microsim/traffic_lights/MSActuatedTrafficLightLogic.cpp

/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2001-2019 German Aerospace Center (DLR) and others.
// This program and the accompanying materials
// are made available under the terms of the Eclipse Public License v2.0
// which accompanies this distribution, and is available at
// http://www.eclipse.org/legal/epl-v20.html
// SPDX-License-Identifier: EPL-2.0
/****************************************************************************/
/// @file    MSActuatedTrafficLightLogic.cpp
/// @author  Daniel Krajzewicz
/// @author  Julia Ringel
/// @author  Jakob Erdmann
/// @author  Michael Behrisch
/// @author  Laura Bieker
/// @date    Sept 2002
/// @version $Id$
///
// An actuated (adaptive) traffic light logic
/****************************************************************************/


// ===========================================================================
// included modules
// ===========================================================================
#include <config.h>

#include <cassert>
#include <utility>
#include <vector>
#include <bitset>
#include <microsim/MSEventControl.h>
#include <microsim/output/MSDetectorControl.h>
#include <microsim/output/MSInductLoop.h>
#include <microsim/MSGlobals.h>
#include <microsim/MSNet.h>
#include "MSTrafficLightLogic.h"
#include "MSActuatedTrafficLightLogic.h"
#include <microsim/MSLane.h>
#include <microsim/MSEdge.h>
#include <netload/NLDetectorBuilder.h>
#include <utils/common/StringUtils.h>

//#define DEBUG_DETECTORS
#define DEBUG_COND (getID()=="26121229")

// ===========================================================================
// parameter defaults definitions
// ===========================================================================
#define DEFAULT_MAX_GAP "3.0"
#define DEFAULT_PASSING_TIME "1.9"
#define DEFAULT_DETECTOR_GAP "2.0"

#define DEFAULT_LENGTH_WITH_GAP 7.5


// ===========================================================================
// method definitions
// ===========================================================================
MSActuatedTrafficLightLogic::MSActuatedTrafficLightLogic(MSTLLogicControl& tlcontrol,
        const std::string& id, const std::string& programID,
        const Phases& phases,
        int step, SUMOTime delay,
        const std::map<std::string, std::string>& parameter,
        const std::string& basePath) :
    MSSimpleTrafficLightLogic(tlcontrol, id, programID, TLTYPE_ACTUATED, phases, step, delay, parameter) {

    myMaxGap = StringUtils::toDouble(getParameter("max-gap", DEFAULT_MAX_GAP));
    myPassingTime = StringUtils::toDouble(getParameter("passing-time", DEFAULT_PASSING_TIME)); // passing-time seems obsolete... (Leo)
    myDetectorGap = StringUtils::toDouble(getParameter("detector-gap", DEFAULT_DETECTOR_GAP));
    myShowDetectors = StringUtils::toBool(getParameter("show-detectors", toString(OptionsCont::getOptions().getBool("tls.actuated.show-detectors"))));
    myFile = FileHelpers::checkForRelativity(getParameter("file", "NUL"), basePath);
    myFreq = TIME2STEPS(StringUtils::toDouble(getParameter("freq", "300")));
    myVehicleTypes = getParameter("vTypes", "");
}

MSActuatedTrafficLightLogic::~MSActuatedTrafficLightLogic() { }

void
MSActuatedTrafficLightLogic::init(NLDetectorBuilder& nb) {
    MSTrafficLightLogic::init(nb);
    assert(myLanes.size() > 0);
    bool warn = true; // warn only once
    const int numLinks = (int)myLinks.size();

    // Detector position should be computed based on road speed. If the position
    // is quite far away and the minDur is short this may cause the following
    // problems:
    //
    // 1)  high flow failure:
    // In a standing queue, no vehicle touches the detector.
    // By the time the queue advances, the detector gap has been exceeded and the phase terminates prematurely
    //
    // 2) low flow failure
    // The standing queue is fully between stop line and detector and there are no further vehicles.
    // The minDur is too short to let all vehicles pass
    //
    // Problem 2) is not so critical because there is less potential for
    // jamming in a low-flow situation. In contrast, problem 1) should be
    // avoided as it has big jamming potential. We compute an upper bound for the
    // detector disatnce to avoid it


