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id="crate-search"><option value="All crates">All crates</option></select><input class="search-input"name="search" disabled autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"></div><button type="button" id="help-button" title="help">?</button><a id="settings-menu" href="../../../settings.html" title="settings"><img width="18" height="18" alt="Change settings" src="../../../wheel.svg"></a></div></form></nav><section id="main" class="content"><div class="example-wrap"><pre class="line-numbers"><span id="1"> 1</span> <span id="2"> 2</span> <span id="3"> 3</span> <span id="4"> 4</span> <span id="5"> 5</span> <span id="6"> 6</span> <span id="7"> 7</span> <span id="8"> 8</span> <span id="9"> 9</span> <span id="10"> 10</span> <span id="11"> 11</span> <span id="12"> 12</span> <span id="13"> 13</span> <span id="14"> 14</span> <span id="15"> 15</span> <span id="16"> 16</span> <span id="17"> 17</span> <span id="18"> 18</span> <span 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id="175">175</span> <span id="176">176</span> <span id="177">177</span> <span id="178">178</span> </pre><pre class="rust"> <span class="kw">use</span> <span class="ident">std::collections</span>::{<span class="ident">BTreeMap</span>, <span class="ident">HashMap</span>}; <span class="kw">use</span> <span class="ident">serde</span>::{<span class="ident">Deserialize</span>, <span class="ident">Serialize</span>}; <span class="kw">use</span> <span class="ident">abstutil</span>::{<span class="ident">deserialize_btreemap</span>, <span class="ident">serialize_btreemap</span>}; <span class="kw">use</span> <span class="kw">crate</span>::{ <span class="ident">osm</span>, <span class="ident">Direction</span>, <span class="ident">DrivingSide</span>, <span class="ident">IntersectionID</span>, <span class="ident">LaneID</span>, <span class="ident">Map</span>, <span class="ident">RoadID</span>, <span class="ident">TurnID</span>, <span class="ident">TurnPriority</span>, <span class="ident">TurnType</span>, }; <span class="comment">// TODO These are old notes, they don't reflect current reality. But some of the ideas here should</span> <span class="comment">// be implemented, so keeping them...</span> <span class="comment">// 1) Pedestrians always have right-of-way. (for now -- should be toggleable later)</span> <span class="comment">// 2) Incoming roads without a stop sign have priority over roads with a sign.</span> <span class="comment">// 3) Agents with a stop sign have to actually wait some amount of time before starting the turn.</span> <span class="comment">// 4) Before starting any turn, an agent should make sure it can complete the turn without making a</span> <span class="comment">// higher-priority agent have to wait.</span> <span class="comment">// - "Complete" the turn just means the optimistic "length / max_speed" calculation -- if they</span> <span class="comment">// queue behind slow cars upstream a bit, blocking the intersection a little bit is nice and</span> <span class="comment">// realistic.</span> <span class="comment">// - The higher priority agent might not even be at the intersection yet! This'll be a little</span> <span class="comment">// harder to implement.</span> <span class="comment">// - "Higher priority" has two cases -- stop sign road always yields to a non-stop sign road. But</span> <span class="comment">// also a non-stop sign road yields to another non-stop sign road. In other words, left turns</span> <span class="comment">// yield to straight and ideally, lane-changing yields to straight too.</span> <span class="comment">// - So there still is a notion of turn priorities -- priority (can never conflict with another</span> <span class="comment">// priority), yield (can't impede a priority turn), stop (has to pause and can't impede a</span> <span class="comment">// priority or yield turn). But I don't think we want to really depict this...</span> <span class="comment">// 5) Rule 4 gives us a notion of roads that conflict -- or actually, do we even need it? No! An</span> <span class="comment">// intersection with no stop signs at all means everyone yields. An intersection with all stop</span> <span class="comment">// signs means everyone pauses before proceeding.</span> <span class="comment">// 6) Additionally, individual turns can be banned completely.</span> <span class="comment">// - Even though letting players manipulate this could make parts of the map unreachable?