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Code Issues Projects Releases Wiki Activity

changing API of intersection policies to allow for peds

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This commit is contained in:
Dustin Carlino 2018-07-30 14:14:38 -07:00
parent 19133adad8
commit d4f2966a5d
2 changed files with 79 additions and 51 deletions
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11
sim/src/driving.rs
View File

@ -4,7 +4,7 @@ use control::ControlMap;
use dimensioned::si;
use draw_car::DrawCar;
use geom::{Angle, Pt2D};
use intersections::{IntersectionPolicy, StopSign, TrafficSignal};
use intersections::{IntersectionPolicy, Request, StopSign, TrafficSignal};
use map_model::{LaneID, LaneType, Map, TurnID};
use multimap::MultiMap;
use serde::{Deserialize, Deserializer, Serialize, Serializer};
@ -341,8 +341,7 @@ impl DrivingSimState {
let mut ok_to_turn = true;
if let On::Turn(t) = on {
ok_to_turn = self.intersections[map.get_t(t).parent.0].can_do_turn(
*id,
t,
Request::for_car(*id, t),
time,
map,
control_map,
@ -355,14 +354,16 @@ impl DrivingSimState {
new_car_entered_this_step.insert(on);
let c = self.cars.get_mut(&id).unwrap();
if let On::Turn(t) = c.on {
self.intersections[map.get_t(t).parent.0].on_exit(c.id);
self.intersections[map.get_t(t).parent.0]
.on_exit(Request::for_car(c.id, t));
assert_eq!(c.path[0], map.get_t(t).dst);
c.path.pop_front();
}
c.waiting_for = None;
c.on = on;
if let On::Turn(t) = c.on {
self.intersections[map.get_t(t).parent.0].on_enter(c.id);
self.intersections[map.get_t(t).parent.0]
.on_enter(Request::for_car(c.id, t));
}
// TODO could calculate leftover (and deal with large timesteps, small
// lanes)

