1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2001-2019 German Aerospace Center (DLR) and others.
4 // This program and the accompanying materials
5 // are made available under the terms of the Eclipse Public License v2.0
6 // which accompanies this distribution, and is available at
7 // http://www.eclipse.org/legal/epl-v20.html
8 // SPDX-License-Identifier: EPL-2.0
9 /****************************************************************************/
10 /// @file MSTrafficLightLogic.cpp
11 /// @author Daniel Krajzewicz
12 /// @author Jakob Erdmann
13 /// @author Michael Behrisch
14 /// @date Sept 2002
15 /// @version $Id$
16 ///
17 // The parent class for traffic light logics
18 /****************************************************************************/
19
20
21 // ===========================================================================
22 // included modules
23 // ===========================================================================
24 #include <config.h>
25
26 #include <cassert>
27 #include <string>
28 #include <iostream>
29 #include <map>
30 #include <microsim/MSLink.h>
31 #include <microsim/MSLane.h>
32 #include <microsim/MSEventControl.h>
33 #include <microsim/MSJunctionLogic.h>
34 #include <microsim/MSNet.h>
35 #include <microsim/MSEdge.h>
36 #include <microsim/MSGlobals.h>
37 #include "MSTLLogicControl.h"
38 #include "MSTrafficLightLogic.h"
39
40
41 // ===========================================================================
42 // static value definitions
43 // ===========================================================================
44 const MSTrafficLightLogic::LaneVector MSTrafficLightLogic::myEmptyLaneVector;
45
46
47 // ===========================================================================
48 // member method definitions
49 // ===========================================================================
50 /* -------------------------------------------------------------------------
51 * member method definitions
52 * ----------------------------------------------------------------------- */
SwitchCommand(MSTLLogicControl & tlcontrol,MSTrafficLightLogic * tlLogic,SUMOTime nextSwitch)53 MSTrafficLightLogic::SwitchCommand::SwitchCommand(MSTLLogicControl& tlcontrol,
54 MSTrafficLightLogic* tlLogic, SUMOTime nextSwitch)
55 : myTLControl(tlcontrol), myTLLogic(tlLogic),
56 myAssumedNextSwitch(nextSwitch), myAmValid(true) {}
57
58
~SwitchCommand()59 MSTrafficLightLogic::SwitchCommand::~SwitchCommand() {}
60
61
62
63 SUMOTime
execute(SUMOTime t)64 MSTrafficLightLogic::SwitchCommand::execute(SUMOTime t) {
65 // check whether this command has been descheduled
66 if (!myAmValid) {
67 return 0;
68 }
69 //
70 const bool isActive = myTLControl.isActive(myTLLogic);
71 int step1 = myTLLogic->getCurrentPhaseIndex();
72 SUMOTime next = myTLLogic->trySwitch();
73 int step2 = myTLLogic->getCurrentPhaseIndex();
74 if (step1 != step2) {
75 if (isActive) {
76 // execute any action connected to this tls
77 const MSTLLogicControl::TLSLogicVariants& vars = myTLControl.get(myTLLogic->getID());
78 // set link priorities
79 myTLLogic->setTrafficLightSignals(t);
80 // execute switch actions
81 vars.executeOnSwitchActions();
82 }
83 }
84 myAssumedNextSwitch += next;
85 return next;
86 }
87
88
89 void
deschedule(MSTrafficLightLogic * tlLogic)90 MSTrafficLightLogic::SwitchCommand::deschedule(MSTrafficLightLogic* tlLogic) {
91 if (tlLogic == myTLLogic) {
92 myAmValid = false;
93 myAssumedNextSwitch = -1;
94 }
95 }
96
97
98 /* -------------------------------------------------------------------------
99 * member method definitions
100 * ----------------------------------------------------------------------- */
