along,
start,
Router::make_router_for_bus(path),
map,
properties,
) {
transit_sim.bus_created(id, route, next_stop_idx);
println!("Spawned bus {} for route {}", id, route);
vehicles.push(vehicle);
} else {
println!(
"No room for a bus headed towards stop {} of {}, giving up",
next_stop_idx, route
);
}
}
println!("No room for bus, giving up");
None
vehicles
}
// This happens immediately; it isn't scheduled.

172
sim/src/transit.rs
View File

@ -1,31 +1,181 @@
use map_model::BusStop;
use std::collections::BTreeMap;
use CarID;
use dimensioned::si;
use driving::CarView;
use events::Event;
use map_model;
use map_model::{BusStop, LaneID, Map};
use std::collections::{BTreeMap, VecDeque};
use {CarID, Distance, PedestrianID, RouteID, Tick};
type StopIdx = usize;
#[derive(Serialize, Deserialize, PartialEq, Eq)]
struct Route {
id: RouteID,
buses: Vec<CarID>,
stops: Vec<BusStop>,
// TODO info on schedules
}
impl Route {
fn next_stop(&self, idx: StopIdx) -> StopIdx {
if idx + 1 == self.stops.len() {
0
} else {
idx + 1
}
}
}
#[derive(Serialize, Deserialize, PartialEq, Eq)]
struct Bus {
car: CarID,
route: RouteID,
passengers: Vec<PedestrianID>,
state: BusState,
}
#[derive(Serialize, Deserialize, PartialEq, Eq)]
enum BusState {
Driving,
AtStop(BusStop),
DrivingToStop(StopIdx),
// When do we leave?
AtStop(StopIdx, Tick),
}
#[derive(Serialize, Deserialize, PartialEq, Eq)]
pub struct TransitSimState {
buses: BTreeMap<CarID, BusState>,
buses: BTreeMap<CarID, Bus>,
routes: BTreeMap<RouteID, Route>,
}
impl TransitSimState {
pub fn new() -> TransitSimState {
TransitSimState {
buses: BTreeMap::new(),
routes: BTreeMap::new(),
}
}
// Transitions
pub fn bus_is_driving(&mut self, bus: CarID) {
self.buses.insert(bus, BusState::Driving);
pub fn create_empty_route(&mut self, stops: Vec<BusStop>) -> RouteID {
assert!(stops.len() > 1);
let id = RouteID(self.routes.len());
self.routes.insert(
id,
Route {
id,
buses: Vec::new(),
stops: stops.clone(),
},
);
id
}
pub fn bus_is_at_stop(&mut self, bus: CarID, stop: BusStop) {
self.buses.insert(bus, BusState::AtStop(stop));
// (next stop, start distance, first path)
pub fn get_route_starts(
&self,
id: RouteID,
map: &Map,
) -> Vec<(StopIdx, Distance, VecDeque<LaneID>)> {
let route = &self.routes[&id];
route
.stops
.iter()
.enumerate()
.map(|(idx, stop1)| {
let next_stop = route.next_stop(idx);
let stop2 = &route.stops[next_stop];
let path = VecDeque::from(
map_model::pathfind(map, stop1.driving_lane, stop2.driving_lane).expect(
&format!("No route between bus stops {:?} and {:?}", stop1, stop2),
),
);
(next_stop, stop1.dist_along, path)
})
.collect()
}
pub fn bus_created(&mut self, bus: CarID, route: RouteID, next_stop_idx: StopIdx) {
self.routes.get_mut(&route).unwrap().buses.push(bus);
self.buses.insert(
bus,
Bus {
car: bus,
route,
passengers: Vec::new(),
state: BusState::DrivingToStop(next_stop_idx),
},
);
}
// Returns (should idle, new path)
pub fn get_action_when_stopped_at_end(
&mut self,
events: &mut Vec<Event>,
view: &CarView,
time: Tick,
map: &Map,
) -> (bool, Option<VecDeque<LaneID>>) {
let route = &self.routes[&self.buses[&view.id].route];
match self.buses[&view.id].state {
BusState::DrivingToStop(stop_idx) => {
let stop = &route.stops[stop_idx];
assert_eq!(stop.driving_lane, view.on.as_lane());
if stop.dist_along == view.dist_along {
// TODO constant for stop time
self.buses.get_mut(&view.id).unwrap().state =
BusState::AtStop(stop_idx, time + 10.0 * si::S);
events.push(Event::BusArrivedAtStop(view.id, stop.clone()));
if view.debug {
println!("{} arrived at stop {:?}, now waiting", view.id, stop);
}
return (true, None);
}
// No, keep creeping forwards
(false, None)
}
BusState::AtStop(stop_idx, wait_until) => {
let stop = &route.stops[stop_idx];
assert_eq!(stop.driving_lane, view.on.as_lane());
assert_eq!(stop.dist_along, view.dist_along);
if time == wait_until {
let next_stop = route.next_stop(stop_idx);
self.buses.get_mut(&view.id).unwrap().state =
BusState::DrivingToStop(next_stop);
events.push(Event::BusDepartedFromStop(view.id, stop.clone()));
if view.debug {
println!("{} departing from stop {:?}", view.id, stop);
}
let mut new_path = VecDeque::from(
map_model::pathfind(
map,
stop.driving_lane,
route.stops[next_stop].driving_lane,
).expect(&format!(
"No route between bus stops {:?} and {:?}",
stop, route.stops[next_stop]
)),
);
new_path.pop_front();
return (true, Some(new_path));
}
(true, None)
}
}
}
pub fn get_dist_to_stop_at(&self, bus: CarID, driving_lane: LaneID) -> Distance {
match self.buses[&bus].state {
BusState::DrivingToStop(stop_idx) => {
let stop = &self.routes[&self.buses[&bus].route].stops[stop_idx];
assert_eq!(stop.driving_lane, driving_lane);
stop.dist_along
}
BusState::AtStop(_, _) => {
panic!("Shouldn't ask where to stop if the bus is already at a stop")
}
}
}
}

13
sim/tests/transit.rs
View File

@ -14,18 +14,19 @@ fn bus_reaches_stops() {
let stop1 = map.get_l(map_model::LaneID(309)).bus_stops[0].clone();
let stop2 = map.get_l(map_model::LaneID(840)).bus_stops[0].clone();
let bus = sim.seed_bus(vec![stop1.clone(), stop2.clone()], &map)
.unwrap();
let buses = sim.seed_bus_route(vec![stop1.clone(), stop2.clone()], &map);
let (bus1, bus2) = (buses[0], buses[1]);
sim::init::run_until_expectations_met(
&mut sim,
&map,
&control_map,
// TODO assert stuff about bus2 as well, although the timing is a little unclear
vec![
sim::Event::BusArrivedAtStop(bus, stop2.clone()),
sim::Event::BusDepartedFromStop(bus, stop2),
sim::Event::BusArrivedAtStop(bus, stop1.clone()),
sim::Event::BusDepartedFromStop(bus, stop1),
sim::Event::BusArrivedAtStop(bus1, stop2.clone()),
sim::Event::BusDepartedFromStop(bus1, stop2),
sim::Event::BusArrivedAtStop(bus1, stop1.clone()),
sim::Event::BusDepartedFromStop(bus1, stop1),
],
sim::Tick::from_minutes(10),
);