</span> <span class="attribute">#[<span class="ident">derive</span>(<span class="ident">Debug</span>, <span class="ident">Serialize</span>, <span class="ident">Deserialize</span>, <span class="ident">Clone</span>, <span class="ident">PartialEq</span>)]</span> <span class="kw">pub</span> <span class="kw">struct</span> <span class="ident">ControlStopSign</span> { <span class="kw">pub</span> <span class="ident">id</span>: <span class="ident">IntersectionID</span>, <span class="doccomment">/// Only roads incoming to the intersection are listed here.</span> <span class="attribute">#[<span class="ident">serde</span>( <span class="ident">serialize_with</span> <span class="op">=</span> <span class="string">"serialize_btreemap"</span>, <span class="ident">deserialize_with</span> <span class="op">=</span> <span class="string">"deserialize_btreemap"</span> )]</span> <span class="kw">pub</span> <span class="ident">roads</span>: <span class="ident">BTreeMap</span><span class="op"><</span><span class="ident">RoadID</span>, <span class="ident">RoadWithStopSign</span><span class="op">></span>, } <span class="attribute">#[<span class="ident">derive</span>(<span class="ident">Debug</span>, <span class="ident">Serialize</span>, <span class="ident">Deserialize</span>, <span class="ident">Clone</span>, <span class="ident">PartialEq</span>)]</span> <span class="kw">pub</span> <span class="kw">struct</span> <span class="ident">RoadWithStopSign</span> { <span class="kw">pub</span> <span class="ident">lane_closest_to_edge</span>: <span class="ident">LaneID</span>, <span class="kw">pub</span> <span class="ident">must_stop</span>: <span class="ident">bool</span>, } <span class="kw">impl</span> <span class="ident">ControlStopSign</span> { <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">new</span>(<span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, <span class="ident">id</span>: <span class="ident">IntersectionID</span>) <span class="op">-</span><span class="op">></span> <span class="ident">ControlStopSign</span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">ss</span> <span class="op">=</span> <span class="ident">ControlStopSign</span> { <span class="ident">id</span>, <span class="ident">roads</span>: <span class="ident">BTreeMap::new</span>(), }; <span class="comment">// One-way outbound roads don't need a stop sign, so skip them entirely.</span> <span class="kw">for</span> <span class="ident">r</span> <span class="kw">in</span> <span class="ident">map</span>.<span class="ident">get_i</span>(<span class="ident">id</span>).<span class="ident">get_sorted_incoming_roads</span>(<span class="ident">map</span>) { <span class="kw">let</span> <span class="ident">r</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_r</span>(<span class="ident">r</span>); <span class="kw">let</span> <span class="ident">want_dir</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">r</span>.<span class="ident">dst_i</span> <span class="op">=</span><span class="op">=</span> <span class="ident">id</span> { <span class="ident">Direction::Fwd</span> } <span class="kw">else</span> { <span class="ident">Direction::Back</span> }; <span class="kw">let</span> <span class="ident">travel_lanes</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">LaneID</span><span class="op">></span> <span class="op">=</span> <span class="ident">r</span> .<span class="ident">lanes</span> .<span class="ident">iter</span>() .<span class="ident">filter_map</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> { <span class="kw">if</span> <span class="ident">l</span>.<span class="ident">dir</span> <span class="op">=</span><span class="op">=</span> <span class="ident">want_dir</span> <span class="op">&&</span> <span class="ident">l</span>.<span class="ident">lane_type</span>.<span class="ident">is_for_moving_vehicles</span>() { <span class="prelude-val">Some</span>(<span class="ident">l</span>.<span class="ident">id</span>) } <span class="kw">else</span> { <span class="prelude-val">None</span> } }) .<span class="ident">collect</span>(); <span class="kw">if</span> <span class="op">!</span><span class="ident">travel_lanes</span>.<span class="ident">is_empty</span>() { <span class="kw">let</span> <span class="ident">lane_closest_to_edge</span> <span class="op">=</span> <span class="kw">if</span> (<span class="ident">map</span>.<span class="ident">get_config</span>().<span class="ident">driving_side</span> <span class="op">=</span><span class="op">=</span> <span class="ident">DrivingSide::Right</span>) <span class="op">=</span><span class="op">=</span> (<span class="ident">want_dir</span> <span class="op">=</span><span class="op">=</span> <span class="ident">Direction::Fwd</span>) { <span class="kw-2">*</span><span class="ident">travel_lanes</span>.