<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="Source of the Rust file `map_model&#x2F;src&#x2F;objects&#x2F;stop_signs.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>stop_signs.rs - source</title><link rel="stylesheet" type="text/css" href="../../../normalize.css"><link rel="stylesheet" type="text/css" href="../../../rustdoc.css" id="mainThemeStyle"><link rel="stylesheet" type="text/css" href="../../../light.css"  id="themeStyle"><link rel="stylesheet" type="text/css" href="../../../dark.css" disabled ><link rel="stylesheet" type="text/css" href="../../../ayu.css" disabled ><script id="default-settings" ></script><script src="../../../storage.js"></script><script src="../../../crates.js"></script><noscript><link rel="stylesheet" href="../../../noscript.css"></noscript><link rel="icon" type="image/svg+xml" href="../../../favicon.svg"><link rel="alternate icon" type="image/png" href="../../../favicon-16x16.png"><link rel="alternate icon" type="image/png" href="../../../favicon-32x32.png"><style type="text/css">#crate-search{background-image:url("../../../down-arrow.svg");}</style></head><body class="rustdoc source"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"><div class="sidebar-menu" role="button">&#9776;</div><a href='../../../map_model/index.html'><div class='logo-container rust-logo'><img src='../../../rust-logo.png' alt='logo'></div></a></nav><div class="theme-picker"><button id="theme-picker" aria-label="Pick another theme!" aria-haspopup="menu" title="themes"><img width="18" height="18" alt="Pick another theme!" src="../../../brush.svg"></button><div id="theme-choices" role="menu"></div></div><nav class="sub"><form class="search-form"><div class="search-container"><div><select 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>
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</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&#39;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">//    - &quot;Complete&quot; the turn just means the optimistic &quot;length / max_speed&quot; 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&#39;ll be a little</span>
<span class="comment">//      harder to implement.</span>
<span class="comment">//    - &quot;Higher priority&quot; 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&#39;t impede a priority turn), stop (has to pause and can&#39;t impede a</span>
<span class="comment">//      priority or yield turn). But I don&#39;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">&quot;serialize_btreemap&quot;</span>,
        <span class="ident">deserialize_with</span> <span class="op">=</span> <span class="string">&quot;deserialize_btreemap&quot;</span>
    )]</span>
    <span class="kw">pub</span> <span class="ident">roads</span>: <span class="ident">BTreeMap</span><span class="op">&lt;</span><span class="ident">RoadID</span>, <span class="ident">RoadWithStopSign</span><span class="op">&gt;</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">&amp;</span><span class="ident">Map</span>, <span class="ident">id</span>: <span class="ident">IntersectionID</span>) <span class="op">-</span><span class="op">&gt;</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&#39;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">&lt;</span><span class="ident">LaneID</span><span class="op">&gt;</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">&amp;&amp;</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&#39;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">&lt;</span><span class="op">=</span> <span class="number">2</span>
            <span class="op">&amp;&amp;</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">&quot;junction&quot;</span>, <span class="string">&quot;roundabout&quot;</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">&lt;</span><span class="ident">RoadID</span>, (<span class="ident">osm::RoadRank</span>, <span class="ident">usize</span>)<span class="op">&gt;</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">&quot;service&quot;</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">&quot;junction&quot;</span>, <span class="string">&quot;roundabout&quot;</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">&quot;highway&quot;</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">&quot;_link&quot;</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">&lt;</span><span class="ident">Vec</span><span class="op">&lt;</span><span class="kw">_</span><span class="op">&gt;</span><span class="op">&gt;</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&#39;t stop in the middle of something that&#39;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">&amp;</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">&amp;</span><span class="ident">Map</span>) <span class="op">-</span><span class="op">&gt;</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">&gt;</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">&gt;</span> <span class="ident">TurnPriority::Protected</span>,
            <span class="kw">_</span> <span class="op">=</span><span class="op">&gt;</span> {
                <span class="kw">if</span> <span class="self">self</span>.<span class="ident">roads</span>[<span class="kw-2">&amp;</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">&amp;</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">&amp;</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>
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