Eclipse SUMO - Simulation of Urban MObility
MSPModel_NonInteracting.cpp
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1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3// Copyright (C) 2014-2023 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
18// The pedestrian following model (prototype)
19/****************************************************************************/
20#include <config.h>
21
22#include <cmath>
23#include <algorithm>
28#include <microsim/MSGlobals.h>
29#include <microsim/MSNet.h>
30#include <microsim/MSEdge.h>
31#include <microsim/MSLane.h>
32#include <microsim/MSJunction.h>
35
36
37// ===========================================================================
38// DEBUGGING HELPERS
39// ===========================================================================
40#define DEBUG1 "disabled"
41#define DEBUG2 "disabled"
42#define DEBUGCOND(PEDID) (PEDID == DEBUG1 || PEDID == DEBUG2)
43
44
45// ===========================================================================
46// static members
47// ===========================================================================
49
50// ===========================================================================
51// MSPModel_NonInteracting method definitions
52// ===========================================================================
54 myNet(net),
55 myNumActivePedestrians(0) {
56 assert(myNet != 0);
58}
59
60
62}
63
64
68 MoveToNextEdge* const cmd = new MoveToNextEdge(transportable, *stage, this);
69 PState* const state = transportable->isPerson() ? new PState(cmd) : new CState(cmd);
70 myNet->getBeginOfTimestepEvents()->addEvent(cmd, now + state->computeDuration(nullptr, *stage, now));
71 return state;
72}
73
74
76MSPModel_NonInteracting::loadState(MSTransportable* transportable, MSStageMoving* stage, std::istringstream& in) {
78 MoveToNextEdge* const cmd = new MoveToNextEdge(transportable, *stage, this);
79 PState* const state = transportable->isPerson() ? new PState(cmd, &in) : new CState(cmd, &in);
81 return state;
82}
83
84void
87}
88
89void
92 dynamic_cast<PState*>(state)->getCommand()->abortWalk();
93}
94
95
96// ---------------------------------------------------------------------------
97// MSPModel_NonInteracting::MoveToNextEdge method definitions
98// ---------------------------------------------------------------------------
101 if (myTransportable == nullptr) {
102 return 0; // descheduled
103 }
104 const MSEdge* old = myParent.getEdge();
105 const bool arrived = myParent.moveToNextEdge(myTransportable, currentTime, myParent.getState()->getDirection(myParent, currentTime));
106 if (arrived) {
108 return 0;
109 }
110 return static_cast<PState*>(myParent.getState())->computeDuration(old, myParent, currentTime);
111}
112
113
114// ---------------------------------------------------------------------------
115// MSPModel_NonInteracting::PState method definitions
116// ---------------------------------------------------------------------------
117MSPModel_NonInteracting::PState::PState(MoveToNextEdge* cmd, std::istringstream* in) : myCommand(cmd) {
118 if (in != nullptr) {
120 }
121}
122
123
126 myLastEntryTime = currentTime;
127 const MSEdge* edge = stage.getEdge();
128 const MSEdge* next = stage.getNextRouteEdge();
129 int dir = UNDEFINED_DIRECTION;
130 if (prev == nullptr) {
131 myCurrentBeginPos = stage.getDepartPos();
132 } else {
133 // default to FORWARD if not connected
134 dir = (edge->getToJunction() == prev->getToJunction() || edge->getToJunction() == prev->getFromJunction()) ? BACKWARD : FORWARD;
135 myCurrentBeginPos = dir == FORWARD ? 0 : edge->getLength();
136 }
137 if (next == nullptr) {
138 myCurrentEndPos = stage.getArrivalPos();
139 } else {
140 if (dir == UNDEFINED_DIRECTION) {
141 // default to FORWARD if not connected
142 dir = (edge->getFromJunction() == next->getFromJunction() || edge->getFromJunction() == next->getToJunction()) ? BACKWARD : FORWARD;
143 }
144 myCurrentEndPos = dir == FORWARD ? edge->getLength() : 0;
145 }
146 // ensure that a result > 0 is returned even if the walk ends immediately
147 // adding 0.5ms is done to ensure proper rounding
148 myCurrentDuration = MAX2((SUMOTime)1, TIME2STEPS(fabs(myCurrentEndPos - myCurrentBeginPos) / stage.getMaxSpeed(myCommand->getTransportable())));
149 //std::cout << std::setprecision(8) << SIMTIME << " curBeg=" << myCurrentBeginPos << " curEnd=" << myCurrentEndPos << " speed=" << stage.getMaxSpeed(myCommand->getTransportable()) << " dur=" << myCurrentDuration << "\n";
150 // round to the next timestep to avoid systematic higher walking speed
151 if ((myCurrentDuration % DELTA_T) > 0) {
152 myCurrentDuration += DELTA_T;
153 }
154 return myCurrentDuration;