    // change values for setting the loops and lanestate-detectors, here
    //SUMOTime inductLoopInterval = 1; //
    LaneVectorVector::const_iterator i2;
    LaneVector::const_iterator i;
    // build the induct loops
    std::map<const MSLane*, MSInductLoop*> laneInductLoopMap;
    double maxDetectorGap = 0;
    for (i2 = myLanes.begin(); i2 != myLanes.end(); ++i2) {
        const LaneVector& lanes = *i2;
        for (i = lanes.begin(); i != lanes.end(); i++) {
            MSLane* lane = (*i);
            if (noVehicles(lane->getPermissions())) {
                // do not build detectors on green verges or sidewalks
                continue;
            }
            if (laneInductLoopMap.find(lane) != laneInductLoopMap.end()) {
                // only build one detector per lane
                continue;
            }
            const SUMOTime minDur = getMinimumMinDuration(lane);
            if (minDur == std::numeric_limits<SUMOTime>::max()) {
                // only build detector if this lane is relevant for an actuated phase
                continue;
            }
            double length = lane->getLength();
            double speed = lane->getSpeedLimit();
            double inductLoopPosition = MIN2(
                                            myDetectorGap * speed,
                                            MAX2(1.0, (STEPS2TIME(minDur) - 1)) * DEFAULT_LENGTH_WITH_GAP);

            // check whether the lane is long enough
            double ilpos = length - inductLoopPosition;
            if (ilpos < 0) {
                ilpos = 0;
            }
            // Build the induct loop and set it into the container
            std::string id = "TLS" + myID + "_" + myProgramID + "_InductLoopOn_" + lane->getID();
            MSInductLoop* loop = static_cast<MSInductLoop*>(nb.createInductLoop(id, lane, ilpos, myVehicleTypes, myShowDetectors));
            laneInductLoopMap[lane] = loop;
            myInductLoops.push_back(loop);
            MSNet::getInstance()->getDetectorControl().add(SUMO_TAG_INDUCTION_LOOP, loop, myFile, myFreq);
            maxDetectorGap = MAX2(maxDetectorGap, length - ilpos);

            if (warn && floor(floor(inductLoopPosition / DEFAULT_LENGTH_WITH_GAP) * myPassingTime) > STEPS2TIME(minDur)) {
                // warn if the minGap is insufficient to clear vehicles between stop line and detector
                WRITE_WARNING("At actuated tlLogic '" + getID() + "', minDur " + time2string(minDur) + " is too short for a detector gap of " + toString(inductLoopPosition) + "m.");
                warn = false;
            }
        }
    }
    // assign loops to phase index (myInductLoopsForPhase)
    //  check1: loops may not be used for a phase if there are other connections from the same lane that may not drive in that phase
    //            greenMinor is ambiguous as vehicles may not be able to drive
    //            Under the following condition we allow actuation from minor link:
    //              check1a : the minor link is minor in all phases
    //              check1b : there is another major link from the same lane in the current phase
    //            (Under these conditions we assume that the minor link is unimportant and traffic is mostly for the major link)
    //
    //              check1c: when the lane has only one edge, we treat greenMinor as green as there would be no actuation otherwise
    //
    //  check2: if there are two loops on subsequent lanes (joined tls) and the second one has a red link, the first loop may not be used

    // also assign loops to link index for validation:
    // check if all links from actuated phases (minDur != maxDur) have an inductionloop in at least one phase
    const SVCPermissions motorized = ~(SVC_PEDESTRIAN | SVC_BICYCLE);
    std::map<int, std::set<MSInductLoop*> > linkToLoops;
    std::set<int> actuatedLinks;

    std::vector<bool> neverMajor(numLinks, true);
    for (const MSPhaseDefinition* phase : myPhases) {
        const std::string& state = phase->getState();
        for (int i = 0; i < numLinks; i++)  {
            if (state[i] == LINKSTATE_TL_GREEN_MAJOR) {
                neverMajor[i] = false;
            }
        }
    }
    std::vector<bool> oneLane(numLinks, false);
    for (int i = 0; i < numLinks; i++)  {
        for (MSLane* lane : getLanesAt(i)) {
            // only count motorized vehicle lanes
            int numMotorized = 0;
            for (MSLane* l : lane->getEdge().getLanes()) {
                if ((l->getPermissions() & motorized) != 0) {
                    numMotorized++;
                }
            }
            if (numMotorized == 1) {
                oneLane[i] = true;
                break;
            }
        }
    }


    for (const MSPhaseDefinition* phase : myPhases) {
        std::set<MSInductLoop*> loops;
        if (phase->minDuration != phase->maxDuration) {
            // actuated phase
            const std::string& state = phase->getState();
            // collect indices of all green links for the phase
            std::set<int> greenLinks;
            // collect green links for each induction loops (in this phase)
            std::map<MSInductLoop*, std::set<int> > loopLinks;