MSTrafficLightLogic(MSTLLogicControl & tlcontrol,const std::string & id,const std::string & programID,const TrafficLightType logicType,const SUMOTime delay,const std::map<std::string,std::string> & parameters)101 MSTrafficLightLogic::MSTrafficLightLogic(MSTLLogicControl& tlcontrol, const std::string& id,
102 const std::string& programID, const TrafficLightType logicType, const SUMOTime delay,
103 const std::map<std::string, std::string>& parameters) :
104 Named(id), Parameterised(parameters),
105 myProgramID(programID),
106 myLogicType(logicType),
107 myCurrentDurationIncrement(-1),
108 myDefaultCycleTime(0) {
109 mySwitchCommand = new SwitchCommand(tlcontrol, this, delay);
110 MSNet::getInstance()->getBeginOfTimestepEvents()->addEvent(mySwitchCommand, delay);
111 }
112
113
114 void
init(NLDetectorBuilder &)115 MSTrafficLightLogic::init(NLDetectorBuilder&) {
116 const Phases& phases = getPhases();
117 if (phases.size() > 0 && MSGlobals::gMesoTLSPenalty > 0) {
118 initMesoTLSPenalties();
119 }
120 if (phases.size() > 1) {
121 bool haveWarnedAboutUnusedStates = false;
122 std::vector<bool> foundGreen(phases.front()->getState().size(), false);
123 for (int i = 0; i < (int)phases.size(); ++i) {
124 // warn about unused states
125 std::vector<int> nextPhases;
126 nextPhases.push_back((i + 1) % phases.size());
127 bool iNextDefault = true;
128 if (phases[i]->nextPhases.size() > 0) {
129 nextPhases = phases[i]->nextPhases;
130 iNextDefault = false;
131 }
132 for (int iNext : nextPhases) {
133 if (iNext < 0 || iNext >= (int)phases.size()) {
134 throw ProcessError("Invalid nextPhase " + toString(iNext) + " in tlLogic '" + getID()
135 + "', program '" + getProgramID() + "' with " + toString(phases.size()) + " phases");
136 }
137 const std::string optionalFrom = iNextDefault ? "" : " from phase " + toString(i);
138 const std::string& state1 = phases[i]->getState();
139 const std::string& state2 = phases[iNext]->getState();
140 assert(state1.size() == state2.size());
141 if (!haveWarnedAboutUnusedStates && state1.size() > myLanes.size() + myIgnoredIndices.size()) {
142 WRITE_WARNING("Unused states in tlLogic '" + getID()
143 + "', program '" + getProgramID() + "' in phase " + toString(i)
144 + " after tl-index " + toString((int)myLanes.size() - 1));
145 haveWarnedAboutUnusedStates = true;
146 }
147 // detect illegal states
148 const std::string::size_type illegal = state1.find_first_not_of(SUMOXMLDefinitions::ALLOWED_TLS_LINKSTATES);
149 if (std::string::npos != illegal) {
150 throw ProcessError("Illegal character '" + toString(state1[illegal]) + "' in tlLogic '" + getID()
151 + "', program '" + getProgramID() + "' in phase " + toString(i));
152 }
153 // warn about transitions from green to red without intermediate yellow
154 for (int j = 0; j < (int)MIN3(state1.size(), state2.size(), myLanes.size()); ++j) {
155 if ((LinkState)state2[j] == LINKSTATE_TL_RED
156 && ((LinkState)state1[j] == LINKSTATE_TL_GREEN_MAJOR
157 || (LinkState)state1[j] == LINKSTATE_TL_GREEN_MINOR)) {
158 for (LaneVector::const_iterator it = myLanes[j].begin(); it != myLanes[j].end(); ++it) {
159 if ((*it)->getPermissions() != SVC_PEDESTRIAN) {
160 WRITE_WARNING("Missing yellow phase in tlLogic '" + getID()
161 + "', program '" + getProgramID() + "' for tl-index " + toString(j)
162 + " when switching" + optionalFrom + " to phase " + toString(iNext));
163 return; // one warning per program is enough
164 }
165 }
166 }
167 }
168 // warn about links that never get the green light
169 for (int j = 0; j < (int)state1.size(); ++j) {
170 LinkState ls = (LinkState)state1[j];
171 if (ls == LINKSTATE_TL_GREEN_MAJOR || ls == LINKSTATE_TL_GREEN_MINOR) {
172 foundGreen[j] = true;
173 }
174 }
175 }
176 }
177 for (int j = 0; j < (int)foundGreen.size(); ++j) {
178 if (!foundGreen[j]) {