155}
156
157
158double
160 //std::cout << SIMTIME << " lastEntryTime=" << myLastEntryTime << " pos=" << (myCurrentBeginPos + (myCurrentEndPos - myCurrentBeginPos) / myCurrentDuration * (now - myLastEntryTime)) << "\n";
161 return myCurrentBeginPos + (myCurrentEndPos - myCurrentBeginPos) / (double)myCurrentDuration * (double)(now - myLastEntryTime);
162}
163
164int
166 if (myCurrentBeginPos == myCurrentEndPos) {
167 return UNDEFINED_DIRECTION;
168 } else {
169 return myCurrentBeginPos < myCurrentEndPos ? FORWARD : BACKWARD;
170 }
171}
172
173
176 const MSLane* lane = getSidewalk<MSEdge, MSLane>(stage.getEdge());
177 if (lane == nullptr) {
178 //std::string error = "Pedestrian '" + myCommand->myPerson->getID() + "' could not find sidewalk on edge '" + state.getEdge()->getID() + "', time="
179 // + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".";
180 //if (!OptionsCont::getOptions().getBool("ignore-route-errors")) {
181 // throw ProcessError(error);
182 //}
183 lane = stage.getEdge()->getLanes().front();
184 }
185 const double lateral_offset = (lane->allowsVehicleClass(SVC_PEDESTRIAN) ? 0 : SIDEWALK_OFFSET
186 * (MSGlobals::gLefthand ? -1 : 1));
187 return stage.getLanePosition(lane, getEdgePos(stage, now), lateral_offset);
188}
189
190
191double
193 //std::cout << SIMTIME << " rawAngle=" << stage.getEdgeAngle(stage.getEdge(), getEdgePos(stage, now)) << " angle=" << stage.getEdgeAngle(stage.getEdge(), getEdgePos(stage, now)) + (myCurrentEndPos < myCurrentBeginPos ? 180 : 0) << "\n";
194 double angle = stage.getEdgeAngle(stage.getEdge(), getEdgePos(stage, now)) + (myCurrentEndPos < myCurrentBeginPos ? M_PI : 0);
195 if (angle > M_PI) {
196 angle -= 2 * M_PI;
197 }
198 return angle;
199}
200
201
204 return 0;
205}
206
207
208double
210 return stage.getMaxSpeed(myCommand->getTransportable());
211}
212
213
214const MSEdge*
216 return stage.getNextRouteEdge();
217}
218
219
220void
222 out << " " << myLastEntryTime << " " << myCurrentDuration;
223}
224
225
226// ---------------------------------------------------------------------------
227// MSPModel_NonInteracting::CState method definitions
228// ---------------------------------------------------------------------------
229MSPModel_NonInteracting::CState::CState(MoveToNextEdge* cmd, std::istringstream* in) : PState(cmd, in) {
230}
231
232
235 const double dist = myCurrentBeginPosition.distanceTo2D(myCurrentEndPosition); //distance between begin and end position of this tranship stage
236 double pos = MIN2(STEPS2TIME(now - myLastEntryTime) * stage.getMaxSpeed(), dist); //the container shall not go beyond its end position
237 return PositionVector::positionAtOffset2D(myCurrentBeginPosition, myCurrentEndPosition, pos, 0);
238}
239
240
241double
243 double angle = stage.getEdgeAngle(stage.getEdge(), getEdgePos(stage, now)) + (myCurrentEndPos < myCurrentBeginPos ? 1.5 * M_PI : 0.5 * M_PI);
244 if (angle > M_PI) {
245 angle -= 2 * M_PI;
246 }
247 return angle;
248}
249
250
253 myLastEntryTime = currentTime;
254
255 myCurrentBeginPos = stage.getDepartPos();
256 myCurrentEndPos = stage.getArrivalPos();
257
258 const MSLane* fromLane = stage.getFromEdge()->getLanes().front(); //the lane the container starts from during its tranship stage
259 myCurrentBeginPosition = stage.getLanePosition(fromLane, myCurrentBeginPos, LATERAL_OFFSET);
260 const MSLane* toLane = stage.getEdges().back()->getLanes().front(); //the lane the container ends during its tranship stage
261 myCurrentEndPosition = stage.getLanePosition(toLane, myCurrentEndPos, LATERAL_OFFSET);
262
263 myCurrentDuration = MAX2((SUMOTime)1, TIME2STEPS(fabs(myCurrentEndPosition.distanceTo(myCurrentBeginPosition)) / stage.getMaxSpeed()));
264 return myCurrentDuration;
265}
266
267
268/****************************************************************************/
long long int SUMOTime
Definition: GUI.h:36
SUMOTime DELTA_T
Definition: SUMOTime.cpp:37
#define STEPS2TIME(x)
Definition: SUMOTime.h:54
#define TIME2STEPS(x)
Definition: SUMOTime.h:56
@ SVC_PEDESTRIAN
pedestrian
#define UNUSED_PARAMETER(x)
Definition: StdDefs.h:30
T MIN2(T a, T b)
Definition: StdDefs.h:76
T MAX2(T a, T b)
Definition: StdDefs.h:82
A road/street connecting two junctions.
Definition: MSEdge.h:77
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
Definition: MSEdge.h:168
const MSJunction * getToJunction() const
Definition: MSEdge.h:415
double getLength() const
return the length of the edge
Definition: MSEdge.h:658
const MSJunction * getFromJunction() const
Definition: MSEdge.h:411
virtual void addEvent(Command *operation, SUMOTime execTimeStep=-1)
Adds an Event.
static bool gLefthand
Whether lefthand-drive is being simulated.
Definition: MSGlobals.h:169
Representation of a lane in the micro simulation.
Definition: MSLane.h:84
bool allowsVehicleClass(SUMOVehicleClass vclass) const
Definition: MSLane.h:900
The simulated network and simulation perfomer.
Definition: MSNet.h:88
MSEventControl * getBeginOfTimestepEvents()
Returns the event control for events executed at the begin of a time step.
Definition: MSNet.h:471
Position getPosition(const MSStageMoving &stage, SUMOTime now) const
return the network coordinate of the container
double getAngle(const MSStageMoving &stage, SUMOTime now) const
return the direction in which the container heading to
SUMOTime computeDuration(const MSEdge *prev, const MSStageMoving &stage, SUMOTime currentTime)
compute tranship time on edge and update state members
static const double LATERAL_OFFSET
the offset for computing container positions when being transhiped
CState(MoveToNextEdge *cmd, std::istringstream *in=nullptr)
SUMOTime execute(SUMOTime currentTime)
Executes the command.
implementation of callbacks to retrieve various state information from the model
const MSEdge * getNextEdge(const MSStageMoving &stage) const
return the list of internal edges if the transportable is on an intersection
SUMOTime getWaitingTime(const MSStageMoving &stage, SUMOTime now) const
return the time the transportable spent standing
virtual double getAngle(const MSStageMoving &stage, SUMOTime now) const
return the direction in which the transportable faces in degrees
double getSpeed(const MSStageMoving &stage) const
return the current speed of the transportable
virtual Position getPosition(const MSStageMoving &stage, SUMOTime now) const
return the network coordinate of the transportable
virtual SUMOTime computeDuration(const MSEdge *prev, const MSStageMoving &stage, SUMOTime currentTime)
compute walking time on edge and update state members
double getEdgePos(const MSStageMoving &stage, SUMOTime now) const
abstract methods inherited from PedestrianState
PState(MoveToNextEdge *cmd, std::istringstream *in=nullptr)
void saveState(std::ostringstream &out)
Saves the current state into the given stream.
int getDirection(const MSStageMoving &stage, SUMOTime now) const
return the walking direction (FORWARD, BACKWARD)
MSTransportableStateAdapter * add(MSTransportable *transportable, MSStageMoving *stage, SUMOTime now)
register the given transportable
MSPModel_NonInteracting(const OptionsCont &oc, MSNet *net)
Constructor (it should not be necessary to construct more than one instance)
void remove(MSTransportableStateAdapter *state)
remove the specified person from the pedestrian simulation
void clearState()
Resets pedestrians when quick-loading state.
MSTransportableStateAdapter * loadState(MSTransportable *transportable, MSStageMoving *stage, std::istringstream &in)
load the state of the given transportable
int myNumActivePedestrians
the total number of active pedestrians
MSNet * myNet
the net to which to issue moveToNextEdge commands
static const int BACKWARD
Definition: MSPModel.h:120
static const int FORWARD
Definition: MSPModel.h:119
static const double SIDEWALK_OFFSET
the offset for computing person positions when walking on edges without a sidewalk
Definition: MSPModel.h:127
static const int UNDEFINED_DIRECTION
Definition: MSPModel.h:121
virtual double getArrivalPos() const
Definition: MSStage.h:89
Position getLanePosition(const MSLane *lane, double at, double offset) const
get position on lane at length at with orthogonal offset
Definition: MSStage.cpp:143
double getEdgeAngle(const MSEdge *e, double at) const
get angle of the edge at a certain position
Definition: MSStage.cpp:149
virtual const MSEdge * getNextRouteEdge() const =0
virtual bool moveToNextEdge(MSTransportable *transportable, SUMOTime currentTime, int prevDir, MSEdge *nextInternal=0)=0
move forward and return whether the transportable arrived
ConstMSEdgeVector getEdges() const
the edges of the current stage
virtual MSTransportableStateAdapter * getState() const
Definition: MSStageMoving.h:49
const MSEdge * getEdge() const
Returns the current edge.
double getDepartPos() const
const MSEdge * getFromEdge() const
Returns first edge of the containers route.
virtual double getMaxSpeed(const MSTransportable *const transportable=nullptr) const =0
the maximum speed of the transportable
bool isPerson() const
Whether it is a person.
abstract base class for managing callbacks to retrieve various state information from the model
Definition: MSPModel.h:150
virtual int getDirection(const MSStageMoving &stage, SUMOTime now) const =0
return the walking direction (FORWARD, BACKWARD)
A storage for options typed value containers)
Definition: OptionsCont.h:89
A point in 2D or 3D with translation and scaling methods.
Definition: Position.h:37
double distanceTo2D(const Position &p2) const
returns the euclidean distance in the x-y-plane
Definition: Position.h:254
Position positionAtOffset2D(double pos, double lateralOffset=0) const
Returns the position at the given length.
#define M_PI
Definition: odrSpiral.cpp:45