            for (int i = 0; i < numLinks; i++)  {
                if (state[i] == LINKSTATE_TL_GREEN_MAJOR
                        || (state[i] == LINKSTATE_TL_GREEN_MINOR
                            && ((neverMajor[i]  // check1a
                                 && hasMajor(state, getLanesAt(i))) // check1b
                                || oneLane[i])) // check1c
                   ) {
                    greenLinks.insert(i);
                    actuatedLinks.insert(i);
                }
#ifdef DEBUG_DETECTORS
                //if (DEBUG_COND) {
                //    std::cout << " phase=" << myInductLoopsForPhase.size() << " i=" << i << " state=" << state[i] << " green=" << greenLinks.count(i) << " oneLane=" << oneLane[i]
                //        << " loopLanes=";
                //    for (MSLane* lane: getLanesAt(i)) {
                //        if (laneInductLoopMap.count(lane) != 0) {
                //            std::cout << lane->getID() << " ";
                //        }
                //    }
                //    std::cout << "\n";
                //}
#endif
                for (MSLane* lane : getLanesAt(i)) {
                    if (laneInductLoopMap.count(lane) != 0) {
                        loopLinks[laneInductLoopMap[lane]].insert(i);
                    }
                }
            }
            for (auto& item : loopLinks) {
                bool usable = true;
                // check1
                for (int j : item.second) {
                    if (greenLinks.count(j) == 0) {
                        usable = false;
#ifdef DEBUG_DETECTORS
                        if (DEBUG_COND) {
                            std::cout << " phase=" << myInductLoopsForPhase.size() << " check1: loopLane=" << item.first->getLane()->getID() << " notGreen=" << j << " oneLane[j]=" << oneLane[j] << "\n";
                        }
#endif
                        break;
                    }
                }
                // check2
                if (usable) {
                    const MSLane* loopLane = item.first->getLane();
                    for (MSLink* link : loopLane->getLinkCont()) {
                        const MSLane* next = link->getLane();
                        if (laneInductLoopMap.count(next) != 0) {
                            MSInductLoop* nextLoop = laneInductLoopMap[next];
                            for (int j : loopLinks[nextLoop]) {
                                if (greenLinks.count(j) == 0) {
                                    usable = false;
#ifdef DEBUG_DETECTORS
                                    if (DEBUG_COND) std::cout << " phase=" << myInductLoopsForPhase.size() << " check2: loopLane=" << item.first->getLane()->getID()
                                                                  << " nextLane=" << next->getID() << " nextLink=" << j << " nextState=" << state[j] << "\n";
#endif
                                    break;
                                }
                            }
                        }
                    }
                }

                if (usable) {
                    loops.insert(item.first);
#ifdef DEBUG_DETECTORS
                    //if (DEBUG_COND) std::cout << " phase=" << myInductLoopsForPhase.size() << " usableLoops=" << item.first->getID() << " links=" << joinToString(item.second, " ") << "\n";
#endif
                    for (int j : item.second) {
                        linkToLoops[j].insert(item.first);
                    }
                }
            }
            if (loops.size() == 0) {
                WRITE_WARNING("At actuated tlLogic '" + getID() + "', actuated phase " + toString(myInductLoopsForPhase.size()) + " has no controlling detector");
            }
        }
#ifdef DEBUG_DETECTORS
        if (DEBUG_COND) {
            std::cout << " phase=" << myInductLoopsForPhase.size() << " loops=" << joinNamedToString(loops, " ") << "\n";
        }
        //if (DEBUG_COND) {
        //    std::cout << " linkToLoops:\n";
        //    for (auto item : linkToLoops) {
        //        std::cout << "   link=" << item.first << " loops=" << joinNamedToString(item.second, " ") << "\n";
        //    }
        //}
#endif
        myInductLoopsForPhase.push_back(std::vector<MSInductLoop*>(loops.begin(), loops.end()));
    }
#ifdef DEBUG_DETECTORS
    //if (DEBUG_COND) {
    //    std::cout << "final linkToLoops:\n";
    //    for (auto item : linkToLoops) {
    //        std::cout << "   link=" << item.first << " loops=" << joinNamedToString(item.second, " ") << "\n";
    //    }
    //}
#endif
    for (int i : actuatedLinks) {
        if (linkToLoops[i].size() == 0 && myLinks[i].size() > 0
                && (myLinks[i].front()->getLaneBefore()->getPermissions() & motorized) != 0) {
            WRITE_WARNING("At actuated tlLogic '" + getID() + "', linkIndex " + toString(i) + " has no controlling detector");
        }
    }
}