<span class="ident">last</span>().<span class="ident">unwrap</span>() } <span class="kw">else</span> { <span class="ident">travel_lanes</span>[<span class="number">0</span>] }; <span class="ident">ss</span>.<span class="ident">roads</span>.<span class="ident">insert</span>( <span class="ident">r</span>.<span class="ident">id</span>, <span class="ident">RoadWithStopSign</span> { <span class="ident">lane_closest_to_edge</span>, <span class="ident">must_stop</span>: <span class="bool-val">false</span>, }, ); } } <span class="comment">// Degenerate roads and deadends don't need any stop signs. But be careful with</span> <span class="comment">// roundabouts; we want it to be lower priority to enter a roundabout than continue through</span> <span class="comment">// it.</span> <span class="kw">if</span> <span class="ident">ss</span>.<span class="ident">roads</span>.<span class="ident">len</span>() <span class="op"><</span><span class="op">=</span> <span class="number">2</span> <span class="op">&&</span> <span class="ident">ss</span> .<span class="ident">roads</span> .<span class="ident">keys</span>() .<span class="ident">all</span>(<span class="op">|</span><span class="ident">r</span><span class="op">|</span> <span class="op">!</span><span class="ident">map</span>.<span class="ident">get_r</span>(<span class="kw-2">*</span><span class="ident">r</span>).<span class="ident">osm_tags</span>.<span class="ident">is</span>(<span class="string">"junction"</span>, <span class="string">"roundabout"</span>)) { <span class="kw">return</span> <span class="ident">ss</span>; } <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_i</span>(<span class="ident">id</span>).<span class="ident">is_cycleway</span>(<span class="ident">map</span>) { <span class="comment">// Two cyclepaths intersecting can just yield.</span> <span class="kw">return</span> <span class="ident">ss</span>; } <span class="comment">// Rank each road based on OSM highway type, and additionally:</span> <span class="comment">// - Treat cycleways as lower priority than local roads (sad but typical reality)</span> <span class="comment">// - Prioritize roundabouts, so they clear out faster than people enter them</span> <span class="comment">// - Treat on/off ramps with less priority than the main part of the highway</span> <span class="comment">// - Lower the priority of service roads</span> <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">rank</span>: <span class="ident">HashMap</span><span class="op"><</span><span class="ident">RoadID</span>, (<span class="ident">osm::RoadRank</span>, <span class="ident">usize</span>)<span class="op">></span> <span class="op">=</span> <span class="ident">HashMap::new</span>(); <span class="kw">for</span> <span class="ident">r</span> <span class="kw">in</span> <span class="ident">ss</span>.<span class="ident">roads</span>.<span class="ident">keys</span>() { <span class="kw">let</span> <span class="ident">r</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_r</span>(<span class="kw-2">*</span><span class="ident">r</span>); <span class="comment">// Lower number is lower priority</span> <span class="kw">let</span> <span class="ident">priority</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">r</span>.<span class="ident">is_cycleway</span>() <span class="op">|</span><span class="op">|</span> <span class="ident">r</span>.<span class="ident">osm_tags</span>.<span class="ident">is</span>(<span class="ident">osm::HIGHWAY</span>, <span class="string">"service"</span>) { <span class="number">0</span> } <span class="kw">else</span> <span class="kw">if</span> <span class="ident">r</span>.<span class="ident">osm_tags</span>.<span class="ident">is</span>(<span class="string">"junction"</span>, <span class="string">"roundabout"</span>) { <span class="number">3</span> } <span class="kw">else</span> <span class="kw">if</span> <span class="ident">r</span> .<span class="ident">osm_tags</span> .<span class="ident">get</span>(<span class="string">"highway"</span>) .<span class="ident">map</span>(<span class="op">|</span><span class="ident">hwy</span><span class="op">|</span> <span class="ident">hwy</span>.<span class="ident">ends_with</span>(<span class="string">"_link"</span>)) .<span class="ident">unwrap_or</span>(<span class="bool-val">false</span>) { <span class="number">1</span> } <span class="kw">else</span> { <span class="number">2</span> }; <span class="ident">rank</span>.<span class="ident">insert</span>(<span class="ident">r</span>.<span class="ident">id</span>, (<span class="ident">r</span>.