/**
* Check whether the vehicle can enter the intersection from a lane at the current time.
*
* @param laneId the id of the lane from which the vehicle enters the intersection.
* @return whether the vehicle can enter the intersection
*/
private boolean canEnterFromLane(int laneId) {
Road road = Debug.currentMap.getRoad(laneId);
double period = greenLightDuration + yellowLightDuration;
int id = (int) Math.floor(basePolicy.getCurrentTime() / period);
int phaseId = id % 4;
boolean canPass = false;
if (phaseId == 0) {
canPass = road.getName().equals("1st Street W");
} else if (phaseId == 1) {
canPass = road.getName().equals("1st Avenue S");
} else if (phaseId == 2) {
canPass = road.getName().equals("1st Street E");
} else if (phaseId == 3) {
canPass = road.getName().equals("1st Avenue N");
} else {
throw new RuntimeException("Error in isGreenTrafficLightNow()");
}
if (canPass) {
double t = basePolicy.getCurrentTime() - id * period;
if (t <= greenLightDuration) {
return true;
} else {
return false;
}
} else {
// it is either yellow or red signal
return false;
}
}
/** {@inheritDoc} */
@Override
public void processRequestMsg(Request msg) {
int vin = msg.getVin();
// If the vehicle has got a reservation already, reject it.
if (basePolicy.hasReservation(vin)) {
basePolicy.sendRejectMsg(vin, msg.getRequestId(), Reject.Reason.CONFIRMED_ANOTHER_REQUEST);
return;
}
// filter the proposals
ProposalFilterResult filterResult =
BasePolicy.standardProposalsFilter(msg.getProposals(), basePolicy.getCurrentTime());
if (filterResult.isNoProposalLeft()) {
basePolicy.sendRejectMsg(vin, msg.getRequestId(), filterResult.getReason());
}
List<Request.Proposal> proposals = filterResult.getProposals();
// If cannot enter from lane according to canEnterFromLane(), reject it.
if (!canEnterFromLane(proposals.get(0).getArrivalLaneID())) {
basePolicy.sendRejectMsg(vin, msg.getRequestId(), Reject.Reason.NO_CLEAR_PATH);
return;
}
// try to see if reservation is possible for the remaining proposals.
ReserveParam reserveParam = basePolicy.findReserveParam(msg, proposals);
if (reserveParam != null) {
basePolicy.sendComfirmMsg(msg.getRequestId(), reserveParam);
} else {
basePolicy.sendRejectMsg(vin, msg.getRequestId(), Reject.Reason.NO_CLEAR_PATH);
}
}