use crate::make::traffic_signals::{brute_force, get_possible_policies};
use crate::raw::OriginalRoad;
use crate::{
osm, DirectedRoadID, IntersectionID, Map, TurnGroup, TurnGroupID, TurnID, TurnPriority,
TurnType,
};
use abstutil::{deserialize_btreemap, retain_btreeset, serialize_btreemap, Timer};
use geom::Duration;
use serde::{Deserialize, Serialize};
use std::collections::{BTreeMap, BTreeSet};
#[derive(Debug, Serialize, Deserialize, Clone, PartialEq)]
pub struct ControlTrafficSignal {
pub id: IntersectionID,
pub phases: Vec<Phase>,
pub offset: Duration,
#[serde(
serialize_with = "serialize_btreemap",
deserialize_with = "deserialize_btreemap"
)]
pub turn_groups: BTreeMap<TurnGroupID, TurnGroup>,
}
#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
pub struct Phase {
pub protected_groups: BTreeSet<TurnGroupID>,
pub yield_groups: BTreeSet<TurnGroupID>,
pub phase_type: PhaseType,
}
#[derive(Clone, Debug, Serialize, Deserialize, PartialEq)]
pub enum PhaseType {
Fixed(Duration),
Adaptive(Duration),
}
impl PhaseType {
pub fn simple_duration(&self) -> Duration {
match self {
PhaseType::Fixed(d) | PhaseType::Adaptive(d) => *d,
}
}
}
impl ControlTrafficSignal {
pub fn new(map: &Map, id: IntersectionID, timer: &mut Timer) -> ControlTrafficSignal {
let mut policies = ControlTrafficSignal::get_possible_policies(map, id, timer);
if policies.len() == 1 {
timer.warn(format!("Falling back to greedy_assignment for {}", id));
}
policies.remove(0).1
}
pub fn get_possible_policies(
map: &Map,
id: IntersectionID,
timer: &mut Timer,
) -> Vec<(String, ControlTrafficSignal)> {
get_possible_policies(map, id, timer)
}
pub fn brute_force(map: &Map, id: IntersectionID) {
brute_force(map, id)
}
pub fn validate(self) -> Result<ControlTrafficSignal, String> {
let expected_groups: BTreeSet<TurnGroupID> = self.turn_groups.keys().cloned().collect();
let mut actual_groups: BTreeSet<TurnGroupID> = BTreeSet::new();
for phase in &self.phases {
actual_groups.extend(phase.protected_groups.iter());
actual_groups.extend(phase.yield_groups.iter());
}
if expected_groups != actual_groups {
return Err(format!(
"Traffic signal assignment for {} broken. Missing {:?}, contains irrelevant {:?}",
self.id,
expected_groups
.difference(&actual_groups)
.cloned()
.collect::<Vec<_>>(),
actual_groups
.difference(&expected_groups)
.cloned()
.collect::<Vec<_>>()
));
}
for phase in &self.phases {
for g1 in phase.protected_groups.iter().map(|g| &self.turn_groups[g]) {
for g2 in phase.protected_groups.iter().map(|g| &self.turn_groups[g]) {
if g1.conflicts_with(g2) {
return Err(format!(
"Traffic signal has conflicting protected groups in one \
phase:\n{:?}\n\n{:?}",
g1, g2
));
}
}
}
for g in phase.yield_groups.iter().map(|g| &self.turn_groups[g]) {
assert!(g.turn_type != TurnType::Crosswalk);
}
}
Ok(self)
}
pub fn convert_to_ped_scramble(&mut self) -> bool {
let orig = self.clone();
let mut all_walk_phase = Phase::new();
for g in self.turn_groups.values() {
if g.turn_type == TurnType::Crosswalk {
all_walk_phase.edit_group(g, TurnPriority::Protected);
}
}
let mut replaced = std::mem::replace(&mut self.phases, Vec::new());
let mut has_all_walk = false;
for phase in replaced.iter_mut() {
if !has_all_walk && phase == &all_walk_phase {
has_all_walk = true;
continue;
}
retain_btreeset(&mut phase.protected_groups, |g| {
self.turn_groups[g].turn_type != TurnType::Crosswalk
});
let mut promoted = Vec::new();
for g in &phase.yield_groups {
if phase.could_be_protected(*g, &self.turn_groups) {
phase.protected_groups.insert(*g);
promoted.push(*g);
}
}
for g in promoted {
phase.yield_groups.remove(&g);
}
}
self.phases = replaced;
if !has_all_walk {
self.phases.push(all_walk_phase);
}
self != &orig
}
pub fn turn_to_group(&self, turn: TurnID) -> TurnGroupID {
if let Some(tg) = self
.turn_groups
.values()
.find(|tg| tg.members.contains(&turn))
{
tg.id
} else {
panic!("{} doesn't belong to any turn groups", turn)
}
}
pub fn missing_turns(&self) -> BTreeSet<TurnGroupID> {
let mut missing: BTreeSet<TurnGroupID> = self.turn_groups.keys().cloned().collect();
for phase in &self.phases {
for g in &phase.protected_groups {
missing.remove(g);
}
for g in &phase.yield_groups {
missing.remove(g);
}
}
missing
}
}
impl Phase {
pub fn new() -> Phase {
Phase {