SUMOTime
MSActuatedTrafficLightLogic::getMinimumMinDuration(MSLane* lane) const {
    SUMOTime result = std::numeric_limits<SUMOTime>::max();
    for (const MSPhaseDefinition* phase : myPhases) {
        const std::string& state = phase->getState();
        for (int i = 0; i < (int)state.size(); i++)  {
            if (state[i] == LINKSTATE_TL_GREEN_MAJOR || state[i] == LINKSTATE_TL_GREEN_MINOR) {
                for (MSLane* cand : getLanesAt(i)) {
                    if (lane == cand) {
                        if (phase->minDuration != phase->maxDuration) {
                            result = MIN2(result, phase->minDuration);
                        }
                    }
                }
            }
        }
    }
    return result;
}

bool
MSActuatedTrafficLightLogic::hasMajor(const std::string& state, const LaneVector& lanes) const {
    for (int i = 0; i < (int)state.size(); i++) {
        if (state[i] == LINKSTATE_TL_GREEN_MAJOR) {
            for (MSLane* cand : getLanesAt(i)) {
                for (MSLane* lane : lanes) {
                    if (lane == cand) {
                        return true;
                    }
                }
            }
        }
    }
    return false;
}


// ------------ Switching and setting current rows
SUMOTime
MSActuatedTrafficLightLogic::trySwitch() {
    // checks if the actual phase should be continued
    // @note any vehicles which arrived during the previous phases which are now waiting between the detector and the stop line are not
    // considere here. RiLSA recommends to set minDuration in a way that lets all vehicles pass the detector
    const double detectionGap = gapControl();
    if (detectionGap < std::numeric_limits<double>::max()) {
        return duration(detectionGap);
    }
    // increment the index to the current phase
    myStep++;
    assert(myStep <= (int)myPhases.size());
    if (myStep == (int)myPhases.size()) {
        myStep = 0;
    }
    //stores the time the phase started
    myPhases[myStep]->myLastSwitch = MSNet::getInstance()->getCurrentTimeStep();
    // activate coloring
    if (myShowDetectors && getCurrentPhaseDef().isGreenPhase()) {
        for (MSInductLoop* loop : myInductLoopsForPhase[myStep]) {
            loop->setSpecialColor(&RGBColor::GREEN);
        }
    }

    // set the next event
    return getCurrentPhaseDef().minDuration;
}


// ------------ "actuated" algorithm methods
SUMOTime
MSActuatedTrafficLightLogic::duration(const double detectionGap) const {
    assert(getCurrentPhaseDef().isGreenPhase());
    assert((int)myPhases.size() > myStep);
    const SUMOTime actDuration = MSNet::getInstance()->getCurrentTimeStep() - myPhases[myStep]->myLastSwitch;
    // ensure that minimum duration is kept
    SUMOTime newDuration = getCurrentPhaseDef().minDuration - actDuration;
    // try to let the last detected vehicle pass the intersection (duration must be positive)
    newDuration = MAX3(newDuration, TIME2STEPS(myDetectorGap - detectionGap), SUMOTime(1));
    // cut the decimal places to ensure that phases always have integer duration
    if (newDuration % 1000 != 0) {
        const SUMOTime totalDur = newDuration + actDuration;
        newDuration = (totalDur / 1000 + 1) * 1000 - actDuration;
    }
    // ensure that the maximum duration is not exceeded
    newDuration = MIN2(newDuration, getCurrentPhaseDef().maxDuration - actDuration);
    return newDuration;
}


double
MSActuatedTrafficLightLogic::gapControl() {
    //intergreen times should not be lenghtend
    assert((int)myPhases.size() > myStep);
    double result = std::numeric_limits<double>::max();
    if (MSGlobals::gUseMesoSim) {
        return result;
    }
    // switch off active colors
    if (myShowDetectors) {
        for (MSInductLoop* loop : myInductLoops) {
            loop->setSpecialColor(nullptr);
        }
    }
    if (!getCurrentPhaseDef().isGreenPhase()) {
        return result; // end current phase
    }

    // Checks, if the maxDuration is kept. No phase should longer send than maxDuration.
    SUMOTime actDuration = MSNet::getInstance()->getCurrentTimeStep() - myPhases[myStep]->myLastSwitch;
    if (actDuration >= getCurrentPhaseDef().maxDuration) {
        return result; // end current phase
    }

    // now the gapcontrol starts
    for (MSInductLoop* loop : myInductLoopsForPhase[myStep]) {
        loop->setSpecialColor(&RGBColor::GREEN);
        const double actualGap = loop->getTimeSinceLastDetection();
        if (actualGap < myMaxGap) {
            result = MIN2(result, actualGap);
        }
    }
    return result;
}


/****************************************************************************/