<span class="ident">get_rank</span>(), <span class="ident">priority</span>)); } <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">ranks</span> <span class="op">=</span> <span class="ident">rank</span>.<span class="ident">values</span>().<span class="ident">cloned</span>().<span class="ident">collect</span>::<span class="op"><</span><span class="ident">Vec</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>(); <span class="ident">ranks</span>.<span class="ident">sort</span>(); <span class="ident">ranks</span>.<span class="ident">dedup</span>(); <span class="comment">// Highest rank is first</span> <span class="ident">ranks</span>.<span class="ident">reverse</span>(); <span class="comment">// If all roads have the same rank, all-way stop. Otherwise, everything stops except the</span> <span class="comment">// highest-priority roads.</span> <span class="kw">for</span> (<span class="ident">r</span>, <span class="ident">cfg</span>) <span class="kw">in</span> <span class="ident">ss</span>.<span class="ident">roads</span>.<span class="ident">iter_mut</span>() { <span class="kw">if</span> <span class="ident">ranks</span>.<span class="ident">len</span>() <span class="op">=</span><span class="op">=</span> <span class="number">1</span> <span class="op">|</span><span class="op">|</span> <span class="ident">rank</span>[<span class="ident">r</span>] <span class="op">!</span><span class="op">=</span> <span class="ident">ranks</span>[<span class="number">0</span>] { <span class="comment">// Don't stop in the middle of something that's likely actually an intersection.</span> <span class="kw">if</span> <span class="op">!</span><span class="ident">map</span>.<span class="ident">get_r</span>(<span class="kw-2">*</span><span class="ident">r</span>).<span class="ident">is_extremely_short</span>() { <span class="ident">cfg</span>.<span class="ident">must_stop</span> <span class="op">=</span> <span class="bool-val">true</span>; } } } <span class="ident">ss</span> } <span class="doccomment">/// Get the priority of a turn according to the stop sign -- either protected or yield, never</span> <span class="doccomment">/// banned.</span> <span class="comment">// TODO Or cache</span> <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">get_priority</span>(<span class="kw-2">&</span><span class="self">self</span>, <span class="ident">turn</span>: <span class="ident">TurnID</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) <span class="op">-</span><span class="op">></span> <span class="ident">TurnPriority</span> { <span class="kw">match</span> <span class="ident">map</span>.<span class="ident">get_t</span>(<span class="ident">turn</span>).<span class="ident">turn_type</span> { <span class="ident">TurnType::SharedSidewalkCorner</span> <span class="op">=</span><span class="op">></span> <span class="ident">TurnPriority::Protected</span>, <span class="comment">// TODO This actually feels like a policy bit that should be flippable.</span> <span class="ident">TurnType::Crosswalk</span> <span class="op">=</span><span class="op">></span> <span class="ident">TurnPriority::Protected</span>, <span class="kw">_</span> <span class="op">=</span><span class="op">></span> { <span class="kw">if</span> <span class="self">self</span>.<span class="ident">roads</span>[<span class="kw-2">&</span><span class="ident">turn</span>.<span class="ident">src</span>.<span class="ident">road</span>].<span class="ident">must_stop</span> { <span class="ident">TurnPriority::Yield</span> } <span class="kw">else</span> { <span class="ident">TurnPriority::Protected</span> } } } } <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">flip_sign</span>(<span class="kw-2">&</span><span class="kw-2">mut</span> <span class="self">self</span>, <span class="ident">r</span>: <span class="ident">RoadID</span>) { <span class="kw">let</span> <span class="ident">ss</span> <span class="op">=</span> <span class="self">self</span>.<span class="ident">roads</span>.<span class="ident">get_mut</span>(<span class="kw-2">&</span><span class="ident">r</span>).<span class="ident">unwrap</span>(); <span class="ident">ss</span>.<span class="ident">must_stop</span> <span class="op">=</span> <span class="op">!</span><span class="ident">ss</span>.<span class="ident">must_stop</span>; } } </pre></div> </section><section id="search" class="content hidden"></section><div id="rustdoc-vars" data-root-path="../../../" data-current-crate="map_model" data-search-index-js="../../../search-index.js" data-search-js="../../../search.js"></div> <script src="../../../main.js"></script><script src="../../../source-script.js"></script><script src="../../../source-files.js"></script> </body></html>