protected_groups: BTreeSet::new(),
yield_groups: BTreeSet::new(),
phase_type: PhaseType::Fixed(Duration::seconds(30.0)),
}
}
pub fn could_be_protected(
&self,
g1: TurnGroupID,
turn_groups: &BTreeMap<TurnGroupID, TurnGroup>,
) -> bool {
let group1 = &turn_groups[&g1];
for g2 in &self.protected_groups {
if g1 == *g2 || group1.conflicts_with(&turn_groups[g2]) {
return false;
}
}
true
}
pub fn get_priority_of_turn(&self, t: TurnID, parent: &ControlTrafficSignal) -> TurnPriority {
self.get_priority_of_group(parent.turn_to_group(t))
}
pub fn get_priority_of_group(&self, g: TurnGroupID) -> TurnPriority {
if self.protected_groups.contains(&g) {
TurnPriority::Protected
} else if self.yield_groups.contains(&g) {
TurnPriority::Yield
} else {
TurnPriority::Banned
}
}
pub fn edit_group(&mut self, g: &TurnGroup, pri: TurnPriority) {
let mut ids = vec![g.id];
if g.turn_type == TurnType::Crosswalk {
ids.push(TurnGroupID {
from: g.id.to,
to: g.id.from,
parent: g.id.parent,
crosswalk: true,
});
}
for id in ids {
self.protected_groups.remove(&id);
self.yield_groups.remove(&id);
if pri == TurnPriority::Protected {
self.protected_groups.insert(id);
} else if pri == TurnPriority::Yield {
self.yield_groups.insert(id);
}
}
}
}
impl ControlTrafficSignal {
pub fn export(&self, map: &Map) -> seattle_traffic_signals::TrafficSignal {
seattle_traffic_signals::TrafficSignal {
intersection_osm_node_id: map.get_i(self.id).orig_id.0,
phases: self
.phases
.iter()
.map(|p| seattle_traffic_signals::Phase {
protected_turns: p
.protected_groups
.iter()
.map(|t| export_turn_group(t, map))
.collect(),
permitted_turns: p
.yield_groups
.iter()
.map(|t| export_turn_group(t, map))
.collect(),
phase_type: match p.phase_type {
PhaseType::Fixed(d) => {
seattle_traffic_signals::PhaseType::Fixed(d.inner_seconds() as usize)
}
PhaseType::Adaptive(d) => {
seattle_traffic_signals::PhaseType::Adaptive(d.inner_seconds() as usize)
}
},
})
.collect(),
offset_seconds: self.offset.inner_seconds() as usize,
}
}
pub fn import(
raw: seattle_traffic_signals::TrafficSignal,
id: IntersectionID,
map: &Map,
) -> Result<ControlTrafficSignal, String> {
let mut phases = Vec::new();
for p in raw.phases {
let num_protected = p.protected_turns.len();
let num_permitted = p.permitted_turns.len();
let protected_groups = p
.protected_turns
.into_iter()
.filter_map(|t| import_turn_group(t, map))
.collect::<BTreeSet<_>>();
let yield_groups = p
.permitted_turns
.into_iter()
.filter_map(|t| import_turn_group(t, map))
.collect::<BTreeSet<_>>();
if protected_groups.len() == num_protected && yield_groups.len() == num_permitted {
phases.push(Phase {
protected_groups,
yield_groups,
phase_type: match p.phase_type {
seattle_traffic_signals::PhaseType::Fixed(d) => {
PhaseType::Fixed(Duration::seconds(d as f64))
}
seattle_traffic_signals::PhaseType::Adaptive(d) => {
PhaseType::Adaptive(Duration::seconds(d as f64))
}
},
});
} else {
return Err(format!(
"Failed to import some of the turn groups for {}",
raw.intersection_osm_node_id
));
}
}
ControlTrafficSignal {
id,
phases,
offset: Duration::seconds(raw.offset_seconds as f64),
turn_groups: TurnGroup::for_i(id, map).unwrap(),
}
.validate()
}
}
fn export_turn_group(id: &TurnGroupID, map: &Map) -> seattle_traffic_signals::Turn {
let from = map.get_r(id.from.id).orig_id;
let to = map.get_r(id.to.id).orig_id;
seattle_traffic_signals::Turn {
from: seattle_traffic_signals::DirectedRoad {
osm_way_id: from.osm_way_id.0,
osm_node1: from.i1.0,
osm_node2: from.i2.0,
is_forwards: id.from.forwards,
},
to: seattle_traffic_signals::DirectedRoad {
osm_way_id: to.osm_way_id.0,
osm_node1: to.i1.0,
osm_node2: to.i2.0,
is_forwards: id.to.forwards,
},
intersection_osm_node_id: map.get_i(id.parent).orig_id.0,
is_crosswalk: id.crosswalk,
}
}
fn import_turn_group(id: seattle_traffic_signals::Turn, map: &Map) -> Option<TurnGroupID> {
Some(TurnGroupID {
from: find_r(id.from, map)?,
to: find_r(id.to, map)?,
parent: map
.find_i_by_osm_id(osm::NodeID(id.intersection_osm_node_id))
.ok()?,
crosswalk: id.is_crosswalk,
})
}
fn find_r(id: seattle_traffic_signals::DirectedRoad, map: &Map) -> Option<DirectedRoadID> {
Some(DirectedRoadID {
id: map
.find_r_by_osm_id(OriginalRoad::new(
id.osm_way_id,
(id.osm_node1, id.osm_node2),
))
.ok()?,
forwards: id.is_forwards,
})
}