179 WRITE_WARNING("Missing green phase in tlLogic '" + getID()
180 + "', program '" + getProgramID() + "' for tl-index " + toString(j));
181 break;
182 }
183 }
184 }
185 }
186
187
~MSTrafficLightLogic()188 MSTrafficLightLogic::~MSTrafficLightLogic() {
189 // no need to do something about mySwitchCommand here,
190 // it is handled by the event control
191 }
192
193
194 // ----------- Handling of controlled links
195 void
addLink(MSLink * link,MSLane * lane,int pos)196 MSTrafficLightLogic::addLink(MSLink* link, MSLane* lane, int pos) {
197 // !!! should be done within the loader (checking necessary)
198 myLinks.reserve(pos + 1);
199 while ((int)myLinks.size() <= pos) {
200 myLinks.push_back(LinkVector());
201 }
202 myLinks[pos].push_back(link);
203 //
204 myLanes.reserve(pos + 1);
205 while ((int)myLanes.size() <= pos) {
206 myLanes.push_back(LaneVector());
207 }
208 myLanes[pos].push_back(lane);
209 link->setTLState((LinkState) getCurrentPhaseDef().getState()[pos], MSNet::getInstance()->getCurrentTimeStep());
210 }
211
212
213 void
adaptLinkInformationFrom(const MSTrafficLightLogic & logic)214 MSTrafficLightLogic::adaptLinkInformationFrom(const MSTrafficLightLogic& logic) {
215 myLinks = logic.myLinks;
216 myLanes = logic.myLanes;
217 myIgnoredIndices = logic.myIgnoredIndices;
218 }
219
220
221 std::map<MSLink*, LinkState>
collectLinkStates() const222 MSTrafficLightLogic::collectLinkStates() const {
223 std::map<MSLink*, LinkState> ret;
224 for (LinkVectorVector::const_iterator i1 = myLinks.begin(); i1 != myLinks.end(); ++i1) {
225 const LinkVector& l = (*i1);
226 for (LinkVector::const_iterator i2 = l.begin(); i2 != l.end(); ++i2) {
227 ret[*i2] = (*i2)->getState();
228 }
229 }
230 return ret;
231 }
232
233
234 bool
setTrafficLightSignals(SUMOTime t) const235 MSTrafficLightLogic::setTrafficLightSignals(SUMOTime t) const {
236 // get the current traffic light signal combination
237 const std::string& state = getCurrentPhaseDef().getState();
238 // go through the links
239 for (int i = 0; i < (int)myLinks.size(); i++) {
240 const LinkVector& currGroup = myLinks[i];
241 LinkState ls = (LinkState) state[i];
242 for (LinkVector::const_iterator j = currGroup.begin(); j != currGroup.end(); j++) {
243 (*j)->setTLState(ls, t);
244 }
245 }
246 return true;
247 }
248
249
250 void
resetLinkStates(const std::map<MSLink *,LinkState> & vals) const251 MSTrafficLightLogic::resetLinkStates(const std::map<MSLink*, LinkState>& vals) const {
252 for (LinkVectorVector::const_iterator i1 = myLinks.begin(); i1 != myLinks.end(); ++i1) {
253 const LinkVector& l = (*i1);
254 for (LinkVector::const_iterator i2 = l.begin(); i2 != l.end(); ++i2) {
255 assert(vals.find(*i2) != vals.end());
256 (*i2)->setTLState(vals.find(*i2)->second, MSNet::getInstance()->getCurrentTimeStep());
257 }
258 }
259 }
260
261
262 // ----------- Static Information Retrieval
263 int
getLinkIndex(const MSLink * const link) const264 MSTrafficLightLogic::getLinkIndex(const MSLink* const link) const {
265 int index = 0;
266 for (LinkVectorVector::const_iterator i1 = myLinks.begin(); i1 != myLinks.end(); ++i1, ++index) {
267 const LinkVector& l = (*i1);
268 for (LinkVector::const_iterator i2 = l.begin(); i2 != l.end(); ++i2) {
269 if ((*i2) == link) {
270 return index;
271 }
272 }
273 }
274 return -1;
275 }
276
277
278
279 // ----------- Dynamic Information Retrieval
280 SUMOTime
getNextSwitchTime() const281 MSTrafficLightLogic::getNextSwitchTime() const {
282 return mySwitchCommand != nullptr ? mySwitchCommand->getNextSwitchTime() : -1;
283 }
284
285
286 SUMOTime
getSpentDuration() const287 MSTrafficLightLogic::getSpentDuration() const {
288 const SUMOTime nextSwitch = getNextSwitchTime();
289 if (nextSwitch == -1) {