119
sim/src/intersections.rs
View File

@ -5,7 +5,7 @@ use control::ControlMap;
use dimensioned::si;
use map_model::{IntersectionID, Map, TurnID};
use std::collections::BTreeMap;
use {CarID, Tick, SPEED_LIMIT};
use {CarID, PedestrianID, Tick, SPEED_LIMIT};
use std;
const WAIT_AT_STOP_SIGN: si::Second<f64> = si::Second {
@ -13,6 +13,34 @@ const WAIT_AT_STOP_SIGN: si::Second<f64> = si::Second {
_marker: std::marker::PhantomData,
};
#[derive(Serialize, Deserialize, PartialEq, Eq, PartialOrd, Ord, Clone, Copy)]
pub enum AgentID {
Car(CarID),
Pedestrian(PedestrianID),
}
#[derive(Serialize, Deserialize, PartialEq, Eq, PartialOrd, Ord)]
pub struct Request {
pub agent: AgentID,
pub turn: TurnID,
}
impl Request {
pub fn for_car(car: CarID, t: TurnID) -> Request {
Request {
agent: AgentID::Car(car),
turn: t,
}
}
pub fn for_ped(ped: PedestrianID, t: TurnID) -> Request {
Request {
agent: AgentID::Pedestrian(ped),
turn: t,
}
}
}
// Use an enum instead of traits so that serialization works. I couldn't figure out erased_serde.
#[derive(Serialize, Deserialize, PartialEq, Eq)]
pub enum IntersectionPolicy {
@ -21,35 +49,34 @@ pub enum IntersectionPolicy {
}
impl IntersectionPolicy {
// This must only be called when the car is ready to enter the intersection.
// This must only be called when the agent is ready to enter the intersection.
pub fn can_do_turn(
&mut self,
car: CarID,
turn: TurnID,
req: Request,
time: Tick,
map: &Map,
control_map: &ControlMap,
) -> bool {
match *self {
IntersectionPolicy::StopSignPolicy(ref mut p) => {
p.can_do_turn(car, turn, time, map, control_map)
p.can_do_turn(req, time, map, control_map)
}
IntersectionPolicy::TrafficSignalPolicy(ref mut p) => {
p.can_do_turn(car, turn, time, map, control_map)
p.can_do_turn(req, time, map, control_map)
}
}
}
pub fn on_enter(&self, car: CarID) {
pub fn on_enter(&self, req: Request) {
match self {
IntersectionPolicy::StopSignPolicy(p) => p.on_enter(car),
IntersectionPolicy::TrafficSignalPolicy(p) => p.on_enter(car),
IntersectionPolicy::StopSignPolicy(p) => p.on_enter(req),
IntersectionPolicy::TrafficSignalPolicy(p) => p.on_enter(req),
}
}
pub fn on_exit(&mut self, car: CarID) {
pub fn on_exit(&mut self, req: Request) {
match *self {
IntersectionPolicy::StopSignPolicy(ref mut p) => p.on_exit(car),
IntersectionPolicy::TrafficSignalPolicy(ref mut p) => p.on_exit(car),
IntersectionPolicy::StopSignPolicy(ref mut p) => p.on_exit(req),
IntersectionPolicy::TrafficSignalPolicy(ref mut p) => p.on_exit(req),
}
}
}
@ -60,9 +87,9 @@ pub struct StopSign {
// Use BTreeMap so serialized state is easy to compare.
// https://stackoverflow.com/questions/42723065/how-to-sort-hashmap-keys-when-serializing-with-serde
// is an alt.
started_waiting_at: BTreeMap<CarID, Tick>,
accepted: BTreeMap<CarID, TurnID>,
waiting: BTreeMap<CarID, TurnID>,
started_waiting_at: BTreeMap<AgentID, Tick>,
accepted: BTreeMap<AgentID, TurnID>,
waiting: BTreeMap<AgentID, TurnID>,
}
impl StopSign {
@ -99,59 +126,59 @@ impl StopSign {
fn can_do_turn(
&mut self,
car: CarID,
turn: TurnID,
req: Request,
time: Tick,
map: &Map,
control_map: &ControlMap,
) -> bool {
let (agent, turn) = (req.agent, req.turn);
assert_eq!(map.get_t(turn).parent, self.id);
if self.accepted.contains_key(&car) {
if self.accepted.contains_key(&agent) {
return true;
}
if !self.started_waiting_at.contains_key(&car) {
self.started_waiting_at.insert(car, time);
if !self.started_waiting_at.contains_key(&agent) {
self.started_waiting_at.insert(agent, time);
}
if self.conflicts_with_accepted(turn, map) {
self.waiting.insert(car, turn);
self.waiting.insert(agent, turn);
return false;
}
let ss = &control_map.stop_signs[&self.id];
if self.conflicts_with_waiting_with_higher_priority(turn, map, ss) {
self.waiting.insert(car, turn);
self.waiting.insert(agent, turn);
return false;
}
if ss.get_priority(turn) == TurnPriority::Stop
&& (time - self.started_waiting_at[&car]).as_time() < WAIT_AT_STOP_SIGN
&& (time - self.started_waiting_at[&agent]).as_time() < WAIT_AT_STOP_SIGN
{
self.waiting.insert(car, turn);
self.waiting.insert(agent, turn);
return false;
}
self.accepted.insert(car, turn);
self.waiting.remove(&car);
self.started_waiting_at.remove(&car);
self.accepted.insert(agent, turn);
self.waiting.remove(&agent);
self.started_waiting_at.remove(&agent);
true
}
fn on_enter(&self, car: CarID) {
assert!(self.accepted.contains_key(&car));
fn on_enter(&self, req: Request) {
assert!(self.accepted.contains_key(&req.agent));
}
fn on_exit(&mut self, car: CarID) {
assert!(self.accepted.contains_key(&car));
self.accepted.remove(&car);
fn on_exit(&mut self, req: Request) {
assert!(self.accepted.contains_key(&req.agent));
self.accepted.remove(&req.agent);
}
}
#[derive(Serialize, Deserialize, PartialEq, Eq)]
pub struct TrafficSignal {
id: IntersectionID,
accepted: BTreeMap<CarID, TurnID>,
accepted: BTreeMap<AgentID, TurnID>,
}
impl TrafficSignal {
@ -162,48 +189,48 @@ impl TrafficSignal {
}
}
// TODO determine if cars are staying in the intersection past the cycle time.
// TODO determine if agents are staying in the intersection past the cycle time.
fn can_do_turn(
&mut self,
car: CarID,
t: TurnID,
req: Request,
time: Tick,
map: &Map,
control_map: &ControlMap,
) -> bool {
let turn = map.get_t(t);
let turn = map.get_t(req.turn);
assert_eq!(turn.parent, self.id);
if self.accepted.contains_key(&car) {
if self.accepted.contains_key(&req.agent) {
return true;
}
let signal = &control_map.traffic_signals[&self.id];
let (cycle, remaining_cycle_time) = signal.current_cycle_and_remaining_time(time.as_time());
if !cycle.contains(t) {
if !cycle.contains(turn.id) {
return false;
}
// How long will it take the car to cross the turn?
// How long will it take the agent to cross the turn?
// TODO different speeds
let crossing_time = turn.length() / SPEED_LIMIT;
// TODO account for TIMESTEP
if crossing_time < remaining_cycle_time {
self.accepted.insert(car, t);
self.accepted.insert(req.agent, turn.id);
return true;
}
false
}
fn on_enter(&self, car: CarID) {
assert!(self.accepted.contains_key(&car));
fn on_enter(&self, req: Request) {
assert!(self.accepted.contains_key(&req.agent));
}
fn on_exit(&mut self, car: CarID) {
assert!(self.accepted.contains_key(&car));
self.accepted.remove(&car);
fn on_exit(&mut self, req: Request) {
assert!(self.accepted.contains_key(&req.agent));
self.accepted.remove(&req.agent);
}
}