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waiting_for for new driving model

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This commit is contained in:
Dustin Carlino 2018-08-08 12:34:37 -07:00
parent 8d82148342
commit ccbf5939d8
3 changed files with 17 additions and 12 deletions
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25
sim/src/driving.rs
View File

@ -22,7 +22,7 @@ struct Car {
on: On,
speed: Speed,
dist_along: Distance,
// TODO need to fill this out now
// TODO should this only be turns?
waiting_for: Option<On>,
debug: bool,
// Head is the next lane
@ -108,10 +108,7 @@ impl Car {
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),
);
let req = Request::for_car(self.id, choose_turn(&current_path, &None, id, map));
let granted = intersections.request_granted(req.clone());
if !granted {
// Otherwise, we wind up submitting a request at the end of our step, after
@ -141,7 +138,7 @@ impl Car {
current_path.pop_front();
On::Lane(map.get_t(t).dst)
}
On::Lane(l) => On::Turn(choose_turn(&current_path, &self.waiting_for, l, map)),
On::Lane(l) => On::Turn(choose_turn(&current_path, &None, l, map)),
};
current_dist_along = 0.0 * si::M;
dist_scanned_ahead += dist_this_step;
@ -177,7 +174,7 @@ impl Car {
}
let next_on = match self.on {
On::Turn(t) => On::Lane(map.get_t(t).dst),
On::Lane(l) => On::Turn(choose_turn(&self.path, &self.waiting_for, l, map)),
On::Lane(l) => On::Turn(choose_turn(&self.path, &None, l, map)),
};
if let On::Turn(t) = self.on {
@ -314,7 +311,7 @@ impl DrivingSimState {
for c in self.cars.values() {
let id = AgentID::Car(c.id);
info.speeds.insert(id, c.speed);
if !self.next_car_in_front_of(c.on, c.dist_along).is_some() {
if self.next_car_in_front_of(c.on, c.dist_along).is_none() {
info.leaders.insert(id);
}
}
@ -322,7 +319,7 @@ impl DrivingSimState {
pub fn get_car_state(&self, c: CarID) -> CarState {
if let Some(driving) = self.cars.get(&c) {
if driving.waiting_for.is_none() {
if driving.speed > kinematics::EPSILON_SPEED {
CarState::Moving
} else {
CarState::Stuck
@ -336,7 +333,7 @@ impl DrivingSimState {
pub fn get_active_and_waiting_count(&self) -> (usize, usize) {
let waiting = self.cars
.values()
.filter(|c| c.waiting_for.is_some())
.filter(|c| c.speed <= kinematics::EPSILON_SPEED)
.count();
(waiting, self.cars.len())
}
@ -423,7 +420,13 @@ impl DrivingSimState {
// TODO should we check that the car is currently the lead vehicle?
// intersection is assuming that! or relax that assumption.
intersections.submit_request(req.clone())?;
//self.cars.get_mut(&id).unwrap().waiting_for = Some(on);
// TODO kind of a weird way to figure out when to fill this out...
// duplicated with stop sign's check, also. should check that they're a
// leader vehicle...
if On::Lane(req.turn.src) == c.on && c.speed <= kinematics::EPSILON_SPEED {
c.waiting_for = Some(On::Turn(req.turn));
}
}
}
}

2
sim/src/models.rs
View File

@ -26,6 +26,8 @@ pub(crate) fn choose_turn(
from: LaneID,
map: &Map,
) -> TurnID {
// TODO waiting_for check doesn't make sense for aorta driving model. what was the point of
// this?
assert!(waiting_for.is_none());
for t in map.get_turns_from_lane(from) {
if t.dst == path[0] {

2
sim/src/parking.rs
View File

@ -58,7 +58,7 @@ impl ParkingSimState {
let mut new_cars = 0;
for l in &mut self.lanes {
for spot in &mut l.spots {
if !spot.is_some() && rng.gen_bool(percent_capacity_to_fill) {
if spot.is_none() && rng.gen_bool(percent_capacity_to_fill) {
new_cars += 1;
*spot = Some(CarID(*id_counter));
*id_counter += 1;