290 return -1;
291 } else {
292 const SUMOTime remaining = nextSwitch - MSNet::getInstance()->getCurrentTimeStep();
293 return getCurrentPhaseDef().duration - remaining;
294 }
295 }
296
297
298 // ----------- Changing phases and phase durations
299 void
addOverridingDuration(SUMOTime duration)300 MSTrafficLightLogic::addOverridingDuration(SUMOTime duration) {
301 myOverridingTimes.push_back(duration);
302 }
303
304
305 void
setCurrentDurationIncrement(SUMOTime delay)306 MSTrafficLightLogic::setCurrentDurationIncrement(SUMOTime delay) {
307 myCurrentDurationIncrement = delay;
308 }
309
310
initMesoTLSPenalties()311 void MSTrafficLightLogic::initMesoTLSPenalties() {
312 // set mesoscopic time penalties
313 const Phases& phases = getPhases();
314 const int numLinks = (int)myLinks.size();
315 // warning already given if not all states are used
316 assert(numLinks <= (int)phases.front()->getState().size());
317 SUMOTime duration = 0;
318 std::vector<double> redDuration(numLinks, 0);
319 std::vector<double> totalRedDuration(numLinks, 0);
320 std::vector<double> penalty(numLinks, 0);
321 for (int i = 0; i < (int)phases.size(); ++i) {
322 const std::string& state = phases[i]->getState();
323 duration += phases[i]->duration;
324 // warn about transitions from green to red without intermediate yellow
325 for (int j = 0; j < numLinks; ++j) {
326 if ((LinkState)state[j] == LINKSTATE_TL_RED
327 || (LinkState)state[j] == LINKSTATE_TL_REDYELLOW) {
328 redDuration[j] += STEPS2TIME(phases[i]->duration);
329 totalRedDuration[j] += STEPS2TIME(phases[i]->duration);
330 } else if (redDuration[j] > 0) {
331 penalty[j] += 0.5 * (redDuration[j] * redDuration[j] + redDuration[j]);
332 redDuration[j] = 0;
333 }
334 }
335 }
336 /// XXX penalty for wrap-around red phases is underestimated
337 for (int j = 0; j < numLinks; ++j) {
338 if (redDuration[j] > 0) {
339 penalty[j] += 0.5 * (redDuration[j] * redDuration[j] + redDuration[j]);
340 redDuration[j] = 0;
341 }
342 }
343 const double durationSeconds = STEPS2TIME(duration);
344 std::set<const MSJunction*> controlledJunctions;
345 for (int j = 0; j < numLinks; ++j) {
346 for (int k = 0; k < (int)myLinks[j].size(); ++k) {
347 myLinks[j][k]->setMesoTLSPenalty(TIME2STEPS(MSGlobals::gMesoTLSPenalty * penalty[j] / durationSeconds));
348 myLinks[j][k]->setGreenFraction(MAX2((durationSeconds - MSGlobals::gMesoTLSPenalty * totalRedDuration[j]) / durationSeconds, NUMERICAL_EPS)); // avoid zero capacity (warning issued before)
349 controlledJunctions.insert(myLinks[j][k]->getLane()->getEdge().getFromJunction()); // MSLink::myJunction is not yet initialized
350 //std::cout << " tls=" << getID() << " i=" << j << " link=" << myLinks[j][k]->getViaLaneOrLane()->getID() << " penalty=" << penalty[j] / durationSeconds << " durSecs=" << durationSeconds << " greenTime=" << " gF=" << myLinks[j][k]->getGreenFraction() << "\n";
351 }
352 }
353 // initialize empty-net travel times
354 // XXX refactor after merging sharps (links know their incoming edge)
355 for (std::set<const MSJunction*>::iterator it = controlledJunctions.begin(); it != controlledJunctions.end(); ++it) {
356 const ConstMSEdgeVector incoming = (*it)->getIncoming();
357 for (ConstMSEdgeVector::const_iterator it_e = incoming.begin(); it_e != incoming.end(); ++it_e) {
358 const_cast<MSEdge*>(*it_e)->recalcCache();
359 }
360 }
361
362 }
363
364
365 void
ignoreLinkIndex(int pos)366 MSTrafficLightLogic::ignoreLinkIndex(int pos) {
367 myIgnoredIndices.insert(pos);
368 }
369
370
371 bool
isSelected() const372 MSTrafficLightLogic::isSelected() const {
373 return MSNet::getInstance()->isSelected(this);
374 }
375
376 /****************************************************************